CN113662437B - Seasoning feeding control method and device, storage medium and computer equipment - Google Patents
Seasoning feeding control method and device, storage medium and computer equipment Download PDFInfo
- Publication number
- CN113662437B CN113662437B CN202010405934.9A CN202010405934A CN113662437B CN 113662437 B CN113662437 B CN 113662437B CN 202010405934 A CN202010405934 A CN 202010405934A CN 113662437 B CN113662437 B CN 113662437B
- Authority
- CN
- China
- Prior art keywords
- stirring device
- rotating speed
- seasoning
- avoidance
- current position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J36/00—Parts, details or accessories of cooking-vessels
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J36/00—Parts, details or accessories of cooking-vessels
- A47J36/16—Inserts
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J36/00—Parts, details or accessories of cooking-vessels
- A47J36/32—Time-controlled igniting mechanisms or alarm devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J47/00—Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread
- A47J47/01—Kitchen containers, stands or the like, not provided for in other groups of this subclass; Cutting-boards, e.g. for bread with dispensing devices
Abstract
The application discloses a method and a device for controlling seasoning throwing, a storage medium and computer equipment, wherein the method comprises the following steps: responding to a seasoning throwing instruction, and acquiring the current position of the stirring device; and determining the avoidance rotating speed of the stirring device based on the discharging time corresponding to the seasoning and the current position, so that the stirring device is positioned in the range of a preset avoidance area when moving to the discharging time according to the avoidance rotating speed. Thereby the skew material position when the material mode of throwing of randomness makes condiment put in easily among the prior art is put in to the condiment that leads to and is put in the pot wall and cause the problem of gluing the pot easily, on the accurate basis of ejection of compact time of guaranteeing condiment, the effectual condiment of having solved glues the pot and glues the not good technical problem of culinary art effect that the pot caused because of the condiment, has guaranteed the culinary art effect.
Description
Technical Field
The application relates to the technical field of intelligent cooking, in particular to a seasoning throwing control method and device, a storage medium and computer equipment.
Background
With the progress of science and technology, the living standard of people is continuously improved, and more people are pursuing higher living quality. The dietary requirements of people begin to change from full to good, and the living concepts of health, environmental protection, convenience and high grade are increasingly deep. Meanwhile, the operation and management of the catering industry are influenced by the internet technology, the traditional catering industry starts to go on the way of automatic exploration, under the development trend, the intelligent cooking machine is started to operate, and compared with the traditional kitchen ware, the intelligent cooking machine has obvious advantages, particularly, in the aspect of functionality, automatic cooking is realized, time and labor are saved, energy is saved, cleaning is easy, and the living idea of modern people is perfectly conformed to in the aspect of low-oil-mass and micro-oil smoke.
The dish frying machine is used as a product of an intelligent kitchen, and after the dish frying machine is released, the dish frying machine can make a good sound in the market. Automatic material feeding cooking machines in the existing market generally comprise a stirring shovel, manual stir-frying is replaced by stirring dishes through the stirring shovel, but the existing cooking machines are mainly controlled to feed according to cooking time and menu commands when ingredients are fed, a seasoning discharge port is generally aligned with the bottom of a pan to feed, when the seasoning is fed into the pan from the discharge port, the dishes are likely to leave the bottom of the pan under the stirring effect of the stirring shovel, and the seasoning is fed to the bottom of the pan instead of the dishes. The main drawback of the material feeding mode of the existing dish frying machine is that the position of food materials in an actual pot is not considered when ingredients are fed, the random material feeding mode easily enables the ingredients to deviate from the position of the food materials when the ingredients are fed, the ingredients are fed onto the pot wall, the pot is stuck, even the phenomenon of pot pasting occurs after the pot wall is heated, and the cooking effect of a menu is seriously influenced.
Disclosure of Invention
In view of this, the application provides a seasoning feeding control method and device, a storage medium, and a computer device, which effectively solve the technical problems of seasoning sticking and poor cooking effect caused by the seasoning sticking on the pot on the basis of ensuring accurate seasoning discharging time, and ensure the cooking effect.
According to one aspect of the present application, there is provided a method of controlling seasoning delivery, the method comprising:
responding to a seasoning throwing instruction, and acquiring the current position of the stirring device;
and determining the avoidance rotating speed of the stirring device based on the discharging time corresponding to the seasoning and the current position, so that the stirring device is positioned in the range of a preset avoidance area when moving to the discharging time according to the avoidance rotating speed.
Specifically, the acquiring the current position of the stirring device specifically includes:
responding to a seasoning putting instruction, and acquiring the current position of the stirring device;
the determining of the avoiding rotating speed of the stirring device based on the discharging time corresponding to the seasoning and the current position specifically comprises:
if the current position of the stirring device is within the range of a preset avoidance area, calculating a first maximum rotating speed of the stirring device which is kept in the preset avoidance area within the discharging time;
and determining the avoiding rotating speed according to the first maximum rotating speed, wherein the avoiding rotating speed is less than or equal to the first maximum rotating speed.
Specifically, the method further comprises:
if the current position of the stirring device is located outside the range of a preset avoidance area, calculating the minimum rotating speed and the second maximum rotating speed of the stirring device which is transferred into the preset avoidance area within the discharging time;
and determining the avoiding rotating speed according to the minimum rotating speed and the second maximum rotating speed, wherein the avoiding rotating speed is greater than or equal to the minimum rotating speed and less than or equal to the second maximum rotating speed.
Specifically, the calculating the minimum rotating speed and the second maximum rotating speed of the stirring device, which is transferred into the preset avoidance area within the discharging time, specifically includes:
acquiring the distance between the stirring device and the turning-out edge position of the preset avoidance area according to the current steering and the current position of the stirring device;
if the distance is smaller than or equal to a preset reversing distance, determining that the avoidance steering of the stirring device is the opposite direction of the current steering;
and calculating the minimum rotating speed and the second maximum rotating speed of the stirring device which is transferred into the preset avoidance area within the discharging time according to the avoidance steering, the current position and the discharging time.
