CN117652902A - Stirring and uniformly mixing control method and device for food stirrer - Google Patents
Stirring and uniformly mixing control method and device for food stirrer Download PDFInfo
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- CN117652902A CN117652902A CN202311684194.7A CN202311684194A CN117652902A CN 117652902 A CN117652902 A CN 117652902A CN 202311684194 A CN202311684194 A CN 202311684194A CN 117652902 A CN117652902 A CN 117652902A
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- 235000013305 food Nutrition 0.000 title claims abstract description 70
- 238000002156 mixing Methods 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000003756 stirring Methods 0.000 title claims abstract description 36
- 235000013312 flour Nutrition 0.000 claims abstract description 87
- 239000000203 mixture Substances 0.000 claims abstract description 58
- 230000001133 acceleration Effects 0.000 claims abstract description 15
- 238000013528 artificial neural network Methods 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 230000000007 visual effect Effects 0.000 claims abstract description 6
- 239000002245 particle Substances 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 14
- 239000011159 matrix material Substances 0.000 claims description 7
- 238000012549 training Methods 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000012795 verification Methods 0.000 claims description 3
- 238000004898 kneading Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000000843 powder Substances 0.000 description 3
- 240000004808 Saccharomyces cerevisiae Species 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000006071 cream Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
- A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
- A47J43/07—Parts or details, e.g. mixing tools, whipping tools
- A47J43/0705—Parts or details, e.g. mixing tools, whipping tools for machines with tools driven from the upper side
-
- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C1/00—Mixing or kneading machines for the preparation of dough
- A21C1/02—Mixing or kneading machines for the preparation of dough with vertically-mounted tools; Machines for whipping or beating
-
- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C1/00—Mixing or kneading machines for the preparation of dough
- A21C1/14—Structural elements of mixing or kneading machines; Parts; Accessories
- A21C1/145—Controlling; Testing; Measuring
-
- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C1/00—Mixing or kneading machines for the preparation of dough
- A21C1/14—Structural elements of mixing or kneading machines; Parts; Accessories
- A21C1/145—Controlling; Testing; Measuring
- A21C1/1455—Measuring data of the driving system, e.g. torque, speed, power
-
- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C1/00—Mixing or kneading machines for the preparation of dough
- A21C1/14—Structural elements of mixing or kneading machines; Parts; Accessories
- A21C1/145—Controlling; Testing; Measuring
- A21C1/146—Measuring properties of the dough, e.g. moisture, electrical conductivity, temperature
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
- A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
- A47J43/044—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven with tools driven from the top side
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
- A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
- A47J43/07—Parts or details, e.g. mixing tools, whipping tools
- A47J43/08—Driving mechanisms
- A47J43/082—Driving mechanisms for machines with tools driven from the upper side
Landscapes
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Biophysics (AREA)
- Food-Manufacturing Devices (AREA)
Abstract
The invention relates to a stirring and uniformly mixing control method and a control device thereof for a food stirrer. S10, acquiring the flour mixture subjected to the stirring container operation through a visual acquisition module, acquiring images of the flour mixture processed in a plurality of times, and inputting the images into a trained flour mixture target detection neural network to judge so as to determine the mixing uniformity state of the flour mixture; s20, constructing the food mixer driving control system, wherein the food mixer driving control system comprises an input torque parameter, a parameter of a PD controller of the food mixer and a torque parameter of a tool apron through an input driving direct current motor, so that the food mixer driving control system outputs an angular acceleration value of the tool apron; s30, if the mixing uniformity state of the flour mixture in the image does not meet the operation requirement, continuously outputting the angular acceleration value of the output tool apron of the driving control system of the food mixer.
Description
Technical Field
The invention relates to a stirring and uniformly mixing control method and a control device thereof for a food stirrer, and belongs to the field of electric appliance control.
Background
The food mixer is of an all-gear transmission structure, and the power transmission system of the food mixer has high standard design, high strength, high technical requirements, stable operation and firmness and durability. Can be used for stirring cream, cake liquid, stuffing, egg beating, dough making, etc. The food mixer is widely applied to dough mixing operation, the automatic dough mixing operation of the existing dough mixer is not improved in a large amount of dough mixing operation, a reasonable dough mixing control mode is provided, the existing yeast or baking powder is uniformly mixed in dough, and a new control method and a corresponding device are required to be provided.
