CN209486485U - A kind of food material processing system - Google Patents
A kind of food material processing system Download PDFInfo
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- CN209486485U CN209486485U CN201920064532.XU CN201920064532U CN209486485U CN 209486485 U CN209486485 U CN 209486485U CN 201920064532 U CN201920064532 U CN 201920064532U CN 209486485 U CN209486485 U CN 209486485U
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Abstract
The utility model provides a kind of food material processing system.The food material processing system includes: robot, cooking cooker, cooking tool and control unit；The cooking cooker, for cooking food materials；Described control unit lotus root meets the robot；Described control unit drives the cooking tool for being put into the food materials to carry out the relevant operation of food material processing for controlling robot.Using the technical solution of the utility model, drives the cooking tool for being put into food materials to carry out relevant cooking by robot and operate, realize the automation of food material processing correlation or part operation, reduce cost of labor.
Description
Technical field
The utility model relates to the food material processing technical fields of automation, and in particular to a kind of food material processing system.
Background technique
At this stage, automation equipment is applied in industry, service, medical treatment and education etc. all trades and professions, therefore is improved each
The working efficiency of each industry of row.
But in food material processing field, often the degree of automation is not high, some tools also rely on manpower operation, for example,
Existing food material processing process, usually put into food materials to be cooked in pot (such as: boil or fried), after food materials in pot are cooked,
Food materials are taken out out of pot.The completion of these work improves artificial cost, reduces the profit of enterprise.
Utility model content
In view of this, the present invention provides a kind of food material processing systems.
The utility model first aspect provides a kind of food material processing system, and the food material processing system includes: robot, material
Manage cooker, cooking tool and control unit；
The cooking cooker, for cooking food materials；
Described control unit lotus root meets the robot；
Described control unit drives the cooking tool for being put into the food materials to carry out food material processing for controlling robot
Relevant operation.
Further, the food material processing system further includes sensor；
Described control unit also lotus root connects the sensor；
The sensor, for acquire food material processing at least partly during the food materials, the cooking tool and/
Or the heat transfer agent of the cooking cooker, the heat transfer agent is sent to described control unit；
Described control unit is also used to obtain the heat transfer agent, and the kind of the food materials is obtained according to the heat transfer agent
Class, position, state；The position of the cooking tool；And/or the relevant information of the state of the workspace of the cooking cooker.
Further, the sensor include imaging sensor, position sensor, temperature sensor, weight sensor and/or
Distance measuring sensor.
Further, the cooking tool is fixed in the robot；Or
The mobilizable setting of cooking tool, so that the cooking tool can be picked up and/or be put down by the robot.
Further, the cooking tool includes food materials holder, food materials pick-up and/or food materials blender.
Further, the cooking tool includes running tool and cooking tools；
The running tool, for transporting in the food materials to the cooking tools or the cooking cooker；
The cooking tools, for assisting the cooking cooker to cook the food materials.
Further, when the cooking tool is located in the cooking cooker, the handle of at least described cooking tool stretches out
The workspace of the cooking cooker, to facilitate the robot to grab the cooking tool.
Further, the handle vertically extends the workspace of the cooking cooker.
Further, hanger is set on the cooking cooker, and the hanger is for placing the cooking tool, so that the material
The science and engineering tool drive food materials are positioned away from the position of the workspace certain distance of the cooking cooker.
Further, the food material processing system further includes timer.
Using the technical solution of the utility model, have it is following main the utility model has the advantages that
It drives the cooking tool for being put into food materials to carry out relevant cooking operation by robot, realizes food material processing correlation
Or the automation of part operation, reduce cost of labor.
Detailed description of the invention
It, below will be to embodiment and description of the prior art in order to illustrate more clearly of the utility model embodiment technical solution
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is the first structure diagram of the embodiment of food material processing system provided by the utility model.
Fig. 2 is the second structural schematic diagram of the embodiment of food material processing system provided by the utility model.
Fig. 3 is the third structural schematic diagram of the embodiment of food material processing system provided by the utility model.
Fig. 4 is the 4th structural schematic diagram of the embodiment of food material processing system provided by the utility model.
Fig. 5 is the 5th structural schematic diagram of the embodiment of food material processing system provided by the utility model.
Fig. 6 is the 6th structural schematic diagram of the embodiment of food material processing system provided by the utility model.
Fig. 7 is the 7th structural schematic diagram of the embodiment of food material processing system provided by the utility model.
Fig. 8 is the first pass schematic diagram of the embodiment of food material processing method provided by the utility model.
Fig. 9 is the second procedure schematic diagram of the embodiment of food material processing method provided by the utility model.
