WO2019059209A1

WO2019059209A1 - Heat-cooking device

Info

Publication number: WO2019059209A1
Application number: PCT/JP2018/034583
Authority: WO
Inventors: 藤田　篤志; 久保谷　寛行; ザリナラフィー; 幸　裕弘
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2017-09-25
Filing date: 2018-09-19
Publication date: 2019-03-28
Also published as: JP7065305B2; JPWO2019059209A1

Abstract

This heat-cooking device comprises: a heating unit which heats a cooking object; a camera which photographs the cooking object; a cooking object state estimation unit which, at predetermined time intervals, extracts a feature quantity from an image of the cooking object captured in a photograph obtained using the camera, and estimates a state of the cooking object on the basis of the extracted feature quantity; and a heat control unit which controls the heating unit on the basis of the estimated state of the cooking object. The cooking object state estimation unit, if the amount of change in the feature quantity between a first timing and an immediately following second timing has exceeded a predetermined threshold amount of change, estimates the state of the cooking object at a third timing following the second timing, on the basis of the feature quantity at the first timing and the difference between the feature quantity at the third timing and the feature quantity at the second timing.

Description

Cooker

TECHNICAL FIELD The present invention relates to a heating cooker for heating an object to be cooked.

2. Description of the Related Art Conventionally, a heating cooker is known which shoots a cooking object with a camera and controls heating of the cooking object based on an image of the cooking object shown in the photographed image (see, for example, Patent Document 1).

JP, 2015-68542, A

However, in the case of the heating cooker described in Patent Document 1, when the light environment around the heating cooker changes, the color tone of the image of the object to be cooked that is captured in the captured image of the camera changes. For example, when the curtain is opened during cooking and the light of the sunset enters the kitchen and the light strikes the object to be cooked, the entire photographed image, that is, the image to be cooked may become reddish (the hue changes). Also, for example, when a light is turned on during cooking, the entire photographed image, that is, the image to be cooked may be whitened (color saturation may be reduced) by the light of the light. As described above, if a change or a difference occurs in the color of the cooking object in the photographed image due to the change in the light environment, there is a possibility that the cooking object based on the image of the cooking object in the photographed image can not be properly cooked.

Therefore, according to the present invention, in the heating cooker that controls the heating of the cooking target based on the image of the cooking target shown in the photographed image of the camera, the heating target is appropriately heated while suppressing the influence of the change of the light environment. To be an issue.

According to one aspect of the present invention, in order to solve the above-mentioned problems,
A container placement unit on which a container containing a cooking target is placed;
A heating unit configured to heat the container placed on the container placement unit from below;
A camera for photographing the cooking object;
A cooking target state estimation unit that extracts a feature amount from an image of a cooking target shown in a captured image of the camera at a predetermined timing interval, and estimates a state of the cooking target based on the extracted feature amount;
And a heating control unit that controls the heating unit based on the state of the cooking target estimated by the cooking target state estimation unit,
The cooking target state estimation unit
When the amount of change of the feature amount from the first timing to the second timing immediately after the first timing exceeds a predetermined threshold amount of change:
The feature to be cooked at the third timing after the second timing is the feature at the first timing, the feature at the third timing, and the feature at the second timing. A cooker is provided that is configured to make an estimate based on the difference between the amounts.

According to the present invention, in the heating cooker which controls the heating of the cooking target based on the image of the cooking target shown in the photographed image of the camera, the heating target is appropriately heated while suppressing the influence of the change of the light environment. be able to.

These aspects and features of the present invention will become apparent from the following description in connection with the preferred embodiments of the attached drawings. In this figure,
Schematic perspective view of a heating cooker according to an embodiment of the present invention A diagram schematically showing the configuration of a heating cooker Block diagram showing the control system of the heating cooker Image showing change of image of cooking object in one example of cooking The figure which shows the change of the image of cooking object in cooking of another example The figure which shows the change of the image of the cooking object which received disturbance light in the heating and cooking shown in FIG. The figure which shows the change of the image of the cooking object which took the disturbance light in the heating and cooking shown in FIG. Diagram showing the change curve of the feature value affected by the change of the light environment and the change curve of the feature value corrected so that the influence of the change of the light environment is reduced A diagram showing a change curve of a feature that has been affected by a change in the light environment and a change curve of a feature that has been corrected so that the influence of the change in the light environment is reduced when the timing interval is changed to half.