Specifically, after the avoiding rotation speed of the stirring device is determined based on the discharging time corresponding to the seasoning and the current position, the method further includes:
determining the avoiding movement end position of the stirring device according to the avoiding rotating speed and the discharging time;
and determining the feeding rotating speed of the stirring device based on the avoiding motion ending position and the feeding duration corresponding to the seasoning feeding instruction.
Specifically, the method further comprises:
and before the discharging time, controlling the stirring device to move according to the avoiding rotating speed.
Specifically, the method further comprises:
and after the discharging time, controlling the stirring device to move according to the feeding rotating speed within the feeding duration.
Specifically, before determining the avoiding rotation speed of the stirring device based on the discharging time corresponding to the seasoning and the current position, the method further includes:
and acquiring the seasoning preparation time corresponding to the seasoning feeding device based on the seasoning feeding device corresponding to the seasoning feeding instruction, and determining the seasoning preparation time as the discharging time.
Specifically, the preset avoidance area is determined according to a turning-in edge position and a turning-out edge position of the stirring device, wherein when the stirring device rotates according to the current rotation direction, all dishes fall into the bottom of the cooking utensil when the stirring device rotates to the turning-in edge position, and when the stirring device rotates to the turning-out edge position, the stirring device does not contact with the dishes.
According to another aspect of the present application, there is provided a control device for seasoning delivery, the device comprising:
the current position acquisition module is used for responding to the seasoning throwing instruction and acquiring the current position of the stirring device;
and the first avoidance rotating speed determining module is used for determining the avoidance rotating speed of the stirring device based on the discharging time corresponding to the seasoning feeding instruction and the current position, so that the stirring device is positioned in the range of a preset avoidance area when the stirring device moves to the discharging time according to the avoidance rotating speed.
Specifically, the current position obtaining module is specifically configured to obtain a current position of the stirring device in response to a seasoning dropping instruction;
the first avoidance rotating speed determining module specifically includes:
the first constraint rotating speed calculating unit is used for calculating a first maximum rotating speed of the stirring device kept in a preset avoidance area in the discharging time if the current position of the stirring device is located in the range of the preset avoidance area;
and the first avoidance rotating speed determining unit is used for determining the avoidance rotating speed according to the first maximum rotating speed, wherein the avoidance rotating speed is less than or equal to the first maximum rotating speed.
Specifically, the apparatus further comprises:
the constraint rotating speed calculating module is used for calculating the minimum rotating speed and the second maximum rotating speed of the stirring device which is transferred into a preset avoidance area within the discharging time if the current position of the stirring device is outside the range of the preset avoidance area;
and the second avoidance rotating speed determining module is used for determining the avoidance rotating speed according to the minimum rotating speed and the second maximum rotating speed, wherein the avoidance rotating speed is greater than or equal to the minimum rotating speed and less than or equal to the second maximum rotating speed.
Specifically, the second avoidance rotation speed determining module specifically includes:
the distance calculation unit is used for acquiring the distance between the stirring device and the turning-out edge position of the preset avoidance area according to the current steering and the current position of the stirring device;
the avoidance steering determining unit is used for determining that the avoidance steering of the stirring device is the opposite direction of the current steering if the distance is smaller than or equal to the preset reversing distance;
and the second constraint rotating speed calculating unit is used for calculating the minimum rotating speed and the second maximum rotating speed of the stirring device which is transferred into the preset avoidance area within the discharging time according to the avoidance steering, the current position and the discharging time.
Specifically, the apparatus further comprises:
the avoidance position determining module is used for determining an avoidance movement ending position of the stirring device according to the avoidance rotating speed and the discharging time after the first avoidance rotating speed determining module determines the avoidance rotating speed of the stirring device based on the discharging time corresponding to the seasoning and the current position;
and the feeding rotating speed determining module is used for determining the feeding rotating speed of the stirring device based on the avoiding movement ending position and the feeding duration corresponding to the seasoning feeding instruction.
Specifically, the apparatus further comprises:
and the avoidance motion control module is used for controlling the stirring device to move according to the avoidance rotating speed before the discharging time.
Specifically, the apparatus further comprises:
and the feeding motion control module is used for controlling the stirring device to move according to the feeding rotating speed within the feeding duration after the discharging time.
Specifically, the apparatus further comprises:
and the discharging time determining module is used for acquiring the seasoning preparing time corresponding to the seasoning feeding equipment based on the seasoning feeding equipment corresponding to the seasoning feeding instruction before the first avoidance rotating speed determining module determines the avoidance rotating speed of the stirring device based on the discharging time corresponding to the seasoning and the current position, and determining the seasoning preparing time as the discharging time.
Specifically, the preset avoidance area is determined according to a turning-in edge position and a turning-out edge position of the stirring device, wherein when the stirring device rotates according to the current rotation direction, all dishes fall into the bottom of the cooking utensil when the stirring device rotates to the turning-in edge position, and when the stirring device rotates to the turning-out edge position, the stirring device does not contact with the dishes.
According to still another aspect of the present application, there is provided a storage medium having a computer program stored thereon, the program, when executed by a processor, implementing the method of controlling the seasoning delivery described above.
According to yet another aspect of the present application, there is provided a computer device comprising a storage medium, a processor and a computer program stored on the storage medium and executable on the processor, wherein the processor implements the method for controlling the dispensing of seasoning.