Figure 10 is the third flow diagram of the embodiment of food material processing method provided by the utility model.
Figure 11 is the 4th flow diagram of the embodiment of food material processing method provided by the utility model.
Figure 12 is the 5th flow diagram of the embodiment of food material processing method provided by the utility model.
Figure 13 is the 6th flow diagram of the embodiment of food material processing method provided by the utility model.
Figure 14 is the 7th flow diagram of the embodiment of food material processing method provided by the utility model.
Figure 15 is the 8th flow diagram of the embodiment of food material processing method provided by the utility model.
Figure 16 is the 9th flow diagram of the embodiment of food material processing method provided by the utility model.
Figure 17 is the tenth flow diagram of the embodiment of food material processing method provided by the utility model.
Figure 18 is the 11st flow diagram of the embodiment of food material processing method provided by the utility model.
Figure 19 is the structural block diagram of the embodiment of control device provided by the utility model.
Figure 20 is the structural block diagram of the embodiment of computer equipment provided by the utility model.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that herein
Described specific embodiment is used only for explaining relevant utility model, rather than the restriction to the utility model.It further needs exist for
Illustrate, illustrates only part relevant to related utility model for ease of description, in attached drawing.
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, the utility model embodiment provides a kind of food material processing system 10, which includes: machine machine
People 11, cooking cooker 12, cooking tool 13 and control unit 14；
Cooker 12 is arranged, for cooking food materials；
Control unit 14 is communicated between robot 11 by wired or wirelessly lotus root welding robot 11；
Control unit 14 drives the cooking tool for being put into food materials to carry out the relevant behaviour of food material processing for controlling robot
Make.
Specifically, relevant operate of cooking may include at least one generated in the second instruction of the first instruction and generation；
Wherein, the first instruction drives cooking tool that the food materials are put into cooking cooker by certain for controlling the robot
Cooking time culinary art；Second instruction drives the cooking tool from the cooking cooker for controlling the robot
Take out the food materials after the completion of the culinary art.Specific restriction about control unit 14 see below in related food material processing side
The restriction of method.
Controlling robot by control unit drives the cooking tool for being put into food materials to carry out relevant cooking operation, realizes
The automation of food material processing correlation or part operation, reduces cost of labor.
Specifically, cooking cooker 12 can include but is not limited to: the pot of various types cooking is carried out, such as: steamer, fryer
Or frying pan.
Specifically, cooking tool 13 can include but is not limited to: various food materials pick-ups (such as: clip is (such as the institute of Fig. 1 or 2
Show), sucker, chopsticks or spoon), food materials holder (such as: bucket or hollow out basket (as shown in fig. 3 to 7) or food materials blender (ratio
Such as: stirring rod, scoop).
Further, in some embodiments, as shown in the figures 1 and 2, cooking tool 13 can be fixed in robot 11；Or
Person, as shown in fig. 3 to 7, mobilizable setting, so that cooking tool can be pressed from both sides by the end effector 111 that 11 end of robot is arranged
It takes and puts down.It should be noted that end effector can include but is not limited to clamping jaw and sucker, according to above example institute
It states, cooking tool also may include clamping jaw and sucker, and therefore, in some cases, clamping jaw and sucker etc. can see condiments
Science and engineering tool, and can be regarded as the end effector of robot.
Continue as shown in fig. 7, in some embodiments, food materials pick-up 13, for picking up the institute after the completion culinary art
It states food materials, and the food materials is poured into food materials container 16 (such as: plate) or are placed in food materials in a predetermined manner and are contained
Fill device 16.
Continue as shown in fig. 6, in some embodiments, the food material processing tool 13 includes running tool 131 and culinary art
Tool 132；
The running tool 131, for transporting in food materials to cooking cooker；
The cooking tools 132, for assisting cooking cooker to cook food materials；Such as: setting contains food in cooking cooker
Object (for example, hollow out basket as shown in Figure 5)；Or food is stirred in cooking cooker.Control unit controls robot and drives fortune
When sending tool carrier food materials, and food materials being transported near cooking tools, control robot pours into the food materials in running tool
Cooking tools (such as: when cooking tools are to contain food materials) or cooking cooker (such as: when cooking tools are blender) in.
In some embodiments, food material processing system further includes timer (not shown to anticipate out), is used for the food material processing
Correlation clock.