The heating cooker according to one aspect of the present invention includes a container placement unit on which a container containing a cooking target is placed, a heating unit that heats the container placed on the container placement unit from below, and A camera that shoots a cooking object and a feature amount is extracted from an image of the cooking object captured in a captured image of the camera at a predetermined timing interval, and the cooking object estimates a state of the cook object based on the extracted feature amount And a heating control unit configured to control the heating unit based on the state of the cooking target estimated by the cooking target state estimating unit, the cooking target state estimation unit having a first timing. If the change amount of the feature amount from the second timing immediately after the first timing to the second timing exceeds a predetermined threshold change amount, the state of the cooking target at the third timing after the second timing is Said first And the feature amount of timing, is configured to estimate that on the basis of the difference between the feature amount in the feature quantity and the second timing in the third timing.

According to one aspect of the present invention, in the heating cooker which controls the heating of the cooking target based on the image of the cooking target shown in the photographed image of the camera, the heating of the cooking target is suppressed by suppressing the influence of the change of the light environment. It can be done properly.

For example, the feature amount may be at least one of hue, saturation, and lightness. Since the feature amount is the hue, saturation, and lightness related to the hue of the image of the cooking target that is easily influenced by the change in color environment, the change amount of the feature amount from the first timing to the second timing is predetermined When the threshold change amount is exceeded, the state of the cooking object at the third timing is the feature amount at the first timing, the feature amount at the third timing, and the second timing. It is appropriate to estimate based on the difference between the feature quantity and the feature quantity at.

For example, at least one of the predetermined timing interval and the predetermined threshold change amount may be changed based on the heating output of the heating unit. Thereby, estimation of the state of cooking object can be performed with high precision.

For example, the heating cooker includes a temperature sensor that detects the temperature of the container placed on the container placement unit, and the cooking target state estimation unit determines the detected temperature at the first timing and the temperature detected by the cooking target condition estimation unit at the first timing. When the detected temperature at the second timing is substantially the same, the state of the cooking object at the third timing, the feature value at the first timing, and the feature at the third timing It may be configured to estimate based on the amount and the difference between the feature quantity at the second timing. As a result, when the amount of change in the feature amount from the first timing to the second timing exceeds the predetermined amount of threshold change, it can be ensured that the cause is a change in the light environment.

For example, the heating cooker has a weight sensor that detects the weight of the container placed on the container placement unit, and the cooking target state estimation unit determines the detected weight at the first timing and the weight. When the detected weight at the second timing is substantially the same, the state of the cooking object at the third timing, the feature amount at the first timing, and the feature at the third timing It may be configured to estimate based on the amount and the difference between the feature quantity at the second timing. As a result, when the amount of change in the feature amount from the first timing to the second timing exceeds the predetermined amount of threshold change, it can be ensured that the cause is a change in the light environment.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic perspective view of a heating cooker according to an embodiment of the present invention. Moreover, FIG. 2 is a figure which shows the structure of a heating cooker roughly. Furthermore, FIG. 3 is a block diagram showing a control system of the heating cooker. In the drawing, the X-axis direction indicates the width direction of the heating cooker, the Y-axis direction indicates the depth direction, and the Z-axis direction indicates the height direction.

As shown in FIG. 1, the heating cooker 10 has a main body 12 and, as an upper portion of the main body 12, a top plate 14 on which a container C containing a cooking target T such as a stew is placed. Have.

Further, in the case of the present embodiment, the heating cooker 10 is an induction heating cooker, and as shown in FIG. 1 and FIG. 2, it is mounted on the container mounting portion (container mounting area) in the top plate 14 Below the container C, that is, in the main body 12, heating coils 16A to 16C are disposed as heating parts of the heating cooker 10. The heating coils 16A to 16C inductively heat the container C placed on the top plate 14 from below.

A plurality of touch keys 18A to 18C are provided on a portion of the top plate 14 on the front surface 10a side of the heating cooker 10, as operation units for the user to operate the heating coils 16A to 16C, respectively. For example, heating of the corresponding heating coil 16A is started or stopped by the touch key 18A. In addition, the heating level (for example, four stages) is adjusted.

Further, a plurality of output display units 20A to 20C for displaying the output state (heating level) of the heating coils 16A to 16C are also provided on the top plate 14 on the front surface 10a side of the heating cooker 10.