By means of the technical scheme, according to the seasoning throwing control method and device, the storage medium and the computer device, when a seasoning throwing instruction exists, the current position of the stirring device is obtained, the avoiding rotating speed of the stirring device is calculated by combining the current position of the stirring device and the seasoning discharging time indicated by the seasoning throwing instruction, and therefore under the condition that the stirring device rotates according to the avoiding rotating speed, the stirring device can rotate to the preset avoiding area within the discharging time. The embodiment of the application calculates agitating unit's the rotational speed of dodging according to agitating unit's current position and the ejection of compact time that the instruction corresponds is put in to condiment, thereby realize the control to agitating unit, compare with the traditional mode that directly triggers the ejection of compact and the agitating unit position when not considering the ejection of compact according to the instruction is put in to condiment, thereby the problem of gluing the pot is caused easily to the condiment that skew edible material position leads to when having solved the material mode of throwing of randomness among the prior art makes the condiment put in on the pot wall easily, on the accurate basis of ejection of compact time of guaranteeing condiment, effectually avoided the condiment to glue the pot and because of the culinary art effect that the condiment glued the pot and caused is not good, the culinary art effect has been guaranteed.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flow chart illustrating a method for controlling seasoning delivery according to an embodiment of the present disclosure;
fig. 2 shows a schematic structural diagram of a pot provided in the embodiment of the present application;
fig. 3 is a schematic flow chart illustrating another seasoning delivery control method according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram illustrating a control device for seasoning delivery according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram illustrating another seasoning delivery control device according to an embodiment of the present disclosure.
Detailed Description
The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
In this embodiment, a method for controlling seasoning delivery is provided, as shown in fig. 1, the method includes:
and 102, determining the avoidance rotating speed of the stirring device based on the discharging time and the current position corresponding to the seasoning, so that the stirring device is located in the range of a preset avoidance area when moving to the discharging time according to the avoidance rotating speed.
The embodiment of the application can be applied to an intelligent cooking system, the intelligent cooking system can realize automatic feeding of seasonings, the specific system composition is not limited, for example, the system can contain a batch feeder, an intelligent cooking pot and a central control machine, the batch feeder is used for preparing seasonings contained in a seasoning feeding instruction (such as quantifying the seasonings) and transporting the prepared seasonings to a discharge port, the discharge port is aligned with the inside of the intelligent cooking pot, the central control machine can realize control over the batch feeder and the cooking pot, for example, the system only contains the intelligent cooking pot and the batch feeder, the control function realized by the central control machine is realized by the intelligent cooking pot, for example, the system contains the intelligent cooking pot of a batch feeder, and the intelligent cooking pot can realize functions of the batch feeder and the central control machine.
For the sake of clarity, the embodiment of the present application is described by taking a system including a batch feeder, an intelligent cooking pot and a central control machine as an example.
In the above embodiment, the central control machine receives the seasoning feeding instruction, or the central control machine analyzes the seasoning feeding instruction according to a currently executed menu program, and after the seasoning feeding instruction is obtained, the batch feeder can be controlled to execute the seasoning feeding instruction, and the batch feeder performs quantitative preparation on the seasoning fed by the seasoning feeding instruction and transmits the seasoning to the discharge port to realize discharging. As shown in fig. 2, when the pot is used, the pot mouth can be obliquely placed, and can also face the vertical direction, when the stirring device is used for stirring counterclockwise, when the stirring rod rotates to the position of the point B, the food materials are about to enter the stirring stage, and in the stirring process, the food materials irregularly roll, and the food materials in the discharging area corresponding to the discharging port are taken away, if the food materials are discharged at the moment, the seasonings are adhered to the pot wall to cause the pot to be burnt, when the stirring rod is at the position C, the stirring is basically completed at the moment, but the food materials are remained on the stirring rod, and the remained food materials completely fall off when the stirring rod rotates to the point a, the area AB is a safe discharging area, i.e., a preset avoiding area, of course, in some scenes, the area CB can be selected as the preset avoiding area, for example, when the amount of the food materials in the pot exceeds a preset value, the area is taken as the preset avoiding area, and when the food materials in the pot are less than the preset value, the area is taken as the preset avoiding area. For example, the position a is used as a starting point, the counterclockwise direction is a positive direction, the current position of the stirring device is the position B, an included angle between the position B and the position a is 120 degrees, the discharging time is 5s, and then the stirring device is controlled to rotate for 5s according to the avoiding rotating speed (after the discharging instruction is triggered, there may be a time delay of material preparation or pipeline transportation, and this time can be known). In another embodiment, assuming that the stirring device can reach the position a in less than one turn, or can reach the position a in more than 1 turn, the avoiding rotation speed can be (360n + 240)/5 = (72n + 48) degrees/s, and similarly, assuming that the stirring device rotates back to the position B after 5s, the avoiding rotation speed can be 360n/5= (72n) degrees/s, and certainly, the stirring device only needs to be located in the AB region after 5s, so the avoiding rotation speed can range from (72n + 48) degrees/s to 72 (n + 1) degrees/s, and the avoiding rotation speed can also be 0, so that the stirring device can fall on the food material when the seasoning is sprayed out from the discharge port, but not on the pot wall, the seasoning can accurately fall on the food material in the pot when the seasoning is sprayed out from the discharge port, the sticking caused by seasoning feeding is avoided, and the central control machine only needs to adjust the rotation speed of the stirring device, and the feeding instruction triggering time of the feeding machine is not needed to control, and the control logic is simple.
It should be noted that, in combination with an actual application scenario, the avoidance rotation speed should also satisfy a predetermined rotation speed range of the stirring device, for example, the predetermined rotation speed range of the stirring device is 0 to 3 turns/s, that is, 0 to 1080 degrees/s, and the avoidance rotation speed should be within the predetermined rotation speed range, that is, n may take any value from 0 to 14. Further, when the actual avoidance rotating speed is selected, in order to keep the stirring state of the food materials, the avoidance rotating speed preferably does not need to be selected to be too small, and in order to not destroy the integrity of the food materials, the avoidance rotating speed also does not need to be selected to be too large, and the actual avoidance rotating speed can be preferably close to the current rotating speed of the stirring device. For example, the current rotating speed is 720 degrees/s, according to the range (72n + 48) degrees/s-72 (n + 1) degrees/s of the avoiding rotating speed, the current rotating speed of 720 degrees/s can be directly selected as the avoiding rotating speed, and for example, when the current rotating speed is 610 degrees/s, n is 8, the avoiding rotating speed range is 624 degrees/s-648 degrees/s, when n is 7, the avoiding rotating speed range is 552 degrees/s-576 degrees/s, and 624 degrees/s which is closest to the current rotating speed of 600 degrees/s can be selected.