In some embodiments, when the cooking tool is located in the cooking cooker, at least described cooking tool
Handle stretches out the workspace of the cooking cooker, to facilitate the robot to grab the cooking tool.Such as: as described in Figure 5,
Horizontal (specifically, horizontal can be horizontal or suitably tilt certain angle) stretches out the workspace；For another example: as indicated with 6,
The relatively described cooking cooker of the handle of the cooking tool is vertical (specifically, vertically can be certain for vertical or appropriate inclination
Angle) setting, with facilitate robot crawl be put into cooking cooker in cooking tool.
In some embodiments, hanger (being blocked in figure) is set on the cooking cooker, the hanger is for placing institute
State cooking tool so that the cooking tool drive the food materials be positioned away from it is described cooking cooker workspace (such as: the water surface
Or pasta) certain distance position.
Specifically, wireless mode can include but is not limited to: 3G/4G, WIFI, bluetooth, WiMAX, Zigbee, UWB
(ultra wideband), and other currently known or exploitation in the future radio connection.
Specifically, robot 11 can be multiple joints and the manipulator 11 that connecting rod passes through formation in series or in parallel；Than
Such as: four axis or the parallel manipulators such as six axis Serial manipulators or Delta；The end joint of manipulator is output end, output end
Can directly be fixedly connected end effector (such as: clamping jaw or sucker pick up cooking tool or food by clamping jaw or sucker
Material) or directly it is fixedly connected with cooking tool.Alternatively, in some embodiments, robot can be include machinery recited above
The robot of the humanoid or other moulding of hand.
Specifically, control unit 13 can be independent a part for calculating equipment；It can be a part of robot 11；
Be also possible to arrange cooker 12 a part (such as: control cooking cooker work) etc..
Control unit can be programmable logic controller (PLC) (Programmable Logic Controller, PLC), show
Field programmable gate array (Field-Programmable Gate Array, FPGA), computer (Personal Computer,
PC), industrial control computer (Industrial Personal Computer, IPC) or server etc..Control device according to
Fixed program in advance, the number acquired in conjunction with the information, parameter or external sensor (such as imaging sensor) being manually entered
Program instruction is generated according to equal.
As illustrated in figs. 2-7, in some embodiments, food material processing system 10 can also include sensor 15.Sensor 15,
For the sensor information during acquiring food material processing at least partly；15 lotus root of sensor connects control unit 14, and sensor is believed
Breath is sent to control unit 14；Control unit 14, for obtaining type, position, the state of the food materials according to heat transfer agent；Institute
State the position of cooking tool；And/or it is described cooking cooker workspace state (such as: arrange the temperature of the workspace of cooker
Or whether the liquid of workspace boils) relevant information.
Specifically, sensor 15 can include but is not limited to: imaging sensor (as illustrated in figs. 2-7), position sensor, temperature
Spend sensor, weight sensor (such as: weighing claim) and/or distance measuring sensor (such as: infrared range-measurement system).
Specifically, position sensor, can be used for acquiring the location information of cooking tool；Control unit is according to the position received
Confidence, which ceases, generates corresponding instruction, picks up cooking tool, placement cooking tool etc. to control robot.
Specifically, temperature sensor, can be used for acquiring the workspace in cooking cooker temperature information (such as: water or
The temperature of oil)；Control unit judges whether that can control robot drives cooking tool by food materials according to the temperature information received
Be put into cooking utensil (such as: whether water temperature reaches 100 degree, and whether oil temperature reaches culinary art requirement etc.)；Or according to receiving
Temperature information, judge specific cooking time (such as: temperature height need it is appropriate shorten cooking time, temperature is low need it is appropriate
Lengthen cooking time)；Or according to temperature, the heating of cooker is arranged in control, such as: it needs that oil temperature or water temperature is kept to be maintained at
In a certain fixed range.
Specifically, weight sensor, the weight for acquiring the food materials placed in cooking tool is sent to control unit, control
Unit processed judges cooking time or judges the type of specific food materials according to weight according to weight.
Specifically, imaging sensor 15 can be fixed in the robot a certain spatial dimension in 11 periphery；Or robot 11
Upper (not shown to anticipate out).
Imaging sensor 15 may include: one or more cameras, video camera, scanner or other with correlation function
Equipment (mobile phone, computer etc.) etc..The image of imaging sensor shooting can be 2D image, 3D rendering or video etc..
Imaging sensor 15 sends an image to control for obtaining one or more images in food material processing process
Unit processed；Control unit obtains the relevant information of the type of food materials, the position of food materials according to image, arranges the work in cooker
The location dependent information etc. of situation (such as: whether water is opened or judge whether food materials are mature according to color) and/or cooking tool,
To generate the relevant control instruction of food material processing.
