CN113662438A - 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
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- CN113662438A CN113662438A CN202010406185.1A CN202010406185A CN113662438A CN 113662438 A CN113662438 A CN 113662438A CN 202010406185 A CN202010406185 A CN 202010406185A CN 113662438 A CN113662438 A CN 113662438A
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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: when a seasoning throwing instruction is received, controlling a stirring device to enter an active stirring state, wherein a rotation stopping mechanism of the stirring device is in an unlocking state under the active stirring state; and controlling the stirring device to move to a preset avoidance area before the discharging time based on the discharging time corresponding to the seasoning putting instruction. This application directly triggers the mode that the feeder thrown the material according to the menu among the prior art and compares, not only can keep the stir-fry state that turns over of pot interior edible material, thereby it throws the material mode to have still solved traditional randomness and makes skew when condiment is thrown and eat the material position and lead to thereby the condiment is thrown and is caused the problem of gluing the pot easily on the pot wall, the effectual condiment of having avoided gluing the pot and gluing the culinary art effect that the pot caused because of the condiment is not good to guarantee to eat the material and fully turn over the stir-fry, 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 takes place as soon as possible, 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 life concept of modern people is perfectly conformed to the aspects of low oil mass and little 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 ingredients are easily deviated from the position of the food materials when the ingredients are fed in the random material feeding mode, the ingredients are fed on the pot wall, the pot is stuck, and even the phenomenon of pot pasting can occur after the pot wall is heated, so that the cooking effect of a menu is seriously influenced.
Disclosure of Invention
In view of this, the application provides a seasoning throwing control method and device, a storage medium, and a computer device, which solve the problem that the conventional random seasoning throwing manner easily causes deviation from the position of food material during seasoning throwing, so that the seasoning is thrown onto the pot wall and is easily sticky.
According to one aspect of the present application, there is provided a method of controlling seasoning delivery, the method comprising:
when a seasoning throwing instruction is received, controlling a stirring device to enter an active stirring state, and respectively controlling the rotating speed and/or the steering of the stirring device and the cooker in the active stirring state;
and controlling the stirring device to move to a preset avoidance area before the discharging time based on the discharging time corresponding to the seasoning putting instruction.
Specifically, when receiving a seasoning throwing instruction, the stirring device is controlled to enter an active stirring state, and the method specifically comprises the following steps:
when a seasoning throwing instruction is received, acquiring the working state of the stirring device;
if the stirring device is in a passive stirring state, the working state of the stirring device is switched to an active stirring state, wherein the rotating speed and/or the steering of the stirring device are synchronous with the cooker in the passive stirring state.
Specifically, the controlling the stirring device to move to a preset avoidance area before the discharging time based on the discharging time corresponding to the seasoning putting instruction specifically includes:
calculating an avoidance rotating speed corresponding to the stirring device according to the current position of the stirring device, the discharging time and the preset avoidance area;
and controlling the stirring device to work according to the avoiding rotating speed and the discharging time.
Specifically, before the operating state of the stirring device is switched to the active stirring state, the method further includes:
acquiring a first current rotating speed of the stirring device;
judging whether the stirring device moves at the first current rotating speed or not and is located in the preset avoidance area when the discharging time comes according to the current position of the stirring device;
if not, the working state of the stirring device is switched to the active stirring state.
Specifically, the calculating an avoidance rotating speed corresponding to the stirring device according to the current position of the stirring device, the discharge time and the preset avoidance area specifically includes:
calculating the minimum avoidance rotating speed and the maximum avoidance rotating speed of the stirring device which is transferred into the preset avoidance area within the discharging time;
and determining the preset avoidance rotating speed according to the minimum avoidance rotating speed and the maximum avoidance rotating speed, wherein the avoidance rotating speed is greater than or equal to the minimum avoidance rotating speed and is less than or equal to the maximum avoidance rotating speed.
Specifically, the calculating of the minimum avoidance rotating speed and the maximum avoidance rotating speed of the stirring device which is transferred into the avoidance region within the discharge 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 first preset reversing distance, determining that the avoidance steering of the stirring device is the opposite direction of the current steering;
and calculating the minimum avoidance rotating speed and the maximum avoidance 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.
Specifically, after the avoidance rotating speed corresponding to the stirring device is calculated according to the current position of the stirring device, the discharge time and the preset avoidance area, 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 movement end position and the feeding duration corresponding to the seasoning feeding instruction.