Note that, in order to set heating by the heating coils 16A to 16C in detail, a setting unit 22 is provided on the front surface 10a side of the heating cooker 10. The setting unit 22 can be inserted into and taken out of the main body 12, and the setting key 22a for setting the heating by the heating coils 16A to 16C in detail, the setting contents thereof, the detailed state of the heating coils 16A to 16C, etc. And a setting display unit 22b for displaying. The setting portion 22 sets the heating temperature, the heating time, the timer, etc. of the heating coils 16A to 16C.

Moreover, the heating cooker 10 equips the front surface 10a side of the heating cooker 10 with alerting | reporting parts 24, such as a speaker alerting | reporting with respect to a user.

Furthermore, the heating cooker 10 has a plurality of temperature sensors 26A to 26C for detecting the temperature of the container C placed on the top plate 14 and a weight for detecting the weight of the container C placed on the top plate 14 And a sensor 28.

In the case of the present embodiment, the plurality of temperature sensors 26A to 26C are disposed below the top plate 14 and at the centers of the heating coils 16A to 16C. That is, for example, the temperature sensor 26A is disposed above the heating coil 16A and detects the temperature on the bottom side of the container C inductively heated by the heating coil 16A through the top plate 14.

In the case of the present embodiment, the weight sensor 28 determines the weight of the load on the top plate 14, that is, when there are a plurality of containers C, the weight of the plurality of containers C and the cooking contained in each container C. Detect the sum of the subject's weight.

Furthermore, the heating cooker 10 has the camera 30 which image | photographs cooking object T on the top plate 14 from upper direction.

The camera 30 is, for example, a camera capable of capturing still images, moving images, infrared images, etc., and captures the entire top surface 14 a of the top plate 14. The camera 30 is attached to a ceiling or a range hood (not shown) located above the heating cooker 10 or the like. In the case of the present embodiment, the camera 30 is attached to the range hood via a magnet.

In the case of the present embodiment, the camera 30 is configured to wirelessly communicate with the control unit 50 of the heating cooker 10. For that purpose, as shown in FIG. 2, the camera 30 is provided with the antenna 32, and the antenna 34 is provided in the main body 12 of the heating cooker 10. In the case of the present embodiment, the camera 30 and the control unit 50 are connected via the router device 36. That is, the camera 30 and the control unit 50 are connected in a wirelessly communicable manner to a local area network 38 centering on the router device 36. Also, the router device 36 is connected to the Internet 40. Furthermore, the router device 36 is connected to the portable terminal 42 of the user in a wirelessly communicable manner.

From here, the operation of the heating cooker 10, that is, the control performed by the control unit 50 will be described with reference to FIG.

The control unit 50 of the heating cooker 10 is, for example, a processing device such as a CPU, and performs various functions by executing a program stored in the storage unit 60 such as a ROM, a RAM, a hard disk (for example, , And is configured to function as an image processing unit described later. As shown in FIG. 3, the control unit 50 is configured to receive, from these, signals corresponding to the user's operation on the touch keys 18A to 18C and the setting key 22a of the setting unit 22. The control unit 50 is also configured to receive from them signals corresponding to the temperatures detected by the temperature sensors 26A to 26C, respectively. Control unit 50 is further configured to receive a signal corresponding to the weight detected by weight sensor 28. The control unit 50 is configured to receive from the camera 30 a captured image (data) captured by the camera 30.

In addition, the control unit 50 of the heating cooker 10 is configured to control the heating coils 16A to 16C, the output display units 20A to 20C, the setting display unit 22b, and the notification unit 24.

For example, the control unit 50 controls the outputs of the heating coils 16A to 16C so that the temperature sensors 26A to 26C continue to detect the heating temperature set by the user via the setting key 22a of the setting unit 22. Thereby, for example, when frying, the oil accommodated in the container C can be maintained at a constant temperature.

Further, for example, when water is stored in the container C (when the user sets the automatic boiling mode through the setting unit 22), the control unit 50 heats when the temperature sensors 26A to 26C detect the boiling temperature. The coils 16A to 16C are stopped, and the user is notified via the notification unit 24 that the water heating is completed.

Furthermore, the control unit 50 is configured to perform various controls based on a captured image of the camera 30, specifically, an image of the cooking object T shown in the captured image.