In some embodiments, cooker 12 is managed in the also lotus root splicing of control unit 14；Sensor information is sent to control unit
14；Control unit 14 is also used to according to sensor information, the work of control cooking cooker.
As shown in figure 8, in some embodiments, the utility model also provides a kind of food material processing method, the food material processing
Method includes following method and step:
Generate at least one of the first instruction and the second instruction；Wherein
First instruction drives cooking tool that food materials are put into cooking cooker by centainly cooking for controlling robot
It prepares food the culinary art of time；
Described instruction is used for, and drives food materials of the cooking tool after taking out culinary art in cooking cooker for controlling robot.
It drives the cooking tool for being put into food materials to carry out relevant cooking operation by control robot, realizes food material processing
Related or part operation automation, reduces cost of labor.
Specifically, generating at least one of the first instruction and the second instruction can be to only generate the first instruction, only generate
Second instruction, or as shown in figure 8, S100 generates the first instruction and S200 generates the second instruction.
For convenience of understanding, the correlation step of food material processing method is further described below:
S100 generates the first instruction；First instruction drives cooking tool that food materials are put into cooking for controlling robot
Pass through the culinary art of certain cooking time in cooker.
Specifically, control device can issue control instruction according to the program that preprogramming is set, robot band is controlled
Food materials are put into the culinary art for passing through a preset cooking time in cooking cooker by dynamic cooking tool；Or control device according to
The difference of the type of food materials, from multiple programs that multiple preprogrammings are set or a program multiple cooking times or
One is selected in cooking process etc.；Or control device includes a preparatory trained machine human operator model, the model
For according to the images of the food materials in the types of the food materials of input, cooking process or arranging the image or position phase of tool
Information etc. is closed, the first instruction is generated or generates certain information to help to generate first instruction etc..
Specifically, cooking tool may include one according to above example, it also may include running tool and cook
It prepares food at least two tool of tool.It can include but is not limited to according to different cooking tools:
Control robot drives cooking tool to pour into the food materials placed in cooking tool in cooking cooker；Or
Control robot drives tool movement described in Examples hereinafter to pour into food materials in cooking cooker or cooking tools.
Specifically, cooking tool can be fixed on the end joint of robot according to above example, or material
Science and engineering tool is arranged outside robot, grabs the cooking tool by the end effector being arranged on robot end joint.
As shown in figure 12, in some embodiments, cooking time step can obtain by the following method:
S121 obtains food materials information；
Specific food materials type can be obtained according to food materials image based on Conventional visual method or the method for machine learning
The information of food materials.
Or the weight of the cooking tool being put into after food materials according to acquisition, the type of food materials is obtained according to weight.Such as:
The database for pre-establishing the different corresponding weight of food materials type matches specific weight information with database, with
Obtain the type of food materials.Or the method based on machine learning, weight is inputted in trained food materials floristic analysing model,
Export specific food materials type.
S122 combination information generates cooking time.
Specifically, the database of the different corresponding cooking times of food materials type is pre-established, by specific information
It is matched with database, to obtain specific cooking time type.Or the method based on machine learning, information is defeated
Enter in trained cooking time analysis model, exports specific cooking time type.
In some embodiments, cooking time is in addition to can be with food materials type correlation, and/or the work also with cooking cooker
The state (such as: temperature) in area is related, then cooking time acquisition methods may include:
S123 obtains the status information of the workspace in cooking cooker；
S124 bonding state generates cooking time.
Specifically, temperature sensor can be set in workspace, the cooking cooker sent according to the temperature sensor of acquisition
The relevant information of interior temperature, generates corresponding cooking time.
As shown in figure 11, in some embodiments, on the end joint that cooking tool 13 is fixed on robot 11,
S100 generates the first instruction
S300 generates first movement instruction, drives the cooking tool to be moved to cooking cooker periphery one to control robot
Determine in range.
Specifically, when cooking tool be placed on from cooking cooker have with a certain distance from when, need first to control robot band
Dynamic cooking tool is moved in cooking cooker periphery a certain range.
Specifically, cooking cooker periphery a certain range can be the position or periphery of some fixation of cooking cooker periphery
In some default range, it will drive cooking tool that food materials are put into cooking cooker as long as robot can be controlled.
The range can be the range of a preset fixed value；It is also possible to control device to be based on first passing through instruction in advance
Experienced position identification model, the cooking cooker that will acquire and the image for arranging tool or location information input position identification mould
Type then exports the cooking a certain range of range in cooker periphery.
