CN117617760A

CN117617760A - Kitchen robot, heating control method thereof, heating base and terminal equipment

Info

Publication number: CN117617760A
Application number: CN202210977459.1A
Authority: CN
Inventors: 陈志远; 张潘桉; 蒋洪彬; 吴任迪
Original assignee: Tineco Intelligent Technology Co Ltd
Current assignee: Tineco Intelligent Technology Co Ltd
Priority date: 2022-08-15
Filing date: 2022-08-15
Publication date: 2024-03-01

Abstract

The embodiment of the application provides a kitchen robot, a heating control method thereof, a heating base and terminal equipment. The heating temperature detected by the temperature sensor in the process of executing the operation task of the kitchen robot and the target heating temperature required by executing the operation task can be obtained, and under the condition that the heating temperature detected by the temperature sensor is not matched with the target heating temperature, the kitchen robot can be subjected to step heating control and/or intermittent heating control according to different temperature difference ranges corresponding to the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature, so that the temperature difference between the actual heating temperature and the target heating temperature is reduced, and the actual heating temperature continuously tends to the target heating temperature. Compared with a heating control mode of controlling the heating gear only according to the difference value of the heating temperature detected by the temperature sensor and the target heating temperature, the heating control mode of the embodiment of the application is more flexible and accurate, and can meet richer heating requirements.

Description

Kitchen robot, heating control method thereof, heating base and terminal equipment

Technical Field

The application relates to the technical field of artificial intelligence, in particular to a kitchen robot, a heating control method thereof, a heating base and terminal equipment.

Background

With the rapid development of artificial intelligence, more and more intelligent machines are applied to people's life, such as intelligent cooking machines, and users can complete automatic cooking process with few participation steps by utilizing the intelligent cooking machines, thereby bringing great convenience for cooking food.

In the process of cooking dishes by the intelligent cooking machine, the temperature sensor arranged in the intelligent cooking machine can be used for collecting heating temperature, and according to the difference value between the heating temperature detected by the temperature sensor and the set target heating temperature, the working gear of the heater is adjusted, so that the actual heating temperature tends to the target heating temperature, and the heating requirement is met. In order to collect the heating temperature in time, a sensitive infrared temperature sensor is usually adopted, however, the surface of the infrared temperature sensor is easily polluted by oil stains, dust and the like under the influence of the working environment of the intelligent cooking machine, and the infrared temperature sensor needs to emit infrared rays outwards through a light-transmitting medium, so that the detection accuracy of the infrared temperature sensor can be influenced by the stains attached to the light-transmitting medium. Therefore, in some improvements, a temperature sensor based on a thermistor principle is used for replacing an infrared temperature sensor, and the temperature sensor is not affected by pollution and can adapt to the operation environment of the intelligent cooking machine.

However, the temperature sensor based on the thermistor principle has hysteresis in acquiring temperature, and the heating control mode is not accurate enough only by the difference between the acquired heating temperature and the target heating temperature, so that the over-temperature phenomenon is easy to cause.

Disclosure of Invention

The utility model provides a plurality of aspects provide a kitchen robot and heating control method, heating base and terminal equipment for promote the flexibility ratio of kitchen robot heating control mode for heating control is more accurate, satisfies the heating demand.

The embodiment of the application provides a heating control method of a kitchen robot, which comprises the following steps: acquiring a heating temperature detected by a temperature sensor in the process of executing a work task by the kitchen robot and a target heating temperature required to be reached by the kitchen robot; during the period that the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is larger than or equal to a preset temperature difference threshold value, carrying out step heating control on the kitchen robot according to a plurality of set temperature difference ranges so as to reduce the temperature difference between the actual heating temperature and the target heating temperature; and intermittently heating and controlling the kitchen robot according to a set heating period when the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is smaller than a preset temperature difference threshold value, so that the actual heating temperature tends to the target heating temperature, wherein the heating period comprises heating duration and heat conduction duration in sequence.

The embodiment of the application also provides a heating control method of the kitchen robot, which comprises the following steps: acquiring a heating temperature detected by a temperature sensor in the process of executing a work task by the kitchen robot and a target heating temperature required to be reached by the kitchen robot; and during the period that the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is larger than or equal to a preset temperature difference threshold value, carrying out step heating control on the kitchen robot according to a plurality of set temperature difference ranges so as to reduce the temperature difference between the actual heating temperature and the target heating temperature.

The embodiment of the application also provides a heating control method of the kitchen robot, which comprises the following steps: acquiring a heating temperature detected by a temperature sensor in the process of executing a work task by the kitchen robot and a target heating temperature required to be reached by the kitchen robot; and during the period that the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is smaller than a preset temperature difference threshold, intermittent heating control is performed on the kitchen robot according to a set heating period, so that the actual heating temperature tends to the target heating temperature, and the heating period sequentially comprises heating duration and heat conduction duration.

The embodiment of the application also provides a kitchen robot, which comprises: the heating device comprises a containing cavity and a heating base, wherein a temperature sensor, a processor and a memory storing a computer program are arranged on the heating base; the processor is configured to execute the computer program for performing the steps of the method.

The embodiment of the application also provides a heating base, which comprises: the base comprises a base body and a base for bearing the base body; the base body is provided with a temperature sensor, the base is provided with a processor and a memory storing a computer program; the heating base is used for heating the accommodating cavity of the kitchen robot in the process of executing the operation task by the kitchen robot; the temperature sensor is used for collecting the current heating temperature of the kitchen robot and reporting the current heating temperature to the processor; the processor is configured to execute the computer program for performing the steps in the method.

The embodiment of the application also provides a terminal device which is connected with the kitchen robot network, wherein the terminal device comprises a processor and a memory storing a computer program; the processor is for controlling a heater on the kitchen robot to perform steps in the method.

In the embodiment of the application, the heating temperature detected by the temperature sensor in the process of executing the operation task by the kitchen robot and the target heating temperature required by the kitchen robot for executing the operation task can be obtained, and the heating control mode of the kitchen robot can be determined according to the relation between the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature and the preset temperature difference threshold under the condition that the heating temperature detected by the temperature sensor is not matched with the target heating temperature; and when the kitchen robot is heated and controlled, the kitchen robot is subjected to stepwise heating control and/or intermittent heating control by combining different temperature difference ranges corresponding to the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature, so that the difference between the actual heating temperature and the target heating temperature is reduced, and the actual heating temperature continuously tends to the target heating temperature. Compared with the heating control mode for controlling the heating gear only according to the difference value between the heating temperature detected by the temperature sensor and the target heating temperature, the heating control mode of the embodiment of the application is more flexible and accurate, and can meet richer heating requirements.