For that purpose, the control unit 50 of the heating cooker 10 sets the image acquisition unit 52 that acquires a photographed image from the camera 30, the image processing unit 54 that processes (corrects) the acquired image, and the corrected photographed image. A cooking object state estimation unit 56 that estimates the state of the cooking object T based on the image of the cooking object T in the container C, and heating as a heating control unit that controls the heating coils 16A to 16C based on the estimation result (In other words, the control unit 50 functions as the image acquisition unit 52, the image processing unit 54, the cooking target state estimation unit 56, and the heating coil control unit 58).

The image acquiring unit 52 of the control unit 50 of the heating cooker 10 is a photographed image photographed by the camera 30, for example, a photographing in which the top plate 14 in a state in which the container C accommodating the cooking target T being cooked is placed Acquire an image (data). In the case of the present embodiment, the camera 30 performs shooting at predetermined timing intervals.

The image processing unit 54 performs image processing on the captured image of the camera 30 acquired by the image acquisition unit 52. For example, geometric correction such as keystone correction and rotation correction is performed.

The cooking target state estimation unit 56 is configured to estimate the state of the cooking target based on the feature amount of the image of the cooking target shown in the captured image. The estimation method will be specifically described.

The image of the object to be cooked which appears in the photographed image of the camera 30 is an image of the object to be cooked viewed from above. At a predetermined timing interval (in the case of the present embodiment, the same interval as the shooting interval of the camera), the feature amount is extracted from the image of the cooking object viewed from above, and the cooking object is extracted based on the extracted feature amount The state estimation unit 56 estimates the state of the cooking target.

Here, the “feature amount” refers to a value obtained by digitizing the feature portion of the image of the cooking object that changes as the state of the cooking object changes. For example, when the color tone of the image to be cooked changes with the change of the state of the food to be cooked, the “feature amount” is hue, saturation, lightness or the like.

The estimation of the state of the cooking target based on the feature amount of the image of the cooking target shown in the captured image of the camera 30 will be described by way of an example.

FIG. 4 shows a change in the image of the cooking object shown in the photographed image in the heating and cooking in one example. Specifically, the image of the cooking object CT1 in the captured image captured at different timings T1 to T5 is shown.

The cooking target CT1 shown in FIG. 4 is fried egg. As the heating time elapses, the image of the white meat portion CTa changes from transparent to white (the degree of transparency decreases). In addition, in FIG. 4, the inner bottom face of the container C1 (frying pan) is shown by cross hatching. Also, in the captured image P5 captured at timing T5, an image of an fried egg in which the entire white meat portion CTa has completely changed to white, ie, an image of the fried egg when the heating and cooking are completed, is shown.

That is, as shown in FIG. 4, as the feature amount of the cooking object CT1, the saturation and the lightness of the white of the white body portion CTa in the fried egg increase with the passage of the heating time. Since the feature quantity changes with the elapse of the heating time, the cooking target state estimation unit 56 can extract the feature quantity and estimate the state of the cooking target CT1 which is fried egg based on the extracted feature quantity.

FIG. 5 shows a change in the image of the cooking object shown in the photographed image in another example of heat cooking.

The cooking target CT2 shown in FIG. 5 is a stew. With the passage of heating time, the image of bubbles generated on the liquid surface increases in number and size. Therefore, the saturation of the color (cream color) over the entire liquid surface of the stew decreases as the heating time elapses as the feature amount of the cooking target CT2. Since the feature quantity changes with the elapse of the heating time, the cooking target state estimation unit 56 can extract the feature quantity and estimate the state of the cooking target CT2 that is a stew based on the extracted feature quantity.

The feature amount extracted when the cooking target state estimation unit 56 estimates the state of the cooking target is preferably a feature amount that changes significantly with a change in heating time. Therefore, the feature amount used for estimation of the state may be determined in advance for each cooking target. For example, in the storage unit 60, the type of cooking target and the feature amount to be extracted are stored in association with each other. The type of cooking object is taught by the user. For example, a list of types of cooking objects is displayed on the setting display unit 22b, and the user selects the type of cooking objects to be cooked from now on via the setting key 22a from the list, whereby the type of cooking objects is the user Taught by Based on the type of the cooking target taught by the user, the cooking target state estimation unit 56 extracts feature amounts corresponding to the type, and estimates the state of the cooking target based on the extracted feature amounts.