Through the technical scheme who uses this embodiment, when there is the condiment instruction of puting in, acquire agitating unit's current position, combine agitating unit's current position and the condiment ejection of compact time that the condiment instruction of puting in instructs, calculate agitating unit's avoidance rotational speed to under making agitating unit according to avoiding rotational speed pivoted condition, can rotate to predetermineeing the within range of dodging the region at ejection of compact time agitating unit. The embodiment of the application calculates agitating unit's the rotational speed of dodging according to agitating unit's current position and the ejection of compact time that the instruction corresponds is put in to condiment, thereby realize the control to agitating unit, compare with the traditional mode that directly triggers the ejection of compact and the agitating unit position when not considering the ejection of compact according to the instruction is put in to condiment, thereby the problem of gluing the pot is caused easily to the condiment that skew edible material position leads to when having solved the material mode of throwing of randomness among the prior art makes the condiment put in on the pot wall easily, on the accurate basis of ejection of compact time of guaranteeing condiment, effectually avoided the condiment to glue the pot and because of the culinary art effect that the condiment glued the pot and caused is not good, the culinary art effect has been guaranteed. In this application embodiment, can pass through encoder feedback output agitating unit position through agitator motor turned angle, also can detect agitating unit's transit time at the fixed point through photoelectric sensor, combine current rotational speed to calculate agitating unit position etc. and it is unnecessary here to describe repeatedly.
Further, as a refinement and an extension of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process of the embodiment, another method for controlling the seasoning delivery is provided, as shown in fig. 2, the method includes:
Step 202, acquiring seasoning preparation time corresponding to the seasoning feeding device based on the seasoning feeding device corresponding to the seasoning feeding instruction, and determining the seasoning preparation time as discharging time.
In the above embodiment, the discharging time is the preparation time of the feeding device corresponding to the seasoning throwing instruction for the corresponding type of seasoning contained in the instruction, the seasoning preparation time generally includes seasoning quantitative time and seasoning delivery time, the seasoning quantitative time refers to a process in which the feeding machine obtains the seasoning of a corresponding specification according to the seasoning amount indicated by the seasoning throwing instruction, and the seasoning delivery refers to a process in which the feeding machine delivers the quantitative seasoning to the discharging port through a specific delivery pipe, for example, the seasoning throwing instruction indicates that the feeding machine 1 throws 2g of salt into the pot 1, so that the feeding machine 1 should first quantify 2g of salt when executing the seasoning throwing instruction, and then deliver the quantitative salt to the discharging port from a special delivery pipe to realize seasoning throwing. The seasoning conveying time is mainly determined according to the distance between the feeding device and the intelligent cooking pot (or can be understood as the length of a seasoning conveying pipeline) and the working performance of the feeding device, for example, the length of the conveying pipeline is 2m, the conveying speed of the seasoning is 0.4m/s, then the conveying time of the seasoning is 2/0.4=5s, and the conveying speed of the seasoning can be changed according to different seasoning types, such as the conveying speed of the feeding machine 1 to salt is 1m/s, and the conveying speed to soy sauce is 0.4m/s. In addition, the seasoning dosing time is determined from operating parameters of the dosing device or historical test data, for example dosing time of 2g of salt by dosing machine 1 in a historical test of 0.5s.
Of course, both seasoning dosing and seasoning delivery can be accomplished simultaneously, such as by providing a dosing assembly at the beginning of the delivery conduit, thereby allowing only 2g of salt to enter the conduit as seasoning is delivered through the conduit. The seasoning preparation time comprises only the seasoning delivery time.
And 204, determining an avoidance rotating speed according to the first maximum rotating speed, wherein the avoidance rotating speed is less than or equal to the first maximum rotating speed.
In step 203 and step 204, a specific implementation manner of determining an avoiding rotation speed of the stirring apparatus is provided, and if the current position of the stirring apparatus belongs to a preset avoiding region when the seasoning feeding instruction is received, the rotation speed of the stirring apparatus may be controlled to keep the stirring apparatus within a range of the preset avoiding region all the time during the discharging time, for example, as shown in fig. 2, if the current position of the stirring apparatus is within an AB region, the rotation speed of the stirring apparatus is controlled to keep the stirring apparatus moving within the AB region during the discharging time.
In any embodiment of the application, specifically, the preset avoidance area is determined according to a turning-in edge position and a turning-out edge position of the stirring device, wherein when the stirring device rotates according to the current rotation direction, all dishes fall into the bottom of the cooking utensil when the stirring device rotates to the turning-in edge position, and when the stirring device rotates to the turning-out edge position, the stirring device does not contact with the dishes.
Therefore, when calculating the first maximum rotation speed, the calculation should be based on the current position of the stirring device, the position of the turning-out edge of the avoidance area, and the discharging time, for example, if the current position of the stirring device belongs to the AB area, the included angle between the distances a is 30 degrees, the included angle AB is 120 degrees, and the discharging time is 3s, then the first maximum rotation speed should be (120-30)/3 =30 degrees/s. Further, an avoidance rotating speed is determined according to the first maximum rotating speed, wherein the value range of the avoidance rotating speed is 0-the first maximum rotating speed, namely the stirring device can stop rotating and keep still at the current position, and can also rotate at a speed not exceeding the first maximum rotating speed, and always keep in an avoidance area range in the discharging time.
Step 205, if the current position of the stirring device is outside the range of the preset avoidance region, calculating the minimum rotating speed and the second maximum rotating speed of the stirring device in the preset avoidance region within the discharging time.
And step 206, determining an avoidance rotating speed according to the minimum rotating speed and the second maximum rotating speed, wherein the avoidance rotating speed is greater than or equal to the minimum rotating speed and less than or equal to the second maximum rotating speed.