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 embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

fig. 1 is a flowchart of a heating control method according to an embodiment of the present application;

FIG. 2 is a flow chart of another heating control method according to an embodiment of the present application;

FIG. 3 is a flow chart of another heating control method according to an embodiment of the present disclosure;

FIG. 4a is a schematic diagram showing a comparison between a detected temperature and an actual heating temperature according to an embodiment of the present disclosure;

FIG. 4b is a schematic diagram showing a comparison between another detected temperature and an actual heating temperature according to an embodiment of the present disclosure;

FIG. 4c is a schematic diagram showing a comparison between another detected temperature and an actual heating temperature according to an embodiment of the present application;

fig. 5 is a schematic structural view of a kitchen robot according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a heating base according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed Description

For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

Aiming at the problem that the heating control mode of the existing cooking machine is inaccurate in the cooking process, the embodiment of the application provides a kitchen robot and a heating control method thereof, and the kitchen robot in the embodiment of the application refers to a machine which can execute operation tasks in a kitchen environment, such as a robot which is used for executing the kitchen operation tasks, for example, an intelligent electric oven, an intelligent cooking machine and the like. In the embodiment of the application, the kitchen robot has certain requirements on heating temperature in the process of executing the operation task, and different heating temperatures may be needed in different operation stages, for example, in the initial stage of cooking, oil needs to be preheated, and at the moment, the kitchen robot is not easy to use the high heating temperature, so that the oil temperature is easy to be overhigh; in the stir-frying stage, a higher heating temperature is required to ensure the stir-frying of the food in the quick stir-frying process of the food. Because the heating temperature can influence the operation execution effect of the kitchen robot, in order to ensure that the kitchen robot has better operation execution effect, different target heating temperatures can be set for the kitchen robot aiming at different operation stages, and based on the different target heating temperatures, the kitchen robot can execute corresponding operation tasks according to the target heating temperatures corresponding to the specific operation stages.

The following describes a thermal control method provided in the embodiments of the present application with reference to the accompanying drawings.

Fig. 1 is a flowchart of a heating control method applied to the above-described kitchen robot. As shown in fig. 1, the method includes:

s1a, acquiring a heating temperature detected by a temperature sensor in the process of executing a work task by the kitchen robot and a target heating temperature required to be reached by the kitchen robot;

s2a, performing step heating control on the kitchen robot according to a plurality of set temperature difference ranges during the period that the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is larger than or equal to a preset temperature difference threshold value so as to reduce the temperature difference between the actual heating temperature and the target heating temperature;

s3a, intermittently heating and controlling the kitchen robot according to a set heating period when the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is smaller than a preset temperature difference threshold value, so that the actual heating temperature tends to the target heating temperature, and the heating period sequentially comprises a heating duration and a heat conduction duration.

In the embodiment of the application, in order to control the heating temperature according to the requirement in the process of executing the operation task by the kitchen robot, the heating temperature detected by the temperature sensor in the process of executing the operation task by the kitchen robot and the target heating temperature required to be reached by the kitchen robot can be obtained, so that whether the actual heating temperature of the kitchen robot meets the operation requirement or not is determined according to the heating temperature detected by the temperature sensor and the target heating temperature. In the embodiment of the present application, the execution body for acquiring the heating temperature and the target heating temperature detected by the temperature sensor is not limited, and may alternatively be a controller provided on the kitchen robot itself, or may be another terminal device in communication with the kitchen robot.

In the embodiment of the application, in order to pertinently adjust the actual heating temperature of the kitchen robot, a preset temperature difference threshold is set for the heating temperature detected by the temperature sensor of the kitchen robot and the target heating temperature, so that the adjustment mode of the actual heating temperature is determined according to the relation between the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature and the preset temperature difference threshold. Further optionally, in order to more accurately adjust the actual heating temperature, a plurality of temperature difference ranges may be set, so as to determine the degree of the difference between the heating temperature detected by the temperature sensor and the target heating temperature according to the plurality of temperature difference ranges, and further execute a corresponding heating control manner for the actual heating temperature.

Based on the above, in the case that the heating temperature detected by the temperature sensor and the target heating temperature are obtained, the difference between the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature and the preset temperature difference threshold can be determined; and further, according to the corresponding relation between the difference value and the set multiple temperature difference ranges, determining a corresponding adding control mode. In an optional embodiment of the present application, during a period when a temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is greater than or equal to a preset temperature difference threshold, the kitchen robot may be subjected to step heating control according to a plurality of preset temperature difference ranges, so as to reduce a temperature difference between the actual heating temperature and the target heating temperature; in another alternative embodiment, the kitchen robot may be intermittently heated and controlled according to a set heating period so that the actual heating temperature tends to the target heating temperature during a period in which the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is smaller than the preset temperature difference threshold. In the embodiment of the application, the heating period sequentially includes a heating duration and a heat conduction duration, and intermittent heating control of the kitchen robot means that in each heating period, heating is controlled according to the heating duration, and heating is stopped for the kitchen robot according to the conduction duration, so that intermittent heating control of the kitchen robot is achieved.

It should be noted that, for the step heating control manner, the embodiment of the application does not limit specific values corresponding to the preset temperature difference threshold, and different preset temperature difference thresholds can be set according to different types of kitchen robots or different operation requirements. Alternatively, in the following examples of the present application, the preset temperature difference threshold is exemplified as 10 ℃. Correspondingly, the embodiment of the application is not limited to specific data value ranges corresponding to the set temperature difference ranges, and different temperature difference ranges can be set according to different types of kitchen robots or different operation requirements; alternatively, in the embodiments described below, the sequential increasing of the plurality of temperature difference ranges of 10 ℃ is exemplified, for example, the plurality of temperature difference ranges include, but are not limited to, 10 ℃ to 20 ℃, 20 ℃ to 30 ℃, 30 ℃ to 40 ℃, 40 ℃ to 50 ℃, 50 ℃ to 60 ℃, and the like. Accordingly, for the intermittent heating control manner, the embodiment of the application is also not limited to specific duration of the set heating period, and specific values corresponding to the heating duration and the conduction duration included in sequence respectively can be set correspondingly according to the type of the heater and different heating requirements. Alternatively, in the embodiments described below, the heating period is 5 seconds, and the heating period is 3 seconds and the conduction period is 2 seconds in each heating period.