Specifically, after the obtaining of the working state of the stirring device, the method further includes:
if the stirring device is in the active stirring state, acquiring a second current rotating speed of the stirring device;
judging whether the stirring device moves at the second current rotating speed or not when the discharging time arrives and is in the preset avoidance area according to the current position of the stirring device;
if not, controlling the stirring device to move to a preset avoidance area before the discharging time based on the discharging time corresponding to the seasoning putting instruction.
According to another aspect of the present application, there is provided a control device for seasoning delivery, the device comprising:
the state control module is used for controlling the stirring device to enter an active stirring state when receiving a seasoning throwing instruction, and controlling the rotating speed and/or the steering of the stirring device and the cooker respectively in the active stirring state;
and the avoidance control module is used for controlling the stirring device to move to a preset avoidance area before the discharging time based on the discharging time corresponding to the seasoning putting instruction.
Specifically, the state control module specifically includes:
the state acquisition unit is used for acquiring the working state of the stirring device when receiving a seasoning throwing instruction;
and the state switching unit is used for switching the working state of the stirring device into an active stirring state if the stirring device is in a passive stirring state, wherein the rotating speed and/or the steering of the stirring device are synchronous with the cooker in the passive stirring state.
Specifically, the avoidance control module specifically includes:
the avoidance rotating speed calculating unit is used for calculating the avoidance rotating speed corresponding to the stirring device according to the current position of the stirring device, the discharging time and the preset avoidance area;
and the avoidance control unit is used for controlling the stirring device to work according to the avoidance rotating speed and the discharging time.
Specifically, the apparatus further comprises:
the first rotating speed obtaining module is used for obtaining a first current rotating speed of the stirring device before the working state of the stirring device is switched to the active stirring state by the state switching unit;
the first judging module is used for judging whether the stirring device moves at the first current rotating speed and is positioned in the preset avoidance area when the discharging time comes according to the current position of the stirring device;
the state switching unit is specifically configured to switch the working state of the stirring device to the active stirring state if the state of the stirring device is not the active stirring state.
Specifically, the avoidance rotation speed calculation unit specifically includes:
the rotating speed range calculating subunit is used for calculating the minimum avoidance rotating speed and the maximum avoidance rotating speed of the stirring device which is transferred into the preset avoidance area within the discharging time;
and the avoidance rotating speed calculating subunit is used for determining the preset avoidance rotating speed according to the minimum avoidance rotating speed and the maximum avoidance rotating speed, wherein the avoidance rotating speed is greater than or equal to the minimum avoidance rotating speed and less than or equal to the maximum avoidance rotating speed.
Specifically, the rotation speed range calculating subunit is specifically configured to:
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 first preset reversing distance, determining that the avoidance steering of the stirring device is the opposite direction of the current steering;
and calculating the minimum avoidance rotating speed and the maximum avoidance 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.
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 avoidance rotating speed calculating unit calculates the avoidance rotating speed corresponding to the stirring device according to the current position of the stirring device, the discharging time and the preset avoidance area;
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:
a second rotation speed obtaining module, configured to, after the state obtaining unit obtains the working state of the stirring device, obtain a second current rotation speed of the stirring device if the stirring device is in the active stirring state;
the second judging module is used for judging whether the stirring device moves at the second current rotating speed and is positioned in the preset avoidance area when the discharging time comes according to the current position of the stirring device;
and the avoidance control module is also used for controlling the stirring device to move to a preset avoidance area before the discharging time based on the discharging time corresponding to the seasoning putting instruction if the seasoning is not put into the device.