In step 205 and step 206, another specific implementation manner of determining an avoiding rotation speed of the stirring apparatus is provided, if the current position of the stirring apparatus does not belong to the preset avoiding region when the seasoning feeding instruction is received, the rotation speed of the stirring apparatus is controlled to make the stirring apparatus turn into the preset avoiding region within the discharging time on the premise that the rotation distance is as small as possible, and the stirring apparatus stirs the food material at most once within the discharging time, so that the food material is sufficiently precipitated, for example, as shown in fig. 2, if the current position of the stirring apparatus is outside the AB region, the rotation speed of the stirring apparatus is controlled to make the stirring apparatus turn into the AB region within the discharging time.
When the second maximum rotation speed is calculated, the second maximum rotation speed is calculated based on the current position of the stirring device, the turning-in position of the avoidance area, the turning-out edge position and the discharging time, for example, the current position of the stirring device belongs to the area AB, the included angle of the distance a is 30 degrees, the included angle AB is 120 degrees, and the discharging time is 3s, then the stirring device is controlled to turn into the area AB within the charging time and not to be turned out, that is, the stirring device is rotated to at least the position a and to the position B at most within the charging time, the second maximum rotation speed is (120 + 30)/3 =50 degrees/s, and the minimum rotation speed is 30/3=10 degrees/s. Further, confirm according to second maximum rotational speed and minimum rotational speed and dodge the rotational speed, wherein, the value range of dodging the rotational speed is minimum rotational speed ~ second maximum rotational speed, agitating unit can rotate according to the speed that is not less than minimum rotational speed and does not exceed second maximum rotational speed promptly, it dodges regional within range and does not rotate away again to go into in ejection of compact time, confirm to dodge the rotational speed through above-mentioned mode, reduce the stirring number of times to eating the material in ejection of compact time, can make the more abundant sediment of eating the material in the bottom, cover the pot wall, so that better when the convenient condiment ejection of compact falls on eating the material, avoid condiment to glue the pot, paste the pot, guarantee the dish taste.
In addition, in order to reduce the rotation distance of the stirring device in the feeding time, so that the stirring device can be more quickly turned to the avoiding area, and further reduce the stirring of the food materials, the method for calculating the minimum rotation speed and the second maximum rotation speed in step 205 may specifically include:
step 2051, acquiring a distance between the stirring device and a turning-out edge position of a preset avoidance area according to the current steering and the current position of the stirring device;
step 2052, if the distance is less than or equal to the preset reversing distance, determining that the avoidance steering of the stirring device is the opposite direction of the current steering;
and step 2053, calculating the minimum rotating speed and the second maximum rotating speed of the stirring device which is transferred into the preset avoidance area in the discharging time according to the avoidance steering, the current position and the discharging time.
In the above embodiment, if the current position of the stirring device is outside the preset avoidance region, the avoidance turning of the stirring device may be determined according to the distance from the current position of the stirring device to the preset avoidance region turning-out edge position, specifically, if the current position of the stirring device is closer to the preset avoidance region turning-out edge position, that is, the distance is less than or equal to the preset turning-over distance, the avoidance turning of the stirring device may be determined to be the direction opposite to the current turning, that is, if the current stirring device has just turned out of the preset avoidance region, the turning distance of the stirring device turning into the avoidance region again in the original direction is longer than the turning distance of turning into the avoidance region again in the reverse direction, which is not beneficial for the stirring device to turn into the avoidance region faster, and at this time, the stirring device has just contacted the food material and has not yet fully stirred, then the stirring device can be controlled to rotate to avoid the stirring device from further contacting with the food material to generate sufficient stirring, so that the food material is not beneficial to fully depositing and covering the pot wall, in the scene, because the stirring device needs to perform reverse avoidance rotation, the minimum rotating speed is calculated according to the distance between the current position and the rotated-out edge position of the preset avoidance area, and the second maximum rotating speed is calculated according to the distance between the current position and the rotated-in edge position of the preset avoidance area, for example, the current position of the stirring device belongs to the area AB, the included angle of the distance B is 30 degrees, the included angle of the AB is 120 degrees, the discharging time is 3s, the preset reversing distance is 30 degrees of the included angle of the distance B, then the avoidance rotation of the stirring device is the opposite direction of the current rotation, namely the avoidance rotation is clockwise direction, the stirring device is further controlled to rotate into the area AB within the feeding time and not to rotate out again, that is, the stirring device should rotate to at least position B and at most position a within the feeding time, the second maximum rotation speed should be (120 + 30)/3 =50 degrees/s, and the minimum rotation speed should be 30/3=10 degrees/s. Then, any rotation speed between the minimum rotation speed and the second maximum rotation speed is selected as the avoidance rotation speed.
In addition, in this embodiment, if the distance between the blending device and the turning-out edge position of the preset avoidance region is greater than the preset reversing distance, the avoidance steering of the blending device still maintains the current steering, and the calculation manner of the minimum rotation speed and the second maximum rotation speed and the determination manner of the avoidance rotation speed may refer to the corresponding descriptions of step 205 and step 206.
Step 207, determining the avoiding movement ending position of the stirring device according to the avoiding rotating speed and the discharging time;
and 208, determining the feeding rotating speed of the stirring device based on the avoiding motion ending position and the feeding duration corresponding to the seasoning feeding instruction.
In step 207 and step 208, if the process of adding seasoning into the pot from the discharge port lasts for a certain time, it should be further ensured that the stirring device is always in the avoiding region during the discharging process, for example, when the discharge port discharges, the rotation speed of the stirring device is controlled to be 0, so that the stirring device is stopped in the avoiding region, the avoiding movement end position of the stirring device during the discharging time can be calculated by combining the avoiding rotation speed and the discharging time, so that the maximum rotation speed of the stirring device during the feeding duration is calculated according to the avoiding movement end position of the stirring device in combination with the avoiding region range and the feeding duration, and the feeding rotation speed is determined according to the maximum rotation speed, so as to ensure that the stirring device does not stir the food material during the whole discharging process, ensure that the seasoning falls onto the food material, and does not fall onto the wall of the pot to cause sticking, prolong the service life of the pot, and ensure that the taste of the food is not affected.