In the embodiment of the application, the specific value of the target heating temperature required to be reached by the kitchen robot to execute the task is not limited, and the corresponding target heating temperature is different according to different types of executing the task. For example, for a job requiring a parch type, the corresponding target heating temperature is 240 ℃, and for a job requiring a cook type, the corresponding target heating temperature is 120 ℃. Further alternatively, different target heating temperatures may also correspond during the execution of different phases of the work task by the kitchen robot for the same type of work task. For example, it is also a type of work task of the quick-fry, in which the target heating temperature required is 60 ℃, in which the target heating temperature required is 240 ℃, in which the post-quick-fry soak stage, the target heating temperature required is 120 ℃, and so on.

Further, the embodiment of the present application is not limited to a specific manner of setting the target heating temperature either, and alternatively, the target heating temperature may be set by a kitchen robot or a terminal device connected to the kitchen robot. For example, the corresponding target heating temperature may be set on the inter-personnel interactive interface provided by the kitchen robot according to the specific task to be executed in the kitchen, or may be set on a display screen provided by a terminal device connected to the kitchen robot according to the specific task to be executed. Further alternatively, before setting the target heating temperature, the embodiment of the present application may generate in advance structural data required by the kitchen robot to perform the task, where the structural data includes a working step required to perform the task and a heating temperature required by the working step, and in order to facilitate distinguishing from the heating temperature detected by the temperature sensor of the kitchen robot, the heating temperature required by the working step in the structural data is referred to as the target heating temperature in the embodiment of the present application.

In the embodiment of the present application, the specific manner of generating the structured data is not limited, and the structured data may be generated by a terminal device bound to the kitchen robot, or may be generated by a server corresponding to the kitchen robot, or may be directly generated at the kitchen robot end. For example, taking a case that a terminal device generates and provides structured data for a kitchen machine, a user can bind the terminal device used by the terminal device with the kitchen robot, and install a control APP adapted to control the kitchen robot on the terminal device, during the operation of the kitchen robot, the user can also generate the structured data required by the kitchen robot to execute the task in advance through the APP, and provide the structured data to the kitchen robot, so that the kitchen robot can execute the operation corresponding to the operation step according to the target heating temperature corresponding to each operation step. In addition, the user can also perform various controls on the kitchen robot through the APP, for example, the user can issue a start operation instruction, a pause operation instruction and an end operation instruction to the kitchen robot through the APP so as to instruct the kitchen robot to execute the operation task; the APP can also adjust operation parameters such as execution power and execution time used by the kitchen robot to execute the operation task, and specific operations can be determined according to actual conditions and are not limited herein.

In the embodiment of the present application, the number of job steps corresponding to the structured data is not limited, and according to different job task types, the number of job steps in the structured data may be different, and for a certain job task, it may include one or more job steps; wherein, the operation steps refer to an operation link in the operation task, and the operation steps describe the actions required to be executed by the kitchen robot in the process of executing the operation task and the sequence between the actions. In the case that the number of the working steps is one, the target heating temperature represents a target heating temperature which needs to be reached by the kitchen robot from the beginning to the end of executing the working task; in the case of a plurality of work steps, different work steps may require different target heating temperatures, which may, of course, be the same, each target heating temperature representing a target heating temperature to be reached by the kitchen robot to perform a specific work step of the work task.

Embodiments of the present application are not limited in terms of the manner in which the target heating temperature is required for the working step. Optionally, the display mode may be explicitly embodied in the structured data, that is, the structured data explicitly includes a target heating temperature corresponding to a specific operation step that is 60 ℃ and an isothermal value at 30 ℃, or may be implicitly embodied in the structured data, that is, a temperature value of a certain operation step is not embodied in the structured data, a default mark may be used to indicate a default temperature value corresponding to a certain operation step, and the specific embodiment may be determined according to actual requirements.

Based on the above, when the kitchen robot executes the task, the structured data required by the kitchen robot to execute the task can be obtained, and the structured data includes the target heating temperature required to be reached by executing the task, so that during the running operation step of the kitchen robot, the heating temperature of the kitchen robot can be detected by the temperature sensor provided on the kitchen robot, so as to compare the detected heating temperature with the obtained target heating temperature, and further determine a specific heating control mode according to the comparison result. In the embodiment of the present application, the manner of obtaining the structured data by the kitchen robot is not limited, and the corresponding obtaining manner may be different according to the difference of the generating manners of the structured data, alternatively, in the case that the structured data is generated by the terminal device bound to the kitchen robot, the structured data may be provided to the kitchen robot by the terminal device bound to the kitchen robot; in the case where the structured data is generated by a server corresponding to the kitchen robot, the structured data may be provided to the kitchen robot by the server corresponding to the kitchen robot; in the case that the structured data is generated by the kitchen robot itself, the structured data may be directly obtained locally from the kitchen robot, and the specific obtaining manner may be determined according to the actual situation.

Based on the above, when the heating temperature detected by the temperature sensor and the target heating temperature to be reached by the kitchen robot are obtained during the task execution process of the kitchen robot, a specific heating control mode can be determined according to the magnitude relation between the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature and the preset temperature difference threshold. In an alternative embodiment, if the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is greater than or equal to a preset temperature difference threshold, the kitchen robot can continuously detect a target temperature difference range to which the temperature difference between the heating temperature and the target heating temperature currently belongs, and determine a target heating gear corresponding to the target temperature difference range according to the set correspondence between a plurality of temperature difference ranges and a plurality of heating gears, so as to control a heater on the kitchen robot to work on the target heating gear to perform stepped heating on the kitchen robot; the smaller the temperature difference range is, the lower the heating gear corresponding to the temperature difference range is, namely, the lower the heating power is.

In the embodiment of the application, the specific value of the preset temperature difference threshold is not limited, taking the example that the preset temperature difference threshold is 10 ℃, the kitchen robot can determine the temperature difference range of the difference between the heating temperature detected by the temperature sensor and 10 ℃, and then determine the target heating gear corresponding to the temperature difference range, so as to control the heater on the kitchen robot to work on the target heating gear for heating. Further, the embodiment of the application is not limited to the correspondence between the plurality of temperature difference ranges and the plurality of heating stages, and the correspondence between the plurality of temperature difference ranges and the plurality of heating stages may be different according to different types of kitchen robots. It is assumed that the temperature difference ranges in the embodiment of the present application are 10 ℃ to 20 ℃, 20 ℃ to 40 ℃, 40 ℃ to 60 ℃ and more than 60 ℃, and the heating ranges corresponding to the temperature difference ranges are 2, 3, 5 and 8 in sequence. Based on the above, if the temperature difference between the heating temperature detected by the temperature sensor and 10 ℃ is 10-20 ℃, controlling a heater on the kitchen robot to work on 2 grades for heating; if the temperature difference between the heating temperature detected by the temperature sensor and the temperature of 10 ℃ is 20-40 ℃, controlling a heater on the kitchen robot to work on 3 grades for heating; if the temperature difference between the heating temperature detected by the temperature sensor and the temperature of 10 ℃ is 40-60 ℃, controlling a heater on the kitchen robot to work on 5 grades for heating; if the temperature difference between the heating temperature detected by the temperature sensor and the temperature of 10 ℃ is larger than 60 ℃, controlling a heater on the kitchen robot to work on 8 grades for heating.