According to yet another aspect of the present application, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the method of controlling the delivery of seasoning as 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, the seasoning throwing control method and device, the storage medium and the computer equipment provided by the application control the stirring device of the cooking pot to enter an active stirring state when receiving a seasoning throwing instruction, the pot still keeps the original rotating speed, and the stirring device is controlled to move to the range of the preset avoiding region before the discharging time based on the discharging time corresponding to the seasoning throwing instruction, so that the stirring device is located in the preset avoiding region at the discharging time. This application embodiment directly triggers the mode that the feeder thrown the material according to the menu among the prior art and compares, the agitating unit who puts stage control pan in condiment gets into initiative stirring state, make the pan can keep original rotational speed work, and agitating unit is located when ejection of compact time and predetermines and dodges the region, not only can keep the stir-fry state of turning over of the interior edible material of pot, thereby the traditional randomness is still solved and the material mode of throwing makes skew when condiment is put in easily and eat the material position and lead to the fact the problem of gluing the pot on throwing the pot wall easily, effectually avoided the condiment glue pot and because of the culinary art effect that the condiment glues the pot and cause is not good, and guarantee to eat the material and fully turn over the stir-fry, 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 an intelligent cooking pot provided by the embodiment of the 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, controlling the stirring device to move to a preset avoidance area before the discharging time based on the discharging time corresponding to the seasoning adding instruction.
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 realizing preparation of 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, in order to make the food in the pan be heated uniformly, the food in the pan needs to be stir-fried, the intelligent cooking pan is in a non-feeding process, that is, in a passive stirring state, the stirring device is generally locked on the pan, the stirring device can rotate along with the rotation of the pan, that is, the stirring device and the pan are controlled to operate simultaneously, so that the stirring device and the pan keep rotating synchronously, stirring and stir-frying of the food in the pan are realized, in the feeding process, the stirring device enters an active stirring state, the stirring device can be unlocked from the pan, that is, the stirring device and the pan are controlled to operate respectively, so that the stirring device can move relative to the pan, that is, the stirring device can rotate at a rotation speed different from that of the pan.
For example, under passive stirring state, agitating unit locks on the pan, is driven agitating unit and pan rotation by motor 1, and under initiative stirring state, agitating unit unlocks from the pan, and motor 1 continues to drive the pan and rotates, and motor 2 drives agitating unit and rotates. The locking mode of the stirring device and the cooker can be electromagnetic locking, for example, in a passive stirring state, when the stirring device and the cooker need to be locked, the connection part of the stirring device and the cooker is electrified respectively, so that the connection part of the stirring device and the cooker generates magnetic force to realize locking of the stirring device and the cooker, otherwise, in an active stirring state, the connection part of the stirring device and the cooker is powered off to eliminate the magnetic force to realize unlocking.
In the embodiment of the application, the central control machine receives the seasoning throwing instruction, or the central control machine analyzes the seasoning throwing instruction according to the currently executed menu program to obtain the seasoning throwing instruction, the batch feeder can be controlled to execute the seasoning throwing instruction, and the batch feeder quantitatively prepares the seasoning thrown by the seasoning throwing instruction and transmits the seasoning to the discharge hole to realize discharging, specifically, in order to ensure that the seasonings can be accurately put into the pot from the discharge hole when being put into the pot, the seasoning is not thrown on the pot wall to cause sticking of the pot, the working parameters of the stirring device are controlled, so as to ensure that the stirring device is positioned in a preset avoiding area when the seasoning is sprayed out from the discharge hole (namely the discharge time), therefore, the seasonings can be accurately put into the pot instead of the pot wall when being put into the pot from the material outlet. As shown in the pot in figure 2, the pot mouth can be obliquely arranged when the pot is used and can also face to the horizontal direction, when the stirring device is used for stirring anticlockwise and the stirring rod rotates to the position B, the food material is about to enter a stirring stage, because the food materials are irregularly rolled in the stirring process, the food materials in the discharging area corresponding to the discharging port can be taken away, if the seasoning is discharged at the moment, the seasoning can be stuck on the pot wall to cause the pot to be burnt, when the stirring rod is at the position C, the stirring is basically finished, but residual food materials still exist in the stirring rod, the residual food materials completely fall off when the stirring rod rotates to the point A, the area AB is a safe discharging area, namely, the avoidance area is preset, and of course, in some scenes, the CB area can be selected as the preset avoidance area, for example, when the amount of the food material in the pan exceeds the preset value, the CB area is used as the preset avoidance area, and when the amount of the food material in the pan is less than the preset value, the AB area is used as the preset avoidance area.