As shown in figure 9, in some embodiments, the S100 generates the first instruction and includes:
S120 obtains the heat transfer agent；
S140 obtains type, position and/or the state of the food materials according to the heat transfer agent；The position of the cooking tool
It sets；And/or the relevant information of the state of the workspace of the cooking cooker；
S160 generates first instruction in conjunction with the relevant information.
It needs to generate corresponding first instruction according to relevant information.Such as: according to information or the state of workspace
Information generates corresponding cooking time；According to the position of cooking tool, the amount of exercise etc. of corresponding control robot is generated.
As shown in figure 18, in some embodiments, the information for obtaining food materials includes following method and step:
(weight refers to cooking tool and food to the image or weight that S141 obtains the food materials being put into the cooking tool
The weight of material together)；
S142 obtains the information of the food materials according to described image or weight.
In some embodiments, parsing food materials image can based on the method for Conventional visual, such as: binaryzation, connected domain
Or edge detection etc. is to obtain the shape of food materials, and then is carried out pair according to food materials shape and pre-stored food materials kind class libraries
Than to match, to obtain the corresponding information of food materials.
In some embodiments, parsing cooking tool image can be realized based on the machine learning method of artificial intelligence, will
Food materials image inputs in trained neural network model in advance, can export the information of the food materials in image.
The database for pre-establishing the different corresponding weight of food materials type carries out specific weight information and database
Matching, to obtain the type of food materials.Or the method based on machine learning, weight is inputted into trained food materials floristic analysing
In model, specific food materials type is exported.
In conjunction with information, it can help to generate cooking time or will put into instruction in food materials holder etc..
As shown in Figure 10, in some implementations, it is arranged outside robot with arranging tool below, is closed by robot end
For the pick tool being arranged on section grabs the cooking tool, further, S100 generate the first control instruction before, further include as
Lower method and step:
S400 obtains the relevant information of the position of cooking tool；
Further, as shown in figure 13, in some embodiments, S400 obtains the relevant information of the position of cooking tool；
Including following method and step:
The cooking tool image of S410 acquisition cooking tool；
Specifically, control device acquisition is located at after food materials to be put into cooking tool by way of either automatically or manually
The image for arranging tool that the imaging sensor on robot periphery shoots and sends.
S420 parsing cooking tool image obtains the location information of cooking tool.
Specifically, position can include but is not limited to: two dimension, three-dimensional or other multidimensional coordinates.
In some embodiments, parsing cooking tool image can based on the method for Conventional visual, such as: binaryzation, company
Logical domain or edge detection etc. are to obtain the location information of cooking tool.
In some embodiments, parsing cooking tool image can be realized based on the machine learning method of artificial intelligence, will
Cooking tool image inputs in trained neural network model in advance, can export the position of the cooking tool in image.
Specifically, the position of cooking tool can be the position for the pickup section picked up on cooking tool by robot, such as:
As shown in Fig. 5 or 6, for arranging basket, the position for arranging tool is commonly referred to as arranging the position of the handle of basket；Either expect
The boundary position of the structure in whole or in part of science and engineering tool, the CAD model of binder science and engineering tool, to extrapolate specific pickup section
Position.
In addition to the position for obtaining cooking tool based on imaging sensor, it is also based on position sensor and ranging sensing
The relevant information in position of device etc. acquisition cooking tool.
S500 generates third instruction according to the relevant information of the position, grabs the cooking tool to control robot.
Continue as shown in Figure 1, in some embodiments, S200 generates the second control instruction and can include but is not limited to:
Control robot directly picked up from cooking cooker (such as: directly expected by clip clamping or connection strainer etc.
Science and engineering tool fishes for) culinary art after food materials.
Specifically, cooking tool may include one according to above example, it also may include running tool and cook
It prepares food at least two tool of tool.According to different cooking tools, can include but is not limited to:
Control robot drives cooking tool to pour into the food materials placed in cooking tool in cooking cooker；Or
Control robot drives running tool to pour into food materials in cooking tools.
In some embodiments, as shown in figure 17, in some embodiments, the S100 generates the second control instruction packet
It includes:
S220 obtains the heat transfer agent；
S240 obtains type, position, the state of the food materials according to the heat transfer agent；The position of the cooking tool；
And/or the relevant information of the state of the workspace of the cooking cooker；
S260 generates second instruction in conjunction with the relevant information.
It needs to generate corresponding second instruction according to heat transfer agent.
As shown in figure 14, in some embodiments, after the second control instruction 200 of the generation further include:
S600 generates hanger instruction, is hung on preset hanger with controlling the robot for the cooking tool.
As shown in figure 15, in some embodiments, after the second control instruction 200 of the generation further include:
Instruction is put in S700 generation, drives the cooking tool will be after culinary art to control robot control robot
The food materials are poured into or are put in food materials container in a predetermined manner.