By the method, according to the difference between the heating temperature detected in real time and the target heating temperature, the heating gear of the kitchen robot is flexibly adjusted, and the difference between the actual heating temperature and the target heating temperature can be continuously reduced, so that the actual heating temperature of the kitchen robot is continuously close to the target heating temperature. Further, in the process that the difference between the actual heating temperature and the target heating temperature of the kitchen robot is continuously reduced, if the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is detected to be smaller than the preset temperature difference threshold, intermittent heating control can be performed on the kitchen robot according to the set heating period, so that the actual heating temperature tends to the target heating temperature. Alternatively, in order to ensure that the actual heating temperature of the kitchen robot does not fluctuate significantly, a heating gear may be set for the intermittent heating control manner, so that the heater on the kitchen robot performs intermittent heating control on the set heating gear. In the embodiment of the application, the specific value corresponding to the set heating gear is not limited, and the actual heating temperature of the kitchen robot is already close to the target heating temperature, so that the heating gear is not easy to be too high, so that the difference between the actual heating temperature and the target heating temperature is not increased again.

Based on the above, when the temperature difference between the heating temperature and the target heating temperature is detected to be smaller than the preset temperature difference threshold, the heater on the kitchen robot can be controlled to work on the set heating gear, and the heater is controlled to heat the kitchen robot in the heating period of the heating period every time the set heating period is reached, and the heater is controlled to stop heating the kitchen robot in the heat conduction period of the heating period until the actual heating temperature tends to the target heating temperature. Assuming that the gear set for the intermittent heating control mode in the embodiment of the application is 5 gears, and the heating period is 5 seconds, and in each heating period, the heating period sequentially includes a heating period of 3 seconds and a heat conduction period of 2 seconds, if the difference between the heating temperature of the kitchen robot and the target heating temperature is detected to be smaller than 10 ℃, a heater on the kitchen robot can be controlled to heat in 5 gears, and after each heating period is 3 seconds, heating is stopped for 2 seconds, and the control is performed until the difference between the heating temperature detected by the temperature sensor and the target heating temperature meets the preset difference requirement. The specific value corresponding to the preset difference is not limited herein, and in order to ensure the heating effect, the preset difference should not be set too large easily, for example, if the difference between the heating temperature and the target heating temperature is detected to be less than 3 ℃, it is determined that the actual heating temperature of the kitchen robot has already tended to the target heating temperature, and the current heating temperature is kept to continue heating, so as to execute the task corresponding to the target heating temperature.

It should be noted that, in the embodiment of the present application, the kitchen robot is not limited to performing the task, and the kitchen robot is necessarily heated in a manner of first performing the stepwise heating control and then performing the intermittent heating control, and the heating control manner used may be different according to the difference between the heating temperature detected by the temperature sensor and the target heating temperature. For example, if the difference between the initially detected heating temperature and the target heating temperature is smaller than the preset temperature difference threshold, the intermittent heating mode can be directly adopted to control the heater on the kitchen robot to heat; for another example, if the task performed by the kitchen robot includes a plurality of working steps, each working step corresponding to a different target heating temperature, the heater on the kitchen robot may be controlled to repeatedly heat in a stepwise heating manner and an intermittent heating manner according to a difference between the heating temperature detected by the kitchen robot during the execution of the different working steps and the target heating temperature, so that the actual heating temperature of the kitchen robot when executing each working step tends to the target heating temperature corresponding to the executed working step. The specific heating control method may be determined according to actual operation requirements, and is not limited herein.

Based on the above embodiments, the embodiments of the present application further provide a heating control method for a kitchen robot, where the method controls a heater on the kitchen robot to heat in a stepped heating manner, so as to reduce a temperature difference between an actual heating temperature and a target heating temperature.

Fig. 2 is a flowchart of another heating control method according to an embodiment of the present application, as shown in fig. 2, the method includes:

s1b, acquiring a heating temperature detected by a temperature sensor in the process of executing a work task by the kitchen robot and a target heating temperature required to be reached by the kitchen robot;

s2b, performing step heating control on the kitchen robot according to a plurality of set temperature difference ranges during the period that the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is larger than or equal to a preset temperature difference threshold value, so as to reduce the temperature difference between the actual heating temperature and the target heating temperature.

Accordingly, the embodiment of the application also provides another heating control method of the kitchen robot, which controls the heater on the kitchen robot to heat in an intermittent heating mode so that the actual heating temperature tends to the target heating temperature.

Fig. 3 is a flowchart of another heating control method according to an embodiment of the present application, as shown in fig. 3, the method includes:

S1c, acquiring a heating temperature detected by a temperature sensor in the process of executing a work task by the kitchen robot and a target heating temperature required to be reached by the kitchen robot;

s2c, intermittently heating and controlling the kitchen robot according to a set heating period when the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is smaller than a preset temperature difference threshold value, so that the actual heating temperature tends to the target heating temperature, and the heating period sequentially comprises a heating duration and a heat conduction duration.

It should be noted that, regarding the specific implementation manner of each step of the other two heating control methods provided in the embodiments of the present application, reference may be made to the foregoing embodiments, which are not repeated herein.

Next, with reference to the drawings and specific experimental data, the heating control method provided in the present application is described with respect to the beneficial effects of the existing heating control method. In the above embodiments, the types of the heater, the temperature sensor, and the temperature controller used for the kitchen robot are not limited, and in the following experimental data, the heating effects before and after the implementation of the heating control method provided in the present application are exemplarily described with a negative temperature coefficient (Negative Temperature Coefficient, NTC) sensor as the temperature sensor of the kitchen robot, a proportional integral derivative (Proportion Integration Differentiation, PID) controller as the temperature controller of the kitchen robot, and an electromagnetic heater (Induction Heating, IH) as the heater of the kitchen robot.

Experiment 1: detecting heating temperature of kitchen robot by using NTC sensor alone and adjusting by adopting tracking control strategy And the heating temperature is saved.