In some application scenes, under the non-feeding working state of the cooker, the stirring device of the cooker is in a passive stirring state, the rotation stopping mechanism is locked under the passive stirring state of the stirring device, namely the stirring device rotates together with the rotary pot to stir food materials, after a seasoning feeding instruction is received, the stirring device of the cooker can be controlled to enter an active stirring state to ensure that the cooker still keeps the original rotation speed to rotate, the motion state of the stirring device is controlled based on the discharge time corresponding to the seasoning feeding instruction, the stirring device is rotated to a preset avoidance area before the discharge time by adjusting the motion state of the stirring device, the food materials can cover the position of the pot wall corresponding to the discharge port when the seasoning is sprayed out from the discharge port, the seasoning is ensured to fall on the food materials instead of the pot wall, and the seasoning can accurately fall in the pot when the seasoning is sprayed out from the discharge port, thereby avoid condiment to put in and cause and glue the pot, simultaneously, the pan is in the rotation state all the time, and the edible material keeps turning over the stir-fry state under centrifugal force and action of gravity in the pot, can effectively prevent to eat the material and glue the pot to central control machine only need adjust agitating unit's operating condition, in the aspect of the control of feeder, need not put in the condiment of feeder and instruct the trigger time to make control, and control logic is simple.
Through the technical scheme who uses this embodiment, when receiving condiment and put in the instruction, the agitating unit of control cooking pot gets into initiative stirring state, and the pan still keeps original slew velocity to based on the corresponding ejection of compact time of condiment input instruction, control agitating unit moves to predetermineeing the within range of dodging the region before ejection of compact time, so that be located predetermineeing the region of dodging at ejection of compact time agitating unit. This application embodiment directly triggers the mode that the feeder thrown the material according to the menu among the prior art and compares, the agitating unit who puts stage control pan in condiment gets into initiative stirring state, make the pan can keep original rotational speed work, and agitating unit is located when ejection of compact time and predetermines and dodges the region, not only can keep the stir-fry state of turning over of the interior edible material of pot, thereby the traditional randomness is still solved and the material mode of throwing makes skew when condiment is put in easily and eat the material position and lead to the fact the problem of gluing the pot on throwing the pot wall easily, effectually avoided the condiment glue pot and because of the culinary art effect that the condiment glues the pot and cause is not good, and guarantee to eat the material and fully turn over the stir-fry, the culinary art effect has been guaranteed.
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. 3, the method includes:
step 201, when a seasoning throwing instruction is received, the working state of the stirring device is obtained.
Step 202, if the stirring device is in a passive stirring state, acquiring a first current rotating speed of the stirring device.
And 203, judging whether the stirring device moves at the first current rotating speed and is in a preset avoidance area when the discharging time comes according to the current position of the stirring device.
And 204, if not, switching the working state of the stirring device into an active stirring state, wherein the rotating speed and/or the steering of the stirring device in the passive stirring state are synchronous with the cooker.
And step 205, calculating an avoidance rotating speed corresponding to the stirring device according to the current position of the stirring device, the discharging time and a preset avoidance area.
And step 206, controlling the stirring device to work according to the avoiding rotating speed and the discharging time.
In steps 201 to 206, a specific embodiment of avoiding movement of the stirring apparatus is provided, the operating state of the stirring apparatus is divided into an active stirring state and a passive stirring state, the active stirring state is an unlocked state of a rotation stopping mechanism of the stirring apparatus, the stirring apparatus and the pot can move relatively in the active stirring state, the passive stirring state is a locked state of the rotation stopping mechanism of the stirring apparatus, and the stirring apparatus and the pot are relatively static in the passive stirring state. After receiving the seasoning feeding instruction, the operating state of the stirring device may be obtained first, if the stirring device is currently in a passive stirring state, which indicates that the stirring device is rotating along with the pot at this time, it may be determined first whether the stirring device can rotate into the preset avoidance region during the discharging time while maintaining the current rotation speed, and specifically, the determination may be performed according to the current position, the current rotation speed, and the discharging time of the stirring device, for example, the current position of the stirring device belongs to the AB region, the included angle between the distance a and the AB region is 90 degrees, the AB included angle is 120 degrees, the discharging time is 3s, then discharging is performed assuming that the current rotation speed is 720 degrees/s, after rotating 3s according to the current rotation speed, that is, rotating 720 × 3 degrees to 2160 degrees, that is, rotating 2160/360 to 6 circles, and the rotation stop position is that the included angle between the distance a and the AB region is 90 degrees, assuming that the current rotation speed is 500 degrees/s, after rotating for 3s according to the current rotation speed, that is, after rotating for 500 × 3 to 1500 degrees, that is, after rotating for 1500/360 to 4 turns for 60 degrees, the rotation stop position is an included angle of 150 degrees from the distance a outside the AB region.