Disclosure of Invention
The invention provides a stirring and uniformly mixing control method and a stirring and uniformly mixing control device for a food stirrer, and aims to at least solve one of the technical problems in the prior art.
The technical scheme of the invention is a stirring and uniformly mixing control method of a food stirrer, the food stirrer comprises a driving direct current motor, a gearbox in transmission connection with a power end of the driving direct current motor, and a cutter holder in transmission connection with the power end of the gearbox, the cutter holder is positioned in a stirring container, and a vision acquisition module is arranged corresponding to the stirring container, and the method comprises the following steps:
s10, acquiring the flour mixture subjected to the stirring container operation through a visual acquisition module, acquiring images of the flour mixture processed in a plurality of times, and inputting the images into a trained flour mixture target detection neural network to judge so as to determine the mixing uniformity state of the flour mixture;
s20, constructing the food mixer driving control system, wherein the food mixer driving control system comprises an input torque parameter, a parameter of a PD controller of the food mixer and a torque parameter of a tool apron through an input driving direct current motor, so that the food mixer driving control system outputs an angular acceleration value of the tool apron;
and S30, if the image of the state of the mixing uniformity of the flour mixture does not meet the operation requirement, continuously outputting the angular acceleration value of the output tool apron of the food mixer driving control system until the image of the state of the mixing uniformity of the flour mixture is output, and finishing the uniform operation of flour and flour.
Further, the step S10 includes: and (3) formulating a standard of uniform state of dry flour particles of the flour mixture corresponding to different stirring operation time of the flour mixture, marking different state images of the flour mixture, and dividing the images collected into a data set into a training set and a verification set according to proportion.
Further, in the step S10: judging that the state of the dry flour particles meets the requirement of a following formula,
wherein,is the image rotation alpha I After the angle, the flour mixture picture corresponds to the uniformity of the dry flour particles, and U is the uniformity of the distribution of the dry flour particles in the flour dough.
Further, the step S20 includes: in the food mixer drive control system, a kinetic equation of a cutter holder in the food mixer is constructed, and the equation is as follows:
wherein τ u Is used for driving the input torque vector of the direct current motor,is a diagonal constant matrix, ">Representing the estimated term of the diagonal constant matrix H, K p 、K D Is a parameter of the PD controller of the food mixer, +.>Is the expected acceleration vector corresponding to the tool apron.
Further, the step S20 includes: in the food mixer driving control system, parameters of H (t) are estimated through a time delay estimation method, and the parameters of H (t) obey the following equation:
where Δt represents the sampling period of the food mixer drive control system.
Further, the step S20 includes: in the food mixer drive control system, the angular acceleration value of the tool apron obeys the following equation:
wherein q is the corresponding angular displacement of the tool apron,is the angular velocity of the corresponding output of the tool apron.
Further, the step S30 includes: and comparing the image output of the mixing uniformity state of the flour mixture with the image of the mixing uniformity state of the flour mixture in a plurality of stirring operations until the image of the mixing uniformity state of the flour mixture is consistent with the image of the best mixing uniformity state of the flour mixture, and stopping the operation of the food stirrer.
A computer readable storage medium having stored thereon program instructions which, when executed by a processor, implement the method described above.
According to the method, the food mixer comprises a driving direct current motor, a gearbox in transmission connection with the power end of the driving direct current motor, and a cutter holder in transmission connection with the power end of the gearbox, wherein the cutter holder is positioned in a mixing container and corresponds to a vision acquisition module arranged in the mixing container, and a controller is further arranged in the food mixer.
The beneficial effects of the invention are as follows.
The stirring and evenly mixing control method of the food stirrer is characterized in that the obtained image information of dough mixing operation is used for judging through a trained powder mixture target detection neural network, and the neural network is used for judging the uniformity of stirring and dough mixing by comparing the images of flour particles of the dough mixing operation; in addition, the dough kneading operation builds a food mixer driving control system, control parameters of a mixing knife seat output by the system, control efficiency of a stirring rod or other stirring devices on the knife seat on dough kneading uniformity and dough mixing uniformity can be more than 90%, and dough kneading efficiency is quickened.