In any embodiment of the application, specifically, before the discharge time, the stirring device is controlled to move according to the avoiding rotating speed. And after the discharging time, controlling the stirring device to move according to the feeding rotating speed within the feeding duration.
In the above embodiment, after the avoiding rotational speed movement is determined, the stirring device is controlled to rotate at the avoiding rotational speed before the discharging time, so that the stirring device is positioned in the range of the preset avoiding region when the discharging port discharges materials, and after the feeding rotational speed is determined, the stirring device is controlled to rotate at the feeding rotational speed within the feeding duration time, so that in the process of feeding seasonings into the pot from the discharging port, the stirring device is always positioned in the range of the preset avoiding region, thereby effectively avoiding the phenomenon that the seasonings stick to the pot and the cooking effect caused by the fact that the seasonings stick to the pot are poor, and ensuring the cooking effect.
Further, as a specific implementation of the method in fig. 1, an embodiment of the present application provides a control device for seasoning delivery, as shown in fig. 4, the device includes:
a current position obtaining module 31, configured to obtain a current position of the stirring apparatus;
the first avoidance rotating speed determining module 32 is configured to determine an avoidance rotating speed of the stirring device based on the discharging time and the current position corresponding to the seasoning throwing instruction, so that the stirring device is located within a range of a preset avoidance area when moving to the discharging time according to the avoidance rotating speed.
In a specific application scenario, the current position obtaining module 31 is specifically configured to obtain the current position of the stirring apparatus in response to a seasoning dropping instruction, where the seasoning dropping instruction carries a discharging time.
In a specific application scenario, as shown in fig. 5, the first avoidance rotation speed determining module 32 specifically includes:
the first constraint rotating speed calculating unit 321 is configured to calculate a first maximum rotating speed at which the stirring device is kept in a preset avoidance region within the discharging time if the current position of the stirring device is within the range of the preset avoidance region;
a first avoidance rotation speed determining unit 322, configured to determine an avoidance rotation speed according to the first maximum rotation speed, where the avoidance rotation speed is less than or equal to the first maximum rotation speed.
In a specific application scenario, as shown in fig. 5, the apparatus further includes:
the constraint rotating speed calculating module 33 is configured to calculate a minimum rotating speed and a second maximum rotating speed of the stirring device, which are transferred into the preset avoidance region within the discharging time, if the current position of the stirring device is outside the range of the preset avoidance region;
and a second avoidance rotation speed determination module 34, configured to determine an avoidance rotation speed according to the minimum rotation speed and the second maximum rotation speed, where the avoidance rotation speed is greater than or equal to the minimum rotation speed and less than or equal to the second maximum rotation speed.
Specifically, the second avoidance rotation speed determining module 34 specifically includes:
a distance calculation unit 341, configured to obtain a distance between the stirring device and a roll-out edge position of a preset avoidance region according to the current steering and the current position of the stirring device;
an avoidance steering determining unit 342, configured to determine that avoidance steering of the stirring device is a reverse direction of the current steering if the distance is less than or equal to the preset steering distance;
and a second constraint rotating speed calculating unit 343, configured to calculate, according to the avoidance steering, the current position, and the discharging time, a minimum rotating speed and a second maximum rotating speed at which the stirring apparatus is turned into the preset avoidance region within the discharging time.
In a specific application scenario, as shown in fig. 5, the apparatus further includes:
the avoidance position determining module 35 is used for determining an avoidance movement ending position of the stirring device according to the avoidance rotating speed and the discharging time after the first avoidance rotating speed determining module determines the avoidance rotating speed of the stirring device based on the discharging time and the current position corresponding to the seasoning;
and the feeding rotating speed determining module 36 is configured to determine a feeding rotating speed of the stirring device based on the avoiding movement ending position and the feeding duration corresponding to the seasoning feeding instruction.
In a specific application scenario, as shown in fig. 5, the apparatus further includes:
and the avoidance motion control module 37 is used for controlling the stirring device to move according to avoidance rotating speed before the discharging time.
In a specific application scenario, as shown in fig. 5, the apparatus further includes:
and the feeding motion control module 38 is used for controlling the stirring device to move according to the feeding rotating speed after the discharging time and within the feeding duration.
In a specific application scenario, as shown in fig. 5, the apparatus further includes:
and the discharging time determining module 39 is used for acquiring the seasoning preparation time corresponding to the seasoning feeding equipment based on the seasoning feeding equipment corresponding to the seasoning feeding instruction before the first avoidance rotating speed determining module determines the avoidance rotating speed of the stirring device based on the discharging time and the current position corresponding to the seasoning, and determining the seasoning preparation time as the discharging time.
Specifically, the preset avoidance area is determined according to the turning-in edge position and the turning-out edge position of the stirring device, when the stirring device rotates according to the current turning direction, all the dishes fall into the bottom of the cooking utensil when the stirring device rotates to the turning-in edge position, and the stirring device does not contact the dishes when the stirring device rotates to the turning-out edge position.
It should be noted that other corresponding descriptions of the functional units related to the control device for releasing seasoning provided in the embodiment of the present application may refer to the corresponding descriptions in fig. 1 to fig. 3, and are not repeated herein.
Based on the method shown in fig. 1 to 3, correspondingly, the embodiment of the present application further provides a storage medium, on which a computer program is stored, where the program, when executed by a processor, implements the method for controlling the seasoning delivery shown in fig. 1 to 3.
Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the implementation scenarios of the present application.
Based on the above methods shown in fig. 1 to fig. 3 and the virtual device embodiments shown in fig. 4 and fig. 5, in order to achieve the above object, an embodiment of the present application further provides a computer device, which may specifically be a personal computer, a server, a network device, and the like, where the computer device includes a storage medium and a processor; a storage medium for storing a computer program; a processor for executing a computer program to implement the method for controlling the seasoning delivery as shown in fig. 1 to 3.