Specifically, after the culinary art of the available food materials location information and the food materials container location information；With/
Or in some embodiments, it can be combined with the information of food materials；In conjunction with above- mentioned information, generation is put in a predetermined manner
Enter the instruction of putting in the food materials container, i.e., different food materials types can correspond to different disposing ways.
As shown in figure 16, in some embodiments, it includes following method and step that instruction is put in S700 generation:
Location information after the culinary art of the food materials after the completion of S710 acquisition culinary art；
Specifically, can be according to the image information of the food materials of acquisition, the mode based on Conventional visual either machine learning
Obtain the location information of food materials.
The location information of S720 acquisition food materials container；
Specifically, can be according to the image information of the food materials container of acquisition, based on Conventional visual either machine learning
Mode obtain the location information of food materials container.
S730 in conjunction with the food materials culinary art after location information and the food materials container location information, generate second move
Dynamic instruction, to control the robot, to drive the cooking tool that the food materials after culinary art are moved to food materials container attached
Closely；
S740 generates second and puts instruction in conjunction with the location information of the food materials container, drives institute to control robot
Cooking tool is stated to pour into the food materials container food materials after culinary art or put into the food in a predetermined manner
In material container.
As shown in figure 17, the embodiment of corresponding above method, the utility model embodiment also provide a kind of food material processing control
Device 400 processed, a kind of food material processing control device described below and above-described food material processing method can correspond to each other ginseng
According to.
Food material processing control device 400 includes: the first directive generation module 410 and the second directive generation module 420；
First directive generation module 410；The used control robot drives cooking tool to put the food materials
Enter the culinary art arranged and pass through certain cooking time in cooker；
Second directive generation module 420；Drive the cooking tool from the cooking for controlling the robot
The food materials after taking out the culinary art in cooker.
In some embodiments, food material processing control device further include:
First movement command generation unit, for generating first movement instruction.
In some embodiments, food material processing control device further include:
It arranges tool location and obtains module, the relevant information of the position for obtaining cooking tool
Third directive generation module generates third instruction, for the relevant information according to the position to control robot
Grab the cooking tool.
In some embodiments, food material processing control device further include:
Hanger directive generation module is hung over for generating hanger instruction with controlling the robot for the cooking tool
On preset hanger；
In some embodiments, food material processing control device further include:
Directive generation module is put, puts instruction for generating, to control described in the drive of robot control robot
The food materials after culinary art are poured into or are put in food materials holder in a predetermined manner by cooking tool.
In some embodiments, first directive generation module includes:
Heat transfer agent acquisition unit, for obtaining the heat transfer agent；
Relevant information acquisition unit, for obtaining type, position, the state of the food materials according to the heat transfer agent；It is described
The position of cooking tool；And/or the relevant information of the state of the workspace of the cooking cooker；
First command generation unit, for generating first instruction in conjunction with the relevant information.
In some embodiments, second directive generation module includes:
Heat transfer agent acquisition unit, for obtaining the heat transfer agent；
Relevant information acquisition unit, for obtaining type, position, the state of the food materials according to the heat transfer agent；It is described
The position of cooking tool；And/or the relevant information of the state of the workspace of the cooking cooker；
First command generation unit, for generating second instruction in conjunction with the relevant information.
In some embodiments, the second directive generation module includes:
Food materials type acquisition unit, for obtaining food materials type；
First cooking time generating unit, for combining information to generate cooking time；Or
State information acquisition portion, for obtaining the status information of the workspace in cooking cooker；
Second cooking time generating unit generates cooking time for bonding state.
In some embodiments, cooking tool location acquisition module includes；
Image acquiring unit, for obtaining the cooking tool image of cooking tool；
Image analysis section obtains the location information of cooking tool for parsing cooking tool image.
In some embodiments, putting directive generation module includes:
Information acquiring section, the type of position, the position of food materials container and/or food materials after the culinary art for obtaining food materials
Information；
Command generation unit is put, for putting instruction described in generation in conjunction with the information.
Other associated descriptions in relation to control device, referring to food material processing method, it is no longer repeated herein.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of the control device is divided into different functional unit or module, to complete
All or part of function described above.Each functional unit in embodiment, module can integrate in one processing unit,
It is also possible to each unit to physically exist alone, can also be integrated in one unit with two or more units, above-mentioned collection
At unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function
Unit, module specific name be also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above-mentioned system
The specific work process of unit in system, module, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In further embodiments, a kind of computer readable storage medium, the computer readable storage medium are also provided
It is stored with computer program, food material processing side described in above example is realized when the computer program is executed by processor
The step of method.