FIG. 4a is a schematic diagram showing a comparison of detected temperatures corresponding to the heating temperatures of the kitchen robot and actual heating temperatures using a "tracking control strategy"; wherein, the tracking control strategy is to control IH to start heating when the NTC sensor detects that the heating temperature is less than the target heating temperature; one way to control IH to stop heating when NTC sensor detects that the heating temperature is greater than the target heating temperature. In the present embodiment, the heating temperatures of the kitchen robot are detected using the NTC sensor 1 and the NTC sensor 2, respectively, and assuming that the target heating temperature of the kitchen robot is 115 ℃, as shown in fig. 4a, there is a large difference from the actual heating temperature of the kitchen robot, regardless of the temperature 1 detected by the NTC sensor 1 or the temperature 2 detected by the NTC sensor 2. This is because the NTC sensor itself has a hysteresis of about 2 seconds in length, and therefore the temperature currently detected by the NTC sensor is actually the temperature 2 seconds before the kitchen robot, which may result in that when the NTC sensor detects that the heating temperature has been higher than the target heating temperature, the actual heating temperature of the kitchen robot has in fact been much higher than the target heating temperature. Since the NTC sensor cannot collect the actual heating temperature of the kitchen robot in real time, the actual heating temperature profile of the kitchen robot in fig. 4a may be severely oscillated around the target heating temperature.

Table 1 is data of the effect of the change of the heating temperature detected by the NTC sensor during the adjustment of the heating temperature of the kitchen robot by the intermittent heating control method according to the detection result of the NTC sensor; table 2 is data of the effect of the change in the actual heating temperature of the kitchen robot during the adjustment of the heating temperature of the kitchen robot by the intermittent heating control method according to the detection result of the NTC sensor. Therefore, the heating temperature of the kitchen robot can not be well regulated by simply adopting the NTC sensor to detect the heating temperature of the kitchen robot and adopting the intermittent heating control mode, and the overheat phenomenon can be caused.

TABLE 1

Maximum temperature	119℃
		Temperature stabilization time	110s
Average temperature after stabilization	115℃
		Stable temperature deviation	11℃

TABLE 2

Maximum temperature	158.4℃
		Temperature stabilization time	110s
Average temperature after stabilization	120℃
		Stable temperature deviation	28.7℃

Experiment 2: the heating temperature of the kitchen robot is adjusted by controlling the IH intermittent heating using a PID controller.

The minimum power corresponding to the IH itself used in the present embodiment is 1320 Watt, and the heating range corresponding to this power is set to 5 ranges. Because the minimum power cannot meet the heating requirement of smaller power, the present embodiment adopts a mode of controlling the IH to intermittently heat with a set 5-gear, so that the heat output by the IH meets the heating requirement of smaller power on a long time axis.

Table 3 is a heating power value corresponding to each gear when the IH is intermittently heated, as shown in table 3, in order to make the heat output by the IH meet the heating requirement lower than 5 gears, in this embodiment, the PID controller is used to control the IH to heat by using 5 gears, and control the IH to heat for 2 seconds, stop for 8 seconds, so that the total output heat is equivalent to the heating effect by using 264 watts of heating power, and the heating gear corresponding to this heating mode is set to 1 gear; IH heating is controlled for 4 seconds, the heating is stopped for 6 seconds, the whole output heat is equivalent to the heating effect by adopting 528 watts of heating power, and the heating gear corresponding to the heating mode is set as 2 gears; IH heating is controlled to be carried out for 6 seconds, the operation is stopped for 4 seconds, the whole output heat is equivalent to the heating effect by adopting 792 watts of heating power, and the heating gear corresponding to the heating mode is set to be 3 gears; IH heating is controlled for 8 seconds, and the heating is stopped for 2 seconds, so that the whole output heat is equivalent to the heating effect by adopting the heating power of 1056 watts, and the heating gear corresponding to the heating mode is set to be 4 gears. By the intermittent heating mode, the IH is used for heating the kitchen robot with low power.

In this embodiment, an NTC sensor is used to detect the heating temperature of the kitchen robot, and the detected heating temperature is input into a PID controller, and the PID controller controls the IH to heat according to the comparison result of the received heating temperature and the target heating temperature. When the heating temperature of the kitchen robot is detected to be higher than the target heating temperature each time, the PID controller controls the IH to intermittently heat the kitchen robot in a heating mode corresponding to 1-4 gears, so that the heating temperature of the kitchen robot tends to the target heating temperature.

Fig. 4b is a comparative schematic diagram of the actual heating temperature and the detected heating temperature corresponding to the adjustment of the heating temperature of the kitchen robot in the manner of the present embodiment. Assuming that the target heating temperature in this example is 115 ℃, as shown in fig. 4b, after the heating mode adjustment of this embodiment, the heating temperature detected by the NTC sensor is greatly different from the actual heating temperature of the kitchen robot and severely oscillates around the target heating temperature.

Table 4 is the effect data of the change of the heating temperature detected by the NTC sensor during the intermittent heating process controlled by the PID controller; table 5 is data of the effect of the change in the actual heating temperature of the kitchen robot during the intermittent IH heating controlled by the PID controller. Therefore, the mode of low-power heating is realized only by adjusting IH intermittent heating, after the gear is changed, the corresponding power cannot be changed in time, the heating temperature of the kitchen robot cannot be controlled in real time, the stable fluctuation range of the heating temperature is large, and in addition, the obvious overtemperature phenomenon exists during the rising period of the heating temperature.

TABLE 3 Table 3

TABLE 4 Table 4

Maximum temperature	149℃
		Temperature stabilization time	140s
Average temperature after stabilization	145.5℃
		Stable temperature deviation	12℃

TABLE 5

Maximum temperature	185.8℃
		Temperature stabilization time	140s
Average temperature after stabilization	153℃
		Stable temperature deviation	30.1℃

Experiment 3: the heating temperature of the kitchen robot is regulated by adopting a mode of combining stepped heating and intermittent heating Degree.

According to the embodiment, a PID controller is adopted to control IH to perform a mode of combining stepped heating and intermittent heating according to the heating temperature acquired by an NTC sensor, the heating temperature of the kitchen robot is adjusted, and the kitchen robot is subjected to stepped heating control according to a plurality of set temperature difference ranges during the period that the NTC sensor detects that the temperature difference between the heating temperature of the kitchen robot and the target heating temperature is greater than or equal to a preset temperature difference threshold value so as to reduce the temperature difference between the actual heating temperature and the target heating temperature; and during the period that the NTC sensor detects that the temperature difference between the heating temperature of the kitchen robot and the target heating temperature is smaller than the preset temperature difference threshold, intermittent heating control is performed on the kitchen robot according to a set heating period, so that the actual heating temperature tends to the target heating temperature.