Optionally, the computer device may also include a user interface, a network interface, a camera, radio Frequency (RF) circuitry, sensors, audio circuitry, a WI-FI module, and so forth. The user interface may include a Display screen (Display), an input unit such as a keypad (Keyboard), etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (e.g., a bluetooth interface, WI-FI interface), etc.
It will be appreciated by those skilled in the art that the present embodiment provides a computer device architecture that is not limiting of the computer device, and that may include more or fewer components, or some components in combination, or a different arrangement of components.
The storage medium may further include an operating system and a network communication module. An operating system is a program that manages and maintains the hardware and software resources of a computer device, supporting the operation of information handling programs, as well as other software and/or programs. The network communication module is used for realizing communication among the components in the storage medium and communication with other hardware and software in the entity device.
Through the description of the above embodiment, those skilled in the art can clearly understand that the present application can be implemented by means of software and a necessary general hardware platform, and also can obtain the current position of the stirring device through hardware when a seasoning throwing instruction exists, and calculate the avoiding rotation speed of the stirring device by combining the current position of the stirring device and the seasoning discharging time indicated by the seasoning throwing instruction, so that the stirring device can rotate to the preset avoiding region within the discharging time under the condition that the stirring device rotates according to the avoiding rotation speed. The embodiment of the application calculates agitating unit's the rotational speed of dodging according to agitating unit's current position and the ejection of compact time that the instruction corresponds is put in to condiment, thereby realize the control to agitating unit, compare with the traditional mode that directly triggers the ejection of compact and the agitating unit position when not considering the ejection of compact according to the instruction is put in to condiment, thereby the problem of gluing the pot is caused easily to the condiment that skew edible material position leads to when having solved the material mode of throwing of randomness among the prior art makes the condiment put in on the pot wall easily, on the accurate basis of ejection of compact time of guaranteeing condiment, effectually avoided the condiment to glue the pot and because of the culinary art effect that the condiment glued the pot and caused is not good, the culinary art effect has been guaranteed.
Those skilled in the art will appreciate that the figures are merely schematic representations of one preferred implementation scenario and that the blocks or flow diagrams in the figures are not necessarily required to practice the present application. Those skilled in the art will appreciate that the modules in the devices in the implementation scenario may be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or may be located in one or more devices different from the present implementation scenario with corresponding changes. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.
The above application serial numbers are for description purposes only and do not represent the superiority or inferiority of the implementation scenarios. The above disclosure is only a few specific implementation scenarios of the present application, but the present application is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present application.
Claims (11)
1. A method for controlling the dispensing of seasoning, the method comprising:
acquiring the current position of the stirring device;
determining the avoidance rotating speed of the stirring device based on the discharging time corresponding to the seasoning and the current position, so that the stirring device is located in the range of a preset avoidance area when the stirring device moves to the discharging time according to the avoidance rotating speed, wherein the preset avoidance area is determined according to the turning-in edge position and the turning-out edge position of the stirring device, when the stirring device rotates according to the current turning direction, all dishes fall into the bottom of the cooking utensil when the stirring device rotates to the turning-in edge position, and when the stirring device rotates to the turning-out edge position, the stirring device does not contact with the dishes.
2. The method according to claim 1, wherein the obtaining of the current position of the stirring device specifically comprises:
responding to a seasoning putting instruction, and acquiring the current position of the stirring device;
the determining of the avoiding rotating speed of the stirring device based on the discharging time corresponding to the seasoning and the current position specifically comprises:
if the current position of the stirring device is located in the range of the preset avoidance area, calculating a first maximum rotating speed of the stirring device which is kept in the preset avoidance area in the discharging time;
and determining the avoiding rotating speed according to the first maximum rotating speed, wherein the avoiding rotating speed is less than or equal to the first maximum rotating speed.
3. The method of claim 2, further comprising:
if the current position of the stirring device is located outside the range of a preset avoidance area, calculating the minimum rotating speed and the second maximum rotating speed of the stirring device which is transferred into the preset avoidance area within the discharging time;
and determining the avoidance rotating speed according to the minimum rotating speed and the second maximum rotating speed, wherein the avoidance rotating speed is greater than or equal to the minimum rotating speed and less than or equal to the second maximum rotating speed.
4. The method according to claim 3, wherein the calculating the minimum rotation speed and the second maximum rotation speed of the stirring device rotating into the preset avoidance region in the discharging time comprises:
acquiring the distance between the stirring device and the turning-out edge position of the preset avoidance area according to the current steering and the current position of the stirring device;
if the distance is smaller than or equal to a preset reversing distance, determining that the avoidance steering of the stirring device is the opposite direction of the current steering;
and calculating the minimum rotating speed and the second maximum rotating speed of the stirring device which is transferred into the preset avoidance area within the discharging time according to the avoidance steering, the current position and the discharging time.
5. The method of any of claims 2 to 4, wherein after determining the avoiding rotational speed of the blending device based on the corresponding discharge time of the seasoning and the current position, the method further comprises:
determining the avoiding movement end position of the stirring device according to the avoiding rotating speed and the discharging time;
and determining the feeding rotating speed of the stirring device based on the avoiding movement end position and the feeding duration corresponding to the seasoning feeding instruction.
6. The method according to any one of claims 2 to 4, further comprising:
and before the discharging time, controlling the stirring device to move according to the avoiding rotating speed.
7. The method of claim 6, further comprising:
and after the discharging time, controlling the stirring device to move according to the feeding rotating speed within the feeding duration.
8. The method of any of claims 2 to 4, wherein prior to determining the evasive rotational speed of the blending device based on the corresponding discharge time of the seasoning and the current position, the method further comprises:
and acquiring the seasoning preparation time corresponding to the seasoning feeding device based on the seasoning feeding device corresponding to the seasoning feeding instruction, and determining the seasoning preparation time as the discharging time.