If agitating unit can be located predetermineeing when the ejection of compact time under the unchangeable circumstances of current operating condition and dodge the district in, even keep agitating unit's current operating condition unchangeable, also can ensure to fall on eating the material rather than the pot wall from discharge gate spun condiment, consequently keep agitating unit current operating condition unchangeable under this kind of circumstances can, and if when keeping current operating condition unchangeable circumstances under the ejection of compact time, agitating unit is located predetermineeing and dodges the district outward, just should control agitating unit's operating condition, make the pan still keep original rotational speed, and change agitating unit's rotational speed, in order to ensure that condiment can not fall and cause the sticking pot on the pot wall.
The calculation mode of the avoiding rotating speed of the stirring device specifically comprises the following steps:
step 2051, calculating the minimum avoidance rotating speed and the maximum avoidance rotating speed of the stirring device which is transferred into a preset avoidance area within the discharging time;
and step 2052, determining a preset avoidance rotating speed according to the minimum avoidance rotating speed and the maximum avoidance rotating speed, wherein the avoidance rotating speed is greater than or equal to the minimum avoidance rotating speed and less than or equal to the maximum avoidance rotating speed.
In steps 2051 and 2052, the minimum avoidance rotation speed and the maximum avoidance rotation speed are determined according to the turning-in edge position and the turning-out edge position corresponding to the preset avoidance area, for example, as shown in fig. 3, the position a is taken as a starting point, the counterclockwise direction is taken as a positive direction, the current position of the stirring device is a position rotated counterclockwise to 150 degrees from the position a, the included angle between the position B and the position a is 120 degrees, the discharging time is 5 seconds, then the avoidance rotation speed is such that after controlling the stirring device to rotate for 5 seconds according to the avoidance rotation speed, the stirring device is located in the preset avoidance area, if the stirring device rotates to the position a after 5 seconds, the stirring device can reach the position a by less than one rotation, or can reach the position a by 1 or more rotations, then the avoidance rotation speed can be (360n +210)/5 ═ 72n +42 degrees/s, and the same is true, assuming that the stirring device is rotated back to the position B after 5s, the avoiding rotation speed can be (360n +330)/5 ═ 72n +66 degrees/s, and certainly, the stirring device is only required to be located in the area AB after 5s, so that the avoiding rotation speed can range from (72n +48) degrees/s to (72n +66) degrees/s, and the seasoning can be ensured to fall on the food material instead of the pot wall when being sprayed out from the discharge port, and the seasoning can be ensured to accurately fall on the food material in the pot when being sprayed out from the discharge port, thereby avoiding the phenomenon that the seasoning is stuck to the pot when being thrown.
In addition, in order to reduce the stirring of the stirring device to the food materials in the feeding process, so that the food materials are fully precipitated, and the pot wall at the position corresponding to the discharge port is prevented from being exposed, another specific implementation mode for determining the minimum avoidance rotating speed and the maximum avoidance rotating speed is further provided in the embodiment of the application, as shown in fig. 2, if the current position of the stirring device is outside the AB region, the stirring device is rotated into the AB region within the discharge time by controlling the rotating speed of the stirring device. When calculating the maximum avoidance rotational speed, the maximum avoidance rotational speed may be calculated based on the current position of the mixing device, the turning-in position, the turning-out edge position, and the discharging time of the avoidance region, for example, if the current position of the mixing device belongs to the region AB, the included angle between the distance a is 30 degrees, the included angle AB is 120 degrees, and the discharging time is 3s, then the mixing device should be controlled to turn into the region AB within the charging time and not to turn out any more, that is, the mixing device should rotate to at least the position a and at most to the position B within the charging time, the maximum avoidance rotational speed should be (120+30)/3 ═ 50 degrees/s, and the minimum avoidance rotational speed should be 30/3 ═ 10 degrees/s. Further, confirm the rotational speed of dodging of agitating unit according to the biggest rotational speed of dodging and the minimum rotational speed of dodging, wherein, the value range of dodging the rotational speed is minimum dodge rotational speed ~ the biggest rotational speed of dodging, agitating unit can be according to not less than the minimum rotational speed of dodging and not more than the speed rotation of the biggest rotational speed of dodging, it dodges regional within range and does not change away to go into to dodge 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 ejection of compact of material falls on eating the material, avoid condiment to glue the pot, paste the pot, guarantee the dish taste.