Fig. 4c is a schematic diagram illustrating a comparison between a heating temperature detected by the NTC sensor and an actual heating temperature of the kitchen robot in a heating manner of controlling a heating temperature of the kitchen machine according to an embodiment of the present application. Assuming that the target heating temperature in this example is 115 c, as shown in fig. 4b, after the heating pattern adjustment of the present embodiment, the heating temperature detected by the NTC sensor is not much different from the actual heating temperature of the kitchen robot and all changes around the target heating temperature.

Table 6 is the data of the effect of the change of the heating temperature detected by the NTC sensor during the step heating and the intermittent heating process controlled by the PID controller; table 7 is data of the effect of the change in the actual heating temperature of the kitchen robot during the step heating and the intermittent heating controlled by the PID controller. Therefore, compared with the first two heating control modes, the heating temperature regulated by the heating control mode of the embodiment reduces the stable fluctuation range by 15 ℃, reduces the over-temperature generated in the temperature stabilizing process by 20 ℃, and can realize the setting of any target heating temperature of the kitchen robot with low sensor cost.

TABLE 6

Maximum temperature	112℃
		Temperature stabilization time	130s
Average temperature after stabilization	109.9℃
		Stable temperature deviation	4℃

TABLE 7

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Through the embodiment and specific experimental data, in the process of executing the operation task by the kitchen robot, the embodiment of the application can acquire the heating temperature detected by the temperature sensor of the kitchen robot and the target heating temperature required by the kitchen robot to execute the operation task, and under the condition that the heating temperature detected by the temperature sensor is not matched with the target heating temperature, the heating control mode of the kitchen robot can be determined according to the relation between the temperature difference between the actual heating temperature and the target heating temperature and the preset temperature difference threshold; and when the kitchen robot is heated and controlled, the kitchen robot is subjected to stepwise heating control and/or intermittent heating control by combining different temperature difference ranges corresponding to the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature, so that the temperature difference between the actual heating temperature and the target heating temperature is reduced, and the actual heating temperature continuously tends to the target heating temperature. Compared with a heating control mode of controlling the heating gear only according to the difference value of the heating temperature detected by the temperature sensor and the target heating temperature, the heating control mode of the embodiment of the application is more flexible and accurate, and can meet richer heating requirements.

Fig. 5 is a schematic structural diagram of a kitchen robot according to an embodiment of the present application, and as shown in fig. 5, the kitchen robot 10 includes: a housing chamber 11 and a heating base 12, the heating base 12 being provided with a temperature sensor 13, a processor 14 and a memory 15 storing a computer program; wherein the processor 14 and the memory 15 may be one or more; a heating base 12 for heating the accommodating chamber 11 during the execution of the work task by the kitchen robot 10; a temperature sensor 13 for acquiring the current heating temperature of the kitchen robot 10 and reporting to the processor 14.

The memory 15 is mainly used for storing computer programs, which can be executed by the processor 14, so that the processor 14 controls the kitchen robot 10 to realize corresponding functions, complete corresponding actions or tasks. In addition to storing computer programs, the memory 15 may also be configured to store various other data to support operations on the kitchen robot 10. Examples of such data include instructions for any application or method operating on the kitchen robot 10.

In the embodiment of the present application, the implementation form of the processor 14 is not limited, and may be, for example, but not limited to, a CPU, GPU, MCU, or the like. The processor 14 may be regarded as a control system of the kitchen robot 10 and may be used to execute a computer program stored in the memory 15 for controlling the kitchen robot 10 to perform the respective functions, to perform the respective actions or tasks. It should be noted that, depending on the implementation of the kitchen robot 10 and the scene in which it is located, the functions, actions or tasks to be implemented may be different; accordingly, the computer programs stored in the memory 15 may also be different, and the execution of the different computer programs by the processor 14 may control the kitchen robot 10 to perform different functions, perform different actions or tasks.

In some alternative embodiments, the kitchen robot 10 may further include a display screen for displaying or for a user to select structured data; the system comprises an audio component for outputting prompt information to a user, and a communication component for establishing communication connection with other devices. In the present embodiment, these components are only schematically presented as partial components, and it is not meant that the kitchen robot 10 only comprises these components, and that the kitchen robot 10 may also comprise other components depending on the product form of the kitchen robot 10 for different application requirements.

In the present embodiment, when the processor 14 executes the computer program in the memory 15, it is used to: acquiring a heating temperature detected by a temperature sensor in the process of executing a work task by the kitchen robot and a target heating temperature required to be reached by the kitchen robot; during the period that the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is larger than or equal to a preset temperature difference threshold value, carrying out step heating control on the kitchen robot according to a plurality of set temperature difference ranges so as to reduce the temperature difference between the actual heating temperature and the target heating temperature; and during the period that the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is smaller than a preset temperature difference threshold value, intermittent heating control is performed on the kitchen robot according to a set heating period, so that the actual heating temperature tends to the target heating temperature, and the heating period sequentially comprises a heating duration and a heat conduction duration.

In an alternative embodiment, the processor 14 is configured to, when acquiring the heating temperature detected by the temperature sensor during the execution of the task by the kitchen robot and the target heating temperature to be reached by the kitchen robot: obtaining structured data required by the kitchen robot to execute the operation task, wherein the structured data comprises target heating temperature required to be reached when the operation step is executed; during the execution of the working steps by the kitchen robot, the heating temperature of the kitchen robot is detected by a temperature sensor.

In an alternative embodiment, the processor 14 is configured to, when performing the stepwise heating control on the kitchen robot according to the set plurality of temperature difference ranges to reduce the temperature difference between the actual heating temperature and the target heating temperature: continuously detecting a target temperature difference range to which a temperature difference between the heating temperature and the target heating temperature currently belongs; determining a target heating gear corresponding to the target temperature difference range according to the corresponding relation between the set temperature difference ranges and the heating gears; controlling a heater on the kitchen robot to work on a target heating gear to perform stepped heating on the kitchen robot; the smaller the temperature difference range is, the lower the heating gear corresponding to the temperature difference range is, namely, the lower the heating power is.

In an alternative embodiment, the processor 14 is configured to, when intermittently heating the kitchen robot in accordance with a set heating cycle so that the actual heating temperature approaches the target heating temperature: when the temperature difference between the heating temperature and the target heating temperature is detected to be smaller than a preset temperature difference threshold value, controlling a heater on the kitchen robot to work at a set heating gear; and controlling the heater to heat the kitchen robot every time the set heating period is reached, and controlling the heater to stop heating the kitchen robot until the actual heating temperature approaches the target heating temperature in the heating period of the heating period.