Moreover, you may estimate the state of cooking object not based on one feature-value but based on several feature-value. For example, hue and saturation, lightness and size, or saturation and shape may be used as two feature quantities.

Furthermore, the estimation of the state of the cooking target may be performed based on the change in the feature amount of the image of the cooking target in the captured image. For example, the state of the cooking target at a certain timing may be estimated based on a plurality of feature quantities of the image of the cooking target appearing in each of the captured images captured at timings before that, that is, based on changes in the feature quantities. Good. For example, when the feature amount is the size or shape of the image to be cooked, the state may be estimated based on the change speed of the size or shape. Since the state of the cooking target is estimated (based on a plurality of feature amounts) of the feature amount, highly reliable estimation can be performed.

Furthermore, the estimation of the state of the cooking target may be performed based on the feature quantities of the image of the cooking target in the captured image and based on at least one of the detection temperature of the temperature sensors 26A to 26C and the detection weight of the weight sensor 28 . For example, with the passage of heating time, the temperature of the container, that is, the temperature of the object to be cooked contained in the container rises. By the temperature sensors 26A to 26C detecting the temperature rise and considering the detected temperature, it is possible to guarantee the certainty about the estimation of the state of the cooking object based on the feature amount. Also, for example, when the cooking target is a liquid, the weight of the cooking target decreases due to evaporation as the heating time passes. The weight sensor 28 detects the weight loss, and by considering the detected weight, certainty can be guaranteed for the estimation of the state of the cooking object based on the feature value.

As described above, the cooking target state estimation unit 56 estimates the state of the cooking target based on the feature amount of the image of the cooking target shown in the captured image of the camera 30. Therefore, it is easy to be influenced by the change of the light environment around the heating cooker 10. In particular, in the case where the feature amount is the hue, saturation, lightness, or the like related to the hue of the image to be cooked, it is highly susceptible.

Specifically, when the light environment around the heating cooker 10 changes, the color tone of the image of the object to be cooked that is captured in the photographed image of the camera 30 changes. For example, when the curtain is opened during cooking and the light of the sunset enters the kitchen, the light may cause the entire photographed image, that is, the image to be cooked to become reddish (change in hue). Also, for example, when a light is turned on during cooking, the light of the light may cause the image to be cooked to be whitish (the saturation may be reduced).

For example, FIG. 6 shows the change of the image of the cooking object which is the cooking shown in FIG. 4 and is exposed to disturbance light.

As shown in FIG. 6, in the photographed images P12 to P15 photographed after the timing T2, the light environment around the heating cooker 10 changes between the timing T1 and the timing T2 and is affected. For example, between the timing T1 and the timing T2, the curtain is opened, whereby sunlight (disturbance light) strikes the cooking target.

As a result, comparing FIG. 4 with FIG. 6, at timings T2 to T4, the image of the white portion CTa of the cooking object CT1 exposed to disturbance light shown in the photographed images P12 to P14 shown in FIG. Compared to the image of the white portion CTa of the cooking object CT1 not exposed to disturbance light shown in the photographed images P2 to P4 shown, it appears whiter (transparency is lower). Therefore, when the feature amount is saturation for white, the feature amount extracted from the image of the cooking object exposed to disturbance light is increased compared to the feature amount extracted from the image of the cooking object not exposed to disturbance light doing.

For example, the image of the white portion CTa of the cooking object CT1 exposed to disturbance light in the photographed image P14 at timing T4 shown in FIG. 6 is not cooked in the disturbance light reflected in the photographed image P5 at the same timing T4 shown in FIG. The saturation and lightness of white, which is the feature amount, are higher (the degree of transparency is lower) as compared with the image of the white portion CTa of the target CT1. Based on such a feature amount, it can be estimated that the cooking target is sufficiently heated when it is exposed to disturbance light at time T4 regardless of the state of actual burnt.

Further, for example, FIG. 7 shows the change of the image of the cooking object which is the cooking shown in FIG. 5 and is exposed to disturbance light.

As shown in FIG. 7, in the photographed images P17 to P20 photographed after the timing T2, the light environment around the heating cooker 10 changes between the timings T1 and T2 and is affected. For example, between the timing T1 and the timing T2, the curtain is opened, whereby sunlight (disturbance light) strikes the cooking target.