In addition, in order to further reduce the stirring of the food materials in the feeding time, the method for calculating the minimum avoidance rotation speed and the maximum avoidance rotation speed in step 2051 may further include:
step 20511, 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 20512, if the distance is less than or equal to the first preset reversing distance, determining that the avoidance steering of the stirring device is the opposite direction of the current steering;
and step 20513, calculating the minimum avoidance rotating speed and the maximum avoidance 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 steps 20511 to 20513, if the current position of the stirring apparatus is outside the preset avoidance area, the avoidance turning of the stirring apparatus can be determined according to the distance from the current position of the stirring apparatus to the preset avoidance area turning edge position, specifically, if the current position of the stirring apparatus is closer to the preset avoidance area turning edge position, that is, the distance is less than or equal to the preset turning distance, the avoidance turning of the stirring apparatus can be determined to be the direction opposite to the current turning direction, that is, if the current stirring apparatus has just turned out of the preset avoidance area, and the stirring apparatus has just contacted food materials and has not yet fully stirred, the stirring apparatus can be controlled to turn around to avoid the stirring apparatus from further contacting the food materials and fully stirring, which is not beneficial to fully depositing the food materials and covering the pot wall, in such a scenario, because the stirring apparatus needs to perform reverse avoidance turning, the minimum avoidance rotational speed is calculated according to the distance between the current position and the roll-out edge position of the preset avoidance area, the maximum avoidance rotating speed is calculated according to the distance between the current position and the turning-in edge position of the preset avoidance area, for example, if the current position of the stirring device belongs to the area AB, the included angle between the stirring device and the stirring device B is 30 degrees, the included angle between the stirring device and the stirring device AB is 120 degrees, the discharging time is 3s, and the preset reversing distance is 30 degrees, the avoiding steering of the stirring device is the reverse direction of the current steering, that is, the avoidance turning is clockwise, the stirring device should be further controlled to turn into the AB region and not to turn out any more during the feeding time, that is, the stirring device should rotate to at least the position B and at most the position a during the feeding time, the maximum avoidance rotation speed should be (120+ 30)/3-50 degrees/s, and the minimum avoidance rotation speed should be 30/3-10 degrees/s. Then, any rotating speed is selected between the minimum avoiding rotating speed and the maximum avoiding rotating speed to serve as the avoiding rotating 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 mode of the minimum avoidance rotation speed and the maximum avoidance rotation speed and the determination mode of the avoidance rotation speed may refer to the corresponding descriptions in step 2051 and step 2052.
and 209, if not, controlling the stirring device to move to a preset avoidance area before the discharging time based on the discharging time corresponding to the seasoning putting instruction.
In steps 207 to 209, if the current operating state of the stirring apparatus is the active stirring state, it is first determined that the second current rotation speed is maintained if the stirring apparatus maintains the current operating parameters, and whether the stirring apparatus can rotate into the preset avoidance region during the discharging time is determined, if yes, the stirring apparatus does not need to be controlled, and if not, the avoidance rotation speed of the stirring apparatus should be calculated, so that the stirring apparatus can rotate into the preset avoidance region during the discharging time under the condition that the stirring apparatus rotates according to the avoidance rotation speed. For a specific calculation manner, reference may be made to the descriptions corresponding to steps 2051 to 2052 and steps 20511 to 20513.
and step 211, 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 210 and step 211, if the process of putting the flavoring into the pot from the material outlet lasts for a certain time, it should be further ensured that the stirring device is always in an avoiding area during the material outlet process, for example, when the material is discharged from the discharge port, the rotating speed of the stirring device is controlled to be 0, the stirring device is stopped in the avoiding area, the avoiding movement ending position of the stirring device during the discharging time can be calculated by combining the avoiding rotating speed and the discharging time, thereby calculating the maximum rotating speed of the stirring device in the feeding duration according to the avoiding movement end position of the stirring device in combination with the avoiding area range and the feeding duration, determining the feeding rotating speed according to the maximum rotating speed, in order to guarantee at whole ejection of compact in-process, agitating unit can not stir edible material, ensures that condiment falls into edible material on, can not fall the pot wall and cause the sticking pot, improves pan life and ensures that food taste is not influenced.