In an alternative embodiment, the heater provided on the kitchen robot is an electromagnetic heater.

In an alternative embodiment, the heating cycle is 5 seconds, and each heating cycle includes a heating duration of 3 seconds and a heat conduction duration of 2 seconds in sequence.

In an alternative embodiment, processor 14 sequentially increases the difference between the predetermined temperature difference threshold of 10 degrees celsius and the predetermined temperature difference ranges of 10 degrees celsius.

In an alternative embodiment, the temperature sensor provided on the kitchen robot is an NTC temperature sensor.

In an alternative embodiment, processor 14 controls the heater on the kitchen robot to perform stepwise heating and/or intermittent heating via a PID temperature controller while performing heating control on the kitchen robot.

Accordingly, embodiments of the present application also provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the steps of the method embodiments described above that are executable by the kitchen robot.

In this application embodiment, heating base and hold the cavity and can separate, this application embodiment still provides a heating base for the kitchen robot hold the cavity heating for the kitchen robot in-process of carrying out the operation task. Fig. 6 is a schematic structural diagram of the heating base 12 according to the embodiment of the present application. As shown in fig. 6, the heating base includes: a base body 121 and a base 122 carrying the base body 121; the base body 121 is provided with a temperature sensor 13, and the base 122 is provided with a processor 14 and a memory 15 storing a computer program; wherein the processor 14 and the memory 15 may be one or more; and the temperature sensor 13 is used for collecting the heating temperature of the kitchen robot and reporting the heating temperature to the processor 14. The base body 121 and the base 122 may be integrally disposed, or the base body 121 may be separated from the base 122.

The memory 15 is mainly used for storing computer programs, which can be executed by the processor 14, so that the processor 14 controls the kitchen robot to realize corresponding functions, complete corresponding actions or tasks. In addition to storing computer programs, the memory 15 may also be configured to store various other data to support operations on the kitchen robot. Examples of such data include instructions for any application or method operating on the kitchen robot.

In the embodiment of the present application, the implementation form of the processor 14 is not limited, and may be, for example, but not limited to, a CPU, GPU, MCU, or the like. The processor 14 may be regarded as a control system of the kitchen robot, operable to execute a computer program stored in the memory 15 for controlling the kitchen robot to perform the respective functions, to perform the respective actions or tasks. It should be noted that, depending on the implementation form and the scene of the kitchen robot, the functions, actions or tasks to be implemented may be different; accordingly, the computer programs stored in the memory 15 may also be different, and the execution of the different computer programs by the processor 14 may control the kitchen robot to perform different functions, perform different actions or tasks.

In some alternative embodiments, the body 121 may also include a display screen for displaying or for a user to select structured data; the system comprises an audio component for outputting prompt information to a user, and a communication component for establishing communication connection with other devices. In the present embodiment, these components are only schematically given as partial components, and it is not meant that the kitchen robot comprises only these components, but that the kitchen robot may also comprise other components for different application needs, in particular depending on the product form of the kitchen robot.

Accordingly, embodiments of the present application also provide a computer-readable storage medium storing a computer program that, when executed, enables implementation of the steps of the method embodiments described above that may be performed by a heated base.

Fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present application, and as shown in fig. 7, the terminal device includes a processor 71 and a memory 72 storing a computer program; wherein the processor 71 and the memory 72 may be one or more; the memory 72 is mainly used for storing computer programs, and the computer programs can be executed by the processor 71, so that the processor 71 controls the terminal device to realize corresponding functions and complete corresponding actions or tasks. In addition to storing computer programs, the memory 72 may also be configured to store various other data to support operations on the terminal device. Examples of such data include instructions for any application or method operating on the terminal device.

In the embodiment of the present application, the implementation form of the processor 71 is not limited, and may be, for example, but not limited to, a CPU, GPU, MCU, or the like. The processor 71 may be regarded as a control system of the terminal device and may be used to execute computer programs stored in the memory 72 for controlling the terminal device to perform the respective functions, to perform the respective actions or tasks. It should be noted that, according to the implementation form of the terminal device and the different situations, the functions, actions or tasks to be implemented are different; accordingly, the computer programs stored in the memory 72 may also be different, and execution of the different computer programs by the processor 71 may control the terminal device to perform different functions, perform different actions or tasks.

In some alternative embodiments, the terminal device may further comprise a display 73 for displaying or for user selection of structured data; an audio component 76 for outputting a prompt to a user, a communication component 75 for establishing a communication connection with other devices, and a power supply component 74 for providing power to the terminal device. In this embodiment, these components are only schematically given as partial components, which does not mean that the terminal device only comprises these components, but that the terminal device may also comprise other components for different application requirements, in particular depending on the product form of the terminal device.

In the present embodiment, when the processor 71 executes the computer program in the memory 72, it is used to: acquiring a heating temperature detected by a temperature sensor in the process of executing a work task by the kitchen robot and a target heating temperature required to be reached by the kitchen robot; during the period that the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is larger than or equal to a preset temperature difference threshold value, carrying out step heating control on the kitchen robot according to a plurality of set temperature difference ranges so as to reduce the temperature difference between the actual heating temperature and the target heating temperature; and during the period that the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is smaller than a preset temperature difference threshold value, intermittent heating control is performed on the kitchen robot according to a set heating period, so that the actual heating temperature tends to the target heating temperature, and the heating period sequentially comprises a heating duration and a heat conduction duration.

In an alternative embodiment, the processor 71 is configured to, when acquiring the heating temperature detected by the temperature sensor during the execution of the task by the kitchen robot and the target heating temperature to be reached by the kitchen robot: obtaining structured data required by the kitchen robot to execute the operation task, wherein the structured data comprises target heating temperature required to be reached when the operation step is executed; during the execution of the working steps by the kitchen robot, the heating temperature of the kitchen robot is detected by a temperature sensor.

In an alternative embodiment, the processor 71 is configured to, when performing the stepwise heating control on the kitchen robot according to the set plurality of temperature difference ranges to reduce the temperature difference between the actual heating temperature and the target heating temperature: continuously detecting a target temperature difference range to which a temperature difference between the heating temperature and the target heating temperature currently belongs; determining a target heating gear corresponding to the target temperature difference range according to the corresponding relation between the set temperature difference ranges and the heating gears; controlling a heater on the kitchen robot to work on a target heating gear to perform stepped heating on the kitchen robot; the smaller the temperature difference range is, the lower the heating gear corresponding to the temperature difference range is, namely, the lower the heating power is.