9. A control device for seasoning dispensing, the device comprising:
the current position acquisition module is used for acquiring the current position of the stirring device;
the first avoidance rotating speed determining module is used for determining the avoidance rotating speed of the stirring device based on the discharging time corresponding to the seasoning and the current position, so that the stirring device moves to the discharging time according to the avoidance rotating speed and is located in the range of a preset avoidance area, wherein the preset avoidance area is determined according to the turning-in edge position and the turning-out edge position of the stirring device, when the stirring device rotates according to the current turning direction, all dishes fall into the bottom of the cooking appliance when the stirring device rotates to the turning-in edge position, and when the stirring device rotates to the turning-out edge position, the stirring device does not contact with the dishes.
10. A storage medium having stored thereon a computer program, characterized in that said program, when executed by a processor, implements a method of controlling the delivery of a seasoning according to any of claims 1 to 8.
11. A computer device comprising a storage medium, a processor and a computer program stored on the storage medium and executable on the processor, wherein the processor implements the method of controlling the delivery of seasoning according to any one of claims 1 to 8 when executing the program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010405934.9A CN113662437B (en) | 2020-05-14 | 2020-05-14 | Seasoning feeding control method and device, storage medium and computer equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010405934.9A CN113662437B (en) | 2020-05-14 | 2020-05-14 | Seasoning feeding control method and device, storage medium and computer equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113662437A CN113662437A (en) | 2021-11-19 |
| CN113662437B true CN113662437B (en) | 2022-10-18 |
Family
ID=78537126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010405934.9A Active CN113662437B (en) | 2020-05-14 | 2020-05-14 | Seasoning feeding control method and device, storage medium and computer equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113662437B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115005663B (en) * | 2022-05-13 | 2024-02-02 | 北京橡鹭科技有限公司 | Feeding control method and device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205216632U (en) * | 2015-12-25 | 2016-05-11 | 杨建铭 | Liquid seasoning agitating unit |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103110340B (en) * | 2013-02-28 | 2015-07-22 | 许锦标 | Automatic flavoring device suitable for full-automatic cooker |
| CN203234588U (en) * | 2013-04-08 | 2013-10-16 | 兰京 | Strainer holder for hot pot |
| CN204483882U (en) * | 2015-03-16 | 2015-07-22 | 九阳股份有限公司 | A kind of efficient cooking machine |
| CN105595797B (en) * | 2016-03-18 | 2018-02-27 | 西安天柏安装装饰工程有限责任公司 | A kind of automatic dish cooking machine |
| CN106073536A (en) * | 2016-06-30 | 2016-11-09 | 麦重伟 | A kind of food stirring device |
| CN107550232A (en) * | 2016-07-01 | 2018-01-09 | 飞利浦（嘉兴）健康科技有限公司 | Cooking pot and cooking methods |
| CN205850678U (en) * | 2016-08-02 | 2017-01-04 | 长安大学 | A kind of compound mixing device |
| CN109605395B (en) * | 2019-01-09 | 2022-03-04 | 北京精密机电控制设备研究所 | Full-automatic beverage preparation robot |
| CN109769883A (en) * | 2019-03-19 | 2019-05-21 | 四川旅游学院 | Preparation method, batter and cake |
-
2020
- 2020-05-14 CN CN202010405934.9A patent/CN113662437B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205216632U (en) * | 2015-12-25 | 2016-05-11 | 杨建铭 | Liquid seasoning agitating unit |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113662437A (en) | 2021-11-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111759158A (en) | Cooking method, cooking device, storage medium and computer equipment | |
| CN100443027C (en) | Apparatus for automatically cooking dish and the method | |
| WO2014131205A1 (en) | Programmable and program-controlled smart cooking machine | |
| TWI649054B (en) | Cooking system | |
| CN113662437B (en) | Seasoning feeding control method and device, storage medium and computer equipment | |
| CN110974037B (en) | Seasoning throwing detection method and device, storage medium and computer equipment | |
| CN110647058B (en) | Cooking control method and device, cooking equipment and storage medium | |
| CN206792324U (en) | Intelligent distributed flavoring machine | |
| CN202698794U (en) | Automatic vegetable cooking machine | |
| CN106724758A (en) | Cloud computing cooking robot integral system | |
| JP6453639B2 (en) | Heating and stirring device | |
| TW201700044A (en) | Cooking system | |
| CN108143321A (en) | Intelligent distributed flavoring machine | |
| CN113662442B (en) | Seasoning stirring method and device, storage medium and computer equipment | |
| CN110338633A (en) | A kind of cooking machine and its cooking methods and computer storage medium | |
| CN113662438B (en) | Seasoning delivery control method and device, storage medium and computer equipment | |
| CN110960104A (en) | Blanking control method, device, equipment and computer readable storage medium | |
| CN113662439B (en) | Material feeding avoidance control method and device, storage medium and computer equipment | |
| CN110716472A (en) | Method and device for creating electronic menu, electronic equipment and storage medium | |
| CN112273982B (en) | Pot body movement control method, cooking utensil, storage medium and computer equipment | |
| CN202331643U (en) | Self-service pasta vending machine | |
| CN210727548U (en) | Full-automatic intelligent cooking machine | |
| CN111436833B (en) | Feeding control method and device, cooking equipment and computer equipment | |
| CN109805736B (en) | Blanking method and device | |
| CN210276836U (en) | Intelligent electric cooker with cold storage function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: Floor 11, Building 1, No. 1200, Jinzhou Road, Tangjiawan Town, High tech Zone, Zhuhai City, Guangdong Province, 519000 Patentee after: ZHUHAI UNICOOK TECHNOLOGY Co.,Ltd. Address before: 519000 -45895, 105 room 6, Baohua Road, Hengqin New District, Zhuhai, Guangdong (centralized office area) Patentee before: ZHUHAI UNICOOK TECHNOLOGY Co.,Ltd. |