Description in relation to food material processing method is referring to above embodiment, and it is no longer repeated herein.
As shown in figure 18, in further embodiments, a kind of computer equipment 50 is also provided, the computer equipment 50 is wrapped
It includes memory 51, processor 52 and is stored in the computer journey that can be run in the memory 51 and on the processor 52
Sequence 511, the processor 52 realize the step of guard method described in above example when executing the computer program 511
Suddenly.There is the description of gateway protecting method referring to above embodiment, it is no longer repeated herein.
By taking computer and industrial control computer as an example, industrial control computer has important computer attribute and spy
Sign, therefore they all have computer central processing unit (Central Processing Unit, CPU), hard disk, memory etc.
Internal storage also has plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure
Digital, SD) card, the external memories such as flash card (Flash Card), and have operating system, control network and agreement, calculating
Ability, friendly man-machine interface, be provided for other each structure/equipment/systems reliable, embedded, intelligentized computer and
Industrial control computer.
Illustratively, the computer program 511 can be divided into one or more module/units, it is one or
Multiple module/the units of person are stored in the memory 51, and are executed by the processor 52, to complete the utility model.
One or more of module/units can be the series of computation machine program instruction section that can complete specific function, the instruction
Section is for describing implementation procedure of the computer program 511 in the control device 50.For example, the computer program
511 can be divided into the first directive generation module and the second directive generation module；Each module concrete function is as follows: described first
Directive generation module；Drive cooking tool that the food materials are put into cooking cooker by centainly cooking for controlling the robot
It prepares food the culinary art of time；Second directive generation module；Drive the cooking tool from the material for controlling the robot
The food materials after the completion of the culinary art are taken out in reason cooker.
Alleged processor 52 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 51 can be the storage equipment of the terminal built-in, such as hard disk or memory.The memory 51
It is also possible to the External memory equipment of the control device 50, such as the plug-in type hard disk being equipped on the control device 50, intelligence
Energy storage card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash
Card) etc..Further, the memory 51 can also both include the internal storage unit of the control device 50, also include
External memory equipment.The memory 51 is for storing other program sum numbers needed for the computer program and the terminal
According to.The memory 51 can be also used for temporarily storing the data that has exported or will export.
It will be understood by those skilled in the art that Figure 12 is only the example of computer equipment 50, do not constitute to computer
The restriction of equipment 50 may include perhaps combining certain components or different components than illustrating more or fewer components,
Such as the control device can also include input-output equipment, network access equipment, bus etc..
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the utility model.
In embodiment provided by the utility model, it should be understood that disclosed each device and method, Ke Yitong
Other modes are crossed to realize.For example, the embodiment of each device described above is only schematical, for example, the mould
The division of block or unit, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple
Unit or assembly can be combined or can be integrated into another system, or some features can be ignored or not executed.It is another
Point, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device or
The INDIRECT COUPLING or communication connection of unit can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the utility model can integrate in one processing unit,
It can be each unit to physically exist alone, can also be integrated in one unit with two or more units.It is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the utility model is realized above-mentioned
All or part of the process in embodiment method can also instruct relevant hardware to complete by computer program, described
Computer program can be stored in a computer readable storage medium, which, can be real when being executed by processor
The step of existing above-mentioned each embodiment of the method.Wherein, the computer program includes computer program code, the computer
Program code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer can
Reading medium may include: any entity or device, recording medium, USB flash disk, mobile hard that can carry the computer program code
Disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory
(RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It needs to illustrate
It is that the content that the computer-readable medium includes can be fitted according to the requirement made laws in jurisdiction with patent practice
When increase and decrease, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier wave
Signal and telecommunication signal.
When element is expressed the similar word of " being fixed on ", " being fixedly connected " another element etc., it can be directly another
It is on one element or prefabricated integral there may be one or more elements placed in the middle, with another element therebetween.When one
Element is expressed " connection " another element, it can be directly to another element or there may be one therebetween
Or multiple elements placed in the middle.Term "vertical", "horizontal", "left" and "right" that this specification uses, "inner", "outside" and
Similar statement is for illustrative purposes only.
Unless this specification is defined otherwise, all technical and scientific terms used in this specification with to belong to this practical
The normally understood meaning of novel those skilled in the art is identical.In this specification in the specification of the utility model institute
Belonging to for using is only for the purpose of describing specific embodiments, and is not intended to limitation the utility model.