As a result, comparing FIG. 5 with FIG. 7, at timings T3 to T5, the image of the cooking object CT2 exposed to disturbance light shown in photographed images P18 to P20 shown in FIG. 7 is the photographed image P8 shown in FIG. Compared to the image of the object to be cooked CT2 which is not exposed to disturbance light shown in ~ P10, the image of the bubbles is small, and hence it is reflected in a bright cream color (a so-called white spot is produced). Therefore, when the feature quantity is the saturation for the cream color, the feature quantity extracted from the image of the cooking object exposed to disturbance light is compared to the feature quantity extracted from the image of the cooking object not exposed to disturbance light Is increasing.

For example, the image of the cooking object CT2 exposed to disturbance light in the captured image P18 at the timing T3 shown in FIG. 7 is an image of the cooking object CT2 not exposed to disturbance light in the captured image P8 at the same timing T3 shown in FIG. Compared to, the saturation of the cream color, which is the feature amount, is higher (because there is no bubble image). Based on such feature values, in spite of the state of weak boiling in which fine bubbles are actually generated at timing T3, it can be estimated to be a non-boiling state when exposed to disturbance light .

As described above, when the feature quantity changes due to the change of the light environment, the estimation accuracy of the state of the cooking target based on the feature quantity is lowered. Therefore, when the feature quantity changes due to the change in the light environment, the state of the cooking object is estimated so that the state of the cooking object is estimated by the feature quantity (corrected feature quantity) corrected to reduce the influence of the change in the light environment The unit 56 is configured. This will be specifically described with reference to FIG.

FIG. 8 shows a change curve of the feature amount affected by the change of the light environment (two-dot chain line) and a change curve of the feature amount (corrected feature amount) corrected such that the influence of the change of the light environment is reduced. (Solid line). As a reference, FIG. 8 also shows a change curve (one-dot chain line) of the feature amount when the light environment is not changed.

The change curve (two-dot chain line) shown in FIG. 8 changes with the passage of the heating time t, and is extracted from the image of the cooking object reflected in the photographed image of the camera 30 and affected by the change in the light environment S (ie, measured value) is shown. In addition, the change curve (solid line) is used to estimate the feature amount SA (corrected feature amount) (ie, the state of the cooking object) corrected so as to reduce the influence of the change in light environment, which changes with the passage of heating time t. Value) is shown. And a change curve (dashed dotted line) has shown feature quantity SO which changes with progress of heating time t, and is extracted from a picture of cooking object when light environment is not changing.

Further, FIG. 8 shows the feature S in the case where the cooking object continues to be exposed to disturbance light from the timing between the timing T1 and the timing T2, for example, when the light environment changes between the timing T1 and the timing T2. Change curves of SA and SO are shown.

First, when the amount of change in the feature amount between successive timings exceeds a predetermined amount of threshold change, the cooking target state estimation unit 56 determines that the light environment has changed during this timing. For example, in the case of the example shown in FIG. 8, a predetermined difference ΔSd (absolute value) between the feature amount S1 at the timing T1 and the feature amount S2 at the timing T2 is a predetermined value obtained experimentally or theoretically. The threshold change amount ΔSth is exceeded. That is, the change amount of the feature value from the timing T1 to the timing T2 exceeds the predetermined threshold change amount ΔSth. Therefore, after timing T2, the cooking target state estimation unit 56 treats the feature quantities S2 to S5 extracted from the image of the cooking target as feature quantities affected by the change in the light environment.

As shown in FIG. 8, when the light environment changes between timing T1 and timing T2 (when the cooking target is exposed to disturbance light), feature amounts S2 to S5 extracted from the image of the cooking target at timings T2 to T5. Is uniformly increased by an increment .DELTA.SL as compared with the feature quantities SO2 to SO5 extracted when the light environment has not changed (the cooking object is not exposed to disturbance light). However, this increment ΔSL can not be calculated because the feature amounts SO2 to SO5 are not feature amounts that can actually be extracted (because they can not be measured).