Further, additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a general flow chart of a method of controlling blending of a food mixer in accordance with an embodiment of the present invention.
Fig. 2a is a state diagram of an initial flour mixture in a stirred vessel according to an embodiment of the present invention.
Fig. 2b is a state diagram of the flour mixture in a middle stage state in the stirring vessel according to an embodiment of the present invention.
Fig. 2c is a state diagram of the flour mixture in the mixing container and the dough-job completed state according to the embodiment of the present invention.
Fig. 3 is a schematic view of a stirring and homogenizing control apparatus of a food blender in accordance with an embodiment of the present invention.
Detailed Description
The conception, specific structure, and technical effects produced by the present invention will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, aspects, and effects of the present invention.
It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly or indirectly fixed or connected to the other feature. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any combination of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could also be termed a second element, and, similarly, a second element could also be termed a first element, without departing from the scope of the present disclosure. The use of any and all examples, or exemplary language (e.g., "such as") provided herein, is intended merely to better illuminate embodiments of the invention and does not pose a limitation on the scope of the invention unless otherwise claimed.
Referring to fig. 1 to 3, in some embodiments, the invention discloses a stirring and homogenizing control method of a food stirrer, wherein the food stirrer is mainly applied to a dough kneading machine stirring operation.
Referring to fig. 3, the food mixer includes a dc motor 11, a gear box 12 in transmission connection with a power end of the dc motor 11, and a tool apron 13 in transmission connection with the power end of the gear box 12, wherein the tool apron 13 is located in a mixing container 14, and a vision collection module 15 corresponding to the mixing container 14 is provided, so that a user of the food mixer mixes flour, yeast or baking powder into the mixing container 14 to perform the dough mixing operation.
The method corresponding to the stirring and evenly mixing control device of the food stirrer comprises the following steps:
s10, acquiring the flour mixture subjected to the operation of the stirring container 14 through a visual acquisition module 15, acquiring images of the flour mixture processed at a plurality of times, and inputting the images into a trained flour mixture target detection neural network to judge so as to determine the mixing uniformity state of the flour mixture.
S20, constructing the food mixer driving control system, wherein the food mixer driving control system comprises a moment parameter input through an input driving direct current motor 11, a parameter of a PD controller of the food mixer and a moment parameter of the tool apron 13, so that the food mixer driving control system outputs an angular acceleration value of the tool apron 13.
And S30, if the image of the state of the mixing uniformity of the flour mixture does not meet the operation requirement, continuously outputting the angular acceleration value of the output tool apron 13 of the driving control system of the food mixer until the image of the state of the mixing uniformity of the flour mixture is output, and finishing the uniform operation of flour and flour.
For the training picture of the flour mixture target detection neural network in step S10, the initial flour mixture in the stirring vessel in fig. 2a, the middle processed flour mixture in the stirring vessel in fig. 2b, and the picture in fig. 2c may be used as the model training pictures, and of course, the training pictures are trained by using a plurality of pictures in different states to increase the accuracy of the flour mixture target detection neural network. For example, as shown with reference to fig. 2a, many particles of dry flour can be seen in flours and other mixtures; in fig. 2b, particles of small amounts of dry flour can be seen in the flour and other mixtures; in fig. 2c, the dough has been completed as seen in the flour and other mixes, and no picture of dry flour particles is seen. Thus, the step S10 includes: and (3) formulating a standard of uniform state of dry flour particles of the flour mixture corresponding to different stirring operation time of the flour mixture, marking different state images of the flour mixture, and dividing the images collected into a data set into a training set and a verification set according to proportion.
In the step S10: the uniformity of the distribution of the early dry flour particles in the flour mixture can be measured by the density, and if the distribution of the flour particles in the dough is uniform, the density in the object at each point is the same if the variance of the overall average density of the object and the average density of the parts in the object is greater, indicating that the uniformity of the object is poorer.
The uniformity of flour particles distributed in the dough is an invariant in the same image, continuous integration is converted into incremental steps in the calculation process to carry out iterative calculation, and deviation exists between the uniformity calculated when the rotation angles are different. Judging that the state of the dry flour particles meets the requirement of a following formula,
wherein,is the image rotation alpha I After the angle, the flour mixture picture corresponds to the uniformity of the dry flour particles, and U is the uniformity of the distribution of the dry flour particles in the flour dough.