Claims and specification of the utility model and term " first " in above-mentioned attached drawing, " second ", " third ",
" S110 ", " S120 " " S130 " etc. (if present) are for distinguishing similar object, without specific suitable for describing
Sequence or precedence.It should be understood that the data used in this way are interchangeable under appropriate circumstances, so as to the embodiments described herein
It can be implemented with the sequence other than the content for illustrating or describing herein.In addition, term " includes " " having " and they
Any deformation, it is intended that cover and non-exclusive include.Such as: include series of steps or module process, method,
System, product or robot those of are not necessarily limited to be clearly listed step or module, but including being not clearly listed
Or other steps or module intrinsic for these process, methods, system, product or robot.
Food material processing system provided by the utility model embodiment is described in detail above, but above embodiments
Explanation be merely used to help understand the method and its core concept of the utility model, should not be construed as the limit to the utility model
System.Those skilled in the art based on the idea of the present invention within the technical scope disclosed by the utility model, can
The change or replacement readily occurred in, should be covered within the scope of the utility model.
Claims (10)
1. a kind of food material processing system, which is characterized in that the food material processing system includes: robot, cooking cooker, cooking work
Tool and control unit；
The cooking cooker, for cooking food materials；
Described control unit lotus root meets the robot；
Described control unit drives the cooking tool for being put into the food materials to carry out food material processing behaviour for controlling robot
Make.
2. food material processing system according to claim 1, which is characterized in that the food material processing system further includes sensing
Device；
Described control unit also lotus root connects the sensor；
The sensor, for acquire food material processing at least partly during the food materials, the cooking tool and/or institute
The heat transfer agent for stating cooking cooker, is sent to described control unit for the heat transfer agent；
Described control unit is also used to obtain the heat transfer agent, and type, the institute of the food materials are obtained according to the heat transfer agent
State the shape of the workspace of the position of food materials, the state of the food materials, the position of the cooking tool, and/or the cooking cooker
State information.
3. food material processing system according to claim 2, which is characterized in that the sensor includes imaging sensor, position
Set sensor, temperature sensor, weight sensor and/or distance measuring sensor.
4. food material processing system according to claim 1 or 2 or 3, which is characterized in that the cooking tool is fixed on described
In robot；Or
The mobilizable setting of cooking tool, so that the cooking tool can be picked up and/or be put down by the robot.
5. food material processing system according to claim 1 or 2 or 3, which is characterized in that the cooking tool includes that food materials are contained
Put device, food materials pick-up and/or food materials blender.
6. food material processing system according to claim 1 or 2 or 3, which is characterized in that the cooking tool includes transporting work
Tool and cooking tools；
The running tool, for transporting in the food materials to the cooking tools or the cooking cooker；
The cooking tools, for assisting the cooking cooker to cook the food materials.
7. food material processing system according to claim 1 or 2 or 3, which is characterized in that described in being located at when the cooking tool
When arranging in cooker, the handle of at least described cooking tool stretches out the workspace of the cooking cooker, to facilitate the robot
Grab the cooking tool.
8. food material processing system according to claim 6, which is characterized in that the handle vertically extends the cooking cooker
Workspace.
9. food material processing system according to claim 1 or 2 or 3, which is characterized in that be arranged on the cooking cooker and hang
Frame, the hanger is for placing the cooking tool, so that the cooking tool drives the food materials to be positioned away from the cooking
The position of the workspace certain distance of cooker.
10. food material processing system according to claim 1 or 2 or 3, which is characterized in that the food material processing system is also wrapped
Include timer.
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| CN201920064532.XU CN209486485U (en) | 2019-01-15 | 2019-01-15 | A kind of food material processing system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112107231A (en) * | 2019-06-21 | 2020-12-22 | 惠州拓邦电气技术有限公司 | Processing method and device and storage device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112107231A (en) * | 2019-06-21 | 2020-12-22 | 惠州拓邦电气技术有限公司 | Processing method and device and storage device |
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| TR01 | Transfer of patent right |
Effective date of registration: 20200529 Address after: 518173 Henggang street, Longgang, Shenzhen, Guangdong, six A, 5F 28, Qin Fu Road, Jintang industrial area. Co-patentee after: GAOYIDA TECHNOLOGY (SHENZHEN) Co.,Ltd. Patentee after: ROBOTICS ROBOTICS (SHENZHEN) Ltd. Address before: 518173 Henggang street, Longgang, Shenzhen, Guangdong, six A, 5F 28, Qin Fu Road, Jintang industrial area. Patentee before: ROBOTICS ROBOTICS (SHENZHEN) Ltd. |
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Granted publication date: 20191011 |