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:
the state control module 31 is configured to control the stirring device to enter an active stirring state when receiving a seasoning adding instruction, wherein the rotation speed and/or the steering of the stirring device and the cooker are controlled in the active stirring state;
and the avoidance control module 32 is used for controlling the stirring device to move to a preset avoidance area before the discharging time based on the discharging time corresponding to the seasoning feeding instruction.
In a specific application scenario, as shown in fig. 5, the state control module 31 specifically includes:
the state obtaining unit 311 is configured to obtain a working state of the stirring device when the seasoning throwing instruction is received;
a state switching unit 312, configured to switch the working state of the stirring apparatus to an active stirring state if the stirring apparatus is in a passive stirring state, where the rotation speed and/or the rotation direction of the stirring apparatus are synchronized with the pot in the passive stirring state.
In a specific application scenario, as shown in fig. 5, the avoidance control module 32 specifically includes:
an avoidance rotating speed calculating unit 321, configured to calculate an avoidance rotating speed corresponding to the stirring apparatus according to the current position of the stirring apparatus, the discharge time, and a preset avoidance region;
and the avoiding control unit 322 is used for controlling the stirring device to work according to the avoiding rotating speed and the discharging time.
In a specific application scenario, as shown in fig. 5, the apparatus further includes:
the first rotating speed obtaining module 33 is configured to obtain a first current rotating speed of the stirring device before the state switching unit switches the working state of the stirring device to the active stirring state;
the first judging module 34 is configured to judge, according to the current position of the stirring device, whether the stirring device moves at a first current rotation speed and is located in a preset avoidance area when the discharging time arrives;
the state switching unit 312 is specifically configured to switch the operating state of the stirring apparatus to the active stirring state if the state is not the active stirring state.
In a specific application scenario, as shown in fig. 5, the avoidance rotation speed calculating unit 321 specifically includes:
the rotating speed range calculating subunit 3211 is configured to calculate a minimum avoidance rotating speed and a maximum avoidance rotating speed at which the stirring device is turned into a preset avoidance region within the discharging time;
the avoidance rotating speed calculating subunit 3212 is configured to determine a preset avoidance rotating speed according to the minimum avoidance rotating speed and the maximum avoidance rotating speed, where the avoidance rotating speed is greater than or equal to the minimum avoidance rotating speed and less than or equal to the maximum avoidance rotating speed.
In a specific application scenario, as shown in fig. 5, the rotation speed range calculating subunit 3211 is specifically configured to:
acquiring the distance between the stirring device and the turning-out edge position of a 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 the first preset reversing distance, determining that the avoidance steering of the stirring device is the opposite direction of the current steering;
according to the avoidance steering, the current position and the discharging time, the minimum avoidance rotating speed and the maximum avoidance rotating speed of the stirring device which is turned into the preset avoidance area in the discharging time are calculated.
In a specific application scenario, as shown in fig. 5, the apparatus further includes:
the avoidance position determining module 35 is configured to determine an avoidance movement end position of the stirring device according to the avoidance rotation speed and the discharge time after the avoidance rotation speed calculating unit calculates the avoidance rotation speed corresponding to the stirring device according to the current position, the discharge time, and the preset avoidance area of the stirring device;
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:
a second rotation speed obtaining module 37, configured to, after the state obtaining unit obtains the working state of the stirring apparatus, obtain a second current rotation speed of the stirring apparatus if the stirring apparatus is in the active stirring state;
the second judging module 38 is configured to judge whether the stirring device moves at a second current rotation speed and is located in a preset avoidance area when the discharging time comes according to the current position of the stirring device;
and the avoidance control module 32 is further configured to control the stirring device to move to a preset avoidance area before the discharging time based on the discharging time corresponding to the seasoning feeding instruction if the seasoning feeding instruction is not received.