For step S20, the step S20 includes:
in the food mixer driving control system, a kinetic equation of the cutter holder 13 in the food mixer is constructed, and the equation is as follows:
wherein τ u Is to drive the direct current motor 11 to input a moment vector,is a diagonal constant matrix, ">Representing the estimated term of the diagonal constant matrix H, K p 、K D Is a parameter of the PD controller of the food mixer, +.>Is the desired acceleration vector for the tool holder 13.
The step S20 includes:
in the food mixer driving control system, parameters of H (t) are estimated through a time delay estimation method, and the parameters of H (t) obey the following equation:
where Δt represents the sampling period of the food mixer drive control system.
The step S20 includes:
in the food mixer drive control system, the angular acceleration value of the tool holder 13 obeys the following equation:
wherein q is the corresponding angular displacement of the seat 13,is the angular velocity of the corresponding output of the tool holder 13.
In the step S20, by constructing the driving control system of the food mixer, firstly, a dynamic equation is constructed until the motion is achieved, then, parameters of a diagonal constant matrix are estimated through time delay, and when the value of Δt is not large, the current sampling time of the driving control system of the food mixer can be selected; then the input acceleration value of the rear knife rest is input, the angular speed of the output knife rest 13, the control efficiency of stirring rods or other stirring devices on the knife rest on dough mixing uniformity and dough mixing uniformity can be more than 90%, and the dough mixing efficiency is quickened.
The step S30 includes: and comparing the image output of the mixing uniformity state of the flour mixture with the image of the mixing uniformity state of the flour mixture in a plurality of stirring operations until the image of the mixing uniformity state of the flour mixture is consistent with the image of the best mixing uniformity state of the flour mixture, and stopping the operation of the food stirrer.
The invention also discloses a computer readable storage medium having stored thereon program instructions which when executed by a processor implement a method as claimed in any one of the preceding claims. According to the method provided by the invention, referring to fig. 3, the food mixer comprises a driving direct current motor 11, a gearbox 12 in transmission connection with the power end of the driving direct current motor 11, and a cutter holder 13 in transmission connection with the power end of the gearbox 12, wherein the cutter holder 13 is positioned in a mixing container 14, a visual acquisition module 15 corresponding to the mixing container 14 is arranged, and a controller is further arranged in the food mixer.
It should be appreciated that the method steps in embodiments of the present invention may be implemented or carried out by computer hardware, a combination of hardware and software, or by computer instructions stored in non-transitory computer-readable memory. The method may use standard programming techniques. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Furthermore, the operations of the processes described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes (or variations and/or combinations thereof) described herein may be performed under control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications), by hardware, or combinations thereof, collectively executing on one or more processors. The computer program includes a plurality of instructions executable by one or more processors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable computing platform, including, but not limited to, a personal computer, mini-computer, mainframe, workstation, network or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and so forth. Aspects of the invention may be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optical read and/or write storage medium, RAM, ROM, etc., such that it is readable by a programmable computer, which when read by a computer, is operable to configure and operate the computer to perform the processes described herein. Further, the machine readable code, or portions thereof, may be transmitted over a wired or wireless network. When such media includes instructions or programs that, in conjunction with a microprocessor or other data processor, implement the steps described above, the invention described herein includes these and other different types of non-transitory computer-readable storage media. The invention may also include the computer itself when programmed according to the methods and techniques of the present invention.
The computer program can be applied to the input data to perform the functions described herein, thereby converting the input data to generate output data that is stored to the non-volatile memory. The output information may also be applied to one or more output devices such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including specific visual depictions of physical and tangible objects produced on a display.
The present invention is not limited to the above embodiments, but can be modified, equivalent, improved, etc. by the same means to achieve the technical effects of the present invention, which are included in the spirit and principle of the present invention. Various modifications and variations are possible in the technical solution and/or in the embodiments within the scope of the invention.