In an alternative embodiment, the processor 71 is configured to, when performing intermittent heating control of the kitchen robot in accordance with a set heating cycle so that the actual heating temperature approaches the target heating temperature: when the temperature difference between the heating temperature and the target heating temperature is detected to be smaller than a preset temperature difference threshold value, controlling a heater on the kitchen robot to work at a set heating gear; and controlling the heater to heat the kitchen robot every time the set heating period is reached, and controlling the heater to stop heating the kitchen robot until the actual heating temperature approaches the target heating temperature in the heating period of the heating period.

In an alternative embodiment, processor 71 sets the plurality of temperature difference ranges to be sequentially incremented by a difference of 10 c at a predetermined temperature difference threshold of 10 c.

In an alternative embodiment, processor 71 controls the heater on the kitchen robot to perform stepwise heating and/or intermittent heating by means of a PID temperature controller while performing heating control on the kitchen robot.

Accordingly, the present application further provides a computer readable storage medium storing a computer program, where the computer program is executed to implement the steps executable by the terminal device in the above method embodiments.

The memory in the above embodiments may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

The communication assembly of the above embodiments is configured to facilitate wired or wireless communication between the device in which the communication assembly is located and other devices. The device where the communication component is located can access a wireless network based on a communication standard, such as a mobile communication network of WiFi,2G, 3G, 4G/LTE, 5G, etc., or a combination thereof. In one exemplary embodiment, the communication component receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component further comprises a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

The display in the above-described embodiments includes a screen, which may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation.

The power supply assembly in the above embodiment provides power for various components of the device in which the power supply assembly is located. The power components may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the devices in which the power components are located.

The audio component of the above embodiments may be configured to output and/or input audio signals. For example, the audio component includes a Microphone (MIC) configured to receive external audio signals when the device in which the audio component is located is in an operational mode, such as a call mode, a recording mode, and a speech recognition mode. The received audio signal may be further stored in a memory or transmitted via a communication component. In some embodiments, the audio assembly further comprises a speaker for outputting audio signals.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims

1. A heating control method of a kitchen robot, comprising:

acquiring a heating temperature detected by a temperature sensor in the process of executing a work task by the kitchen robot and a target heating temperature required to be reached by the kitchen robot;

During the period that the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is larger than or equal to a preset temperature difference threshold value, carrying out step heating control on the kitchen robot according to a plurality of set temperature difference ranges so as to reduce the temperature difference between the actual heating temperature and the target heating temperature;

and intermittently heating and controlling the kitchen robot according to a set heating period when the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is smaller than a preset temperature difference threshold value, so that the actual heating temperature tends to the target heating temperature, wherein the heating period comprises heating duration and heat conduction duration in sequence.

2. The method according to claim 1, wherein acquiring the heating temperature detected by the temperature sensor during execution of the task by the kitchen robot and the target heating temperature to be reached by the kitchen robot, comprises:

obtaining structured data required by the kitchen robot to execute a task, wherein the structured data comprises a target heating temperature required to be reached when the task is executed;

during execution of the working step by the kitchen robot, a heating temperature of the kitchen robot is detected by a temperature sensor.

3. The method of claim 1, wherein the step heating control of the kitchen robot according to the set plurality of temperature difference ranges comprises:

continuously detecting a target temperature difference range to which a temperature difference between a heating temperature and the target heating temperature currently belongs;

determining a target heating gear corresponding to the target temperature difference range according to the corresponding relation between the set temperature difference ranges and the heating gears;

controlling a heater on the kitchen robot to work on the target heating gear to perform stepped heating on the kitchen robot;

the smaller the temperature difference range is, the lower the heating gear corresponding to the temperature difference range is, namely, the lower the heating power is.

4. The method according to claim 1, wherein intermittent heating control of the kitchen robot in accordance with a set heating cycle is performed so that an actual heating temperature tends to the target heating temperature, comprising:

when the temperature difference between the heating temperature and the target heating temperature is detected to be smaller than a preset temperature difference threshold value, controlling a heater on the kitchen robot to work in a set heating gear; and

and each time a set heating period is reached, controlling the heater to heat the kitchen robot in the heating period, and controlling the heater to stop heating the kitchen robot in the heat conduction period in the heating period until the actual heating temperature tends to the target heating temperature.

5. The method according to claim 3 or 4, characterized in that the heater provided on the kitchen robot is an electromagnetic heater.

6. The method of claim 4, wherein the heating cycle is 5 seconds, and each heating cycle comprises a heating duration of 3 seconds and a heat conduction duration of 2 seconds in sequence.

7. The method of any one of claims 1-4, wherein the predetermined temperature difference threshold is 10 ℃, and the predetermined temperature difference ranges are sequentially increased by a difference of 10 ℃.

8. The method according to any of claims 1-4, characterized in that the temperature sensor provided on the kitchen robot is an NTC temperature sensor.

9. The method according to any one of claims 1-4, characterized in that a PID temperature controller is used for controlling the heater on the kitchen robot for stepwise heating and/or intermittent heating when the kitchen robot is being heated.

10. A heating control method of a kitchen robot, comprising:

And during the period that the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is larger than or equal to a preset temperature difference threshold value, carrying out step heating control on the kitchen robot according to a plurality of set temperature difference ranges so as to reduce the temperature difference between the actual heating temperature and the target heating temperature.

11. A heating control method of a kitchen robot, comprising:

and during the period that the temperature difference between the heating temperature detected by the temperature sensor and the target heating temperature is smaller than a preset temperature difference threshold, intermittent heating control is performed on the kitchen robot according to a set heating period, so that the actual heating temperature tends to the target heating temperature, and the heating period sequentially comprises heating duration and heat conduction duration.

12. A kitchen robot, comprising: the heating device comprises a containing cavity and a heating base, wherein a temperature sensor, a processor and a memory storing a computer program are arranged on the heating base; the processor being adapted to execute the computer program for performing the steps of the method of any of claims 1-11.

13. A heating base, comprising: the base comprises a base body and a base for bearing the base body; the base body is provided with a temperature sensor, the base is provided with a processor and a memory storing a computer program;

the heating base is used for heating the accommodating cavity of the kitchen robot in the process of executing the operation task by the kitchen robot; the temperature sensor is used for collecting the current heating temperature of the kitchen robot and reporting the current heating temperature to the processor;

the processor being adapted to execute the computer program for performing the steps of the method of any of claims 1-11.

14. A terminal device, characterized by being connected to a kitchen robot network, the terminal device comprising a processor and a memory storing a computer program; the processor is configured to control a heater on the kitchen robot to perform the steps of the method of any of claims 1-11.