It should be noted that other corresponding descriptions of the functional units related to the control device for seasoning delivery 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, and 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 components in the storage medium and 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 software and a necessary general hardware platform, and also can control the stirring device of the cooking pot to enter an active stirring state when receiving a seasoning dispensing instruction through hardware, the pot still maintains the original rotation speed, and the stirring device is controlled to move to the range of the preset avoiding region before the discharging time based on the discharging time corresponding to the seasoning dispensing instruction, so that the stirring device is located in the preset avoiding region at the discharging time. This application embodiment directly triggers the mode that the feeder thrown the material according to the menu among the prior art and compares, the agitating unit who puts stage control pan in condiment gets into initiative stirring state, make the pan can keep original rotational speed work, and agitating unit is located when ejection of compact time and predetermines and dodges the region, not only can keep the stir-fry state of turning over of the interior edible material of pot, thereby the traditional randomness is still solved and the material mode of throwing makes skew when condiment is put in easily and eat the material position and lead to the fact the problem of gluing the pot on throwing the pot wall easily, effectually avoided the condiment glue pot and because of the culinary art effect that the condiment glues the pot and cause is not good, and guarantee to eat the material and fully turn over the stir-fry, 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:
when a seasoning throwing instruction is received, controlling a stirring device to enter an active stirring state, wherein the rotating speed and/or the steering of the stirring device and the cooker are respectively controlled in the active stirring state;
and controlling the stirring device to move to a preset avoidance area before the discharging time based on the discharging time corresponding to the seasoning putting instruction.
2. The method according to claim 1, wherein the controlling the stirring device to enter an active stirring state when receiving the seasoning drop command comprises:
when a seasoning throwing instruction is received, acquiring the working state of the stirring device;
if the stirring device is in a passive stirring state, the working state of the stirring device is switched to an active stirring state, wherein the rotating speed and/or the steering of the stirring device are synchronous with the cooker in the passive stirring state.
3. The method according to claim 2, wherein the controlling the stirring device to move to a preset avoidance area before the discharging time based on the discharging time corresponding to the seasoning placement instruction specifically comprises:
calculating an avoidance rotating speed corresponding to the stirring device according to the current position of the stirring device, the discharging time and the preset avoidance area;
and controlling the stirring device to work according to the avoiding rotating speed and the discharging time.
4. The method of claim 2, wherein prior to switching the operating state of the blending device to the active blending state, the method further comprises:
acquiring a first current rotating speed of the stirring device;
judging whether the stirring device moves at the first current rotating speed or not and is located in the preset avoidance area when the discharging time comes according to the current position of the stirring device;
if not, the working state of the stirring device is switched to the active stirring state.
5. The method according to claim 3, wherein the calculating of the avoidance rotation speed corresponding to the stirring device according to the current position of the stirring device, the discharge time and the preset avoidance region specifically comprises:
calculating the minimum avoidance rotating speed and the maximum avoidance rotating speed of the stirring device which is transferred into the preset avoidance area within the discharging time;
and determining the preset avoidance rotating speed according to the minimum avoidance rotating speed and the maximum avoidance rotating speed, wherein the avoidance rotating speed is greater than or equal to the minimum avoidance rotating speed and is less than or equal to the maximum avoidance rotating speed.
6. The method according to claim 5, wherein the calculating of the minimum avoidance rotation speed and the maximum avoidance rotation speed of the stirring device turning into the avoidance region during the discharging time specifically 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 first preset reversing distance, determining that the avoidance steering of the stirring device is the opposite direction of the current steering;
and calculating the minimum avoidance rotating speed and the maximum avoidance 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.
7. The method according to claim 6, wherein after calculating the corresponding avoidance rotational speed of the blending device according to the current position of the blending device, the discharging time and the preset avoidance region, 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.
8. The method according to any one of claims 1 to 7, wherein after said obtaining the operating state of the stirring device, the method further comprises:
if the stirring device is in the active stirring state, acquiring a second current rotating speed of the stirring device;
judging whether the stirring device moves at the second current rotating speed or not when the discharging time arrives and is in the preset avoidance area according to the current position of the stirring device;
if not, controlling the stirring device to move to a preset avoidance area before the discharging time based on the discharging time corresponding to the seasoning putting instruction.
9. A control device for seasoning dispensing, the device comprising:
the state control module is used for controlling the stirring device to enter an active stirring state when a seasoning throwing instruction is received, and the rotation stopping mechanism of the stirring device is in an unlocked state under the active stirring state;
and the avoidance control module is used for controlling the stirring device to move to a preset avoidance area before the discharging time based on the discharging time corresponding to the seasoning putting instruction.
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 a seasoning according to any one of claims 1 to 8 when executing the program.
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| CN113662438B (en) | 2022-10-18 |
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