Claims (9)
1. The utility model provides a food mixer stirs mixing control method, its characterized in that, food mixer includes drive direct current motor, with the gearbox of drive direct current motor's power end transmission connection, with the blade holder of gearbox's power end transmission connection, the blade holder is located a stirring container, corresponds the vision collection module that stirring container set up, the method includes:
s10, acquiring the flour mixture subjected to the stirring container operation through a visual acquisition module, acquiring images of the flour mixture processed in a plurality of times, and inputting the images into a trained flour mixture target detection neural network to judge so as to determine the mixing uniformity state of the flour mixture;
s20, constructing the food mixer driving control system, wherein the food mixer driving control system comprises an input torque parameter, a parameter of a PD controller of the food mixer and a torque parameter of a tool apron through an input driving direct current motor, so that the food mixer driving control system outputs an angular acceleration value of the tool apron;
and S30, if the image of the state of the mixing uniformity of the flour mixture does not meet the operation requirement, continuously outputting the angular acceleration value of the output tool apron of the food mixer driving control system until the image of the state of the mixing uniformity of the flour mixture is output, and finishing the uniform operation of flour and flour.
2. The method according to claim 1, wherein the step S10 includes:
and (3) formulating a standard of uniform state of dry flour particles of the flour mixture corresponding to different stirring operation time of the flour mixture, marking different state images of the flour mixture, and dividing the images collected into a data set into a training set and a verification set according to proportion.
3. The method according to claim 1, wherein in the step S10:
judging that the state of the dry flour particles meets the requirement of a following formula,
wherein,is the image rotation alpha I After the angle, the flour mixture picture corresponds to the uniformity of the dry flour particles, and U is the uniformity of the distribution of the dry flour particles in the flour dough.
4. The method according to claim 1, wherein the step S20 includes:
in the food mixer drive control system, a kinetic equation of a cutter holder in the food mixer is constructed, and the equation is as follows:
wherein τ u Is used for driving the input torque vector of the direct current motor,is a diagonal constant matrix, ">Representing the estimated term of the diagonal constant matrix H, K p 、K D Is a parameter of the PD controller of the food mixer, +.>Is the expected acceleration vector corresponding to the tool apron.
5. The method of claim 4, wherein the step S20 includes:
in the food mixer driving control system, parameters of H (t) are estimated through a time delay estimation method, and the parameters of H (t) obey the following equation:
where Δt represents the sampling period of the food mixer drive control system.
6. The method of claim 5, wherein said step S20 comprises:
in the food mixer drive control system, the angular acceleration value of the tool apron obeys the following equation:
wherein q is the corresponding angular displacement of the tool apron,is the angular velocity of the corresponding output of the tool apron.
7. The method according to claim 1, wherein the step S30 includes:
and comparing the image output of the mixing uniformity state of the flour mixture with the image of the mixing uniformity state of the flour mixture in a plurality of stirring operations until the image of the mixing uniformity state of the flour mixture is consistent with the image of the best mixing uniformity state of the flour mixture, and stopping the operation of the food stirrer.
8. A computer readable storage medium having stored thereon program instructions which, when executed by a processor, implement the method of any of claims 1 to 8.
9. The method of claims 1 to 7, wherein the food mixer comprises a driving direct current motor, a gearbox in transmission connection with a power end of the driving direct current motor, and a cutter holder in transmission connection with the power end of the gearbox, the cutter holder is located in a mixing container, a vision acquisition module corresponding to the mixing container is arranged, and a controller is further arranged in the food mixer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311684194.7A CN117652902A (en) | 2023-12-08 | 2023-12-08 | Stirring and uniformly mixing control method and device for food stirrer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311684194.7A CN117652902A (en) | 2023-12-08 | 2023-12-08 | Stirring and uniformly mixing control method and device for food stirrer |
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| CN117652902A true CN117652902A (en) | 2024-03-08 |
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| CN202311684194.7A Withdrawn CN117652902A (en) | 2023-12-08 | 2023-12-08 | Stirring and uniformly mixing control method and device for food stirrer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118211766A (en) * | 2024-05-17 | 2024-06-18 | 四川王家渡食品股份有限公司 | Low-temperature luncheon meat production monitoring method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118211766A (en) * | 2024-05-17 | 2024-06-18 | 四川王家渡食品股份有限公司 | Low-temperature luncheon meat production monitoring method and system |
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Application publication date: 20240308 |