Therefore, the cooking target state estimation unit 56 sets the state of the cooking target at timings T2 to T5 after timing T2 as the characteristic amount S1 at timing T1, the characteristic amounts S2 to S5 at timings T2 to T5, and the timing T2. The estimation is made based on the differences ΔS2 to ΔS5 between the feature amount S2 and the feature amount S2. Specifically, at timings T2 to T5 after timing T2, correction feature values SA2 to SA5 which are correction values of the extracted feature amounts S2 to S5 and which are the sum of the feature amount S1 and the differences ΔS2 to ΔS5 Use to estimate the state.

For example, the correction feature amount SA2 used to estimate the state of the cooking target at the timing T2 is S1 + ΔS2. Since the difference ΔS2 is zero (because S2-S2 = 0), the correction feature amount SA2 is S1. Further, the corrected feature amount SA3 used for estimation at the timing T3 is S1 + ΔS3. The difference ΔS3 is S3-S2. Furthermore, the correction feature amount SA4 used for estimation at the timing T4 is S1 + ΔS4. The difference ΔS4 is S4-S2. Then, the correction feature amount SA4 used for estimation at the timing T5 is S1 + ΔS5. The difference ΔS5 is S5-S2.

That is, timing Tn after timing T2 used when the difference ΔSd (absolute value) between the feature amount S1 at timing T1 and the feature amount S2 at timing T2 exceeds a predetermined threshold change amount ΔSth The correction feature amount SAn used to estimate the state of the object to be cooked in which n is an integer of 2 or more can be expressed by Formula 1. Sn is a feature quantity at timing Tn.

The correction feature amount SA calculated in this manner is extracted from the image of the cooking object with respect to the feature amount SO when the light environment is not changed (the cooking object is not exposed to disturbance light). The value can be closer to the feature value S affected by the change. Therefore, the correction feature amount SA is less affected by the change in light environment than the feature amount S (actually measured value) extracted from the object to be cooked. Therefore, by using such a corrected feature amount SA, it is possible to estimate the state of the cooking object with high accuracy (compared to the case of using the feature amount S).

The difference (error) between the correction feature amount SA and the feature amount SO when the light environment is not changed (the cooking object is not exposed to disturbance light) is the time (timing interval) Tp between the timings. The shorter it can be, the smaller it can be. For example, FIG. 9 shows the change curve of the feature S affected by the change of the light environment and the feature corrected to reduce the influence of the change of the light environment when the time between timings is changed to half. The change curve of quantity SA is shown.

Comparing FIG. 8 with FIG. 9, when the timing interval Tp is halved, the correction feature amount SA and the feature amount SO when the light environment is not changing (the cooking object is not exposed to disturbance light) are It can be seen that the difference (error) becomes smaller. That is, the smaller the timing interval Tp, the more the influence of the change in the light environment can be reduced, and as a result, the state of the object to be cooked can be estimated with higher accuracy.

It should be noted that, in the example shown in FIG. 8, when the difference ΔSd between the feature amount S1 at timing T1 and the feature amount S2 at timing T2 exceeds the predetermined threshold change amount ΔSth, the cooking target state estimation unit 56 It is determined that the light environment has changed between these timings. However, there is a slight possibility that the change amount of the feature amount between successive timings may exceed the predetermined threshold change amount without changing the light environment.

For example, when the cooking target is a liquid such as stew, when the user stirs the cooking target in the weak boiling state, the generation of bubbles on the liquid surface is temporarily weakened. Therefore, the difference between the feature amount at the timing before the user stirs and the feature amount at the timing after the stir may exceed a predetermined threshold change amount. In addition, when seasonings and ingredients are added, the appearance of the object to be cooked changes significantly. The difference between the feature amount at the timing before the addition and the feature amount at the timing after the addition may exceed a predetermined threshold change amount. That is, when the user gives some change to the cooking target during cooking, the amount of change in the feature amount between successive timings may exceed the predetermined amount of threshold change.

Therefore, it is preferable to ensure that the cause is a change in the light environment when the amount of change in the feature amount between successive timings exceeds a predetermined amount of threshold change.

For this purpose, the temperature sensors 26A to 26C may be used to detect the temperature of the cooking object (container) at each timing at which the state of the cooking object is estimated. When the amount of change in the feature amount between successive timings exceeds a predetermined amount of threshold change, if the cause is a change in the light environment, the amount of change in temperature between these timings is substantially zero. . For example, in the case of the example shown in FIG. 8, when the difference ΔSd between the feature amount S1 at the timing T1 and the feature amount S2 at the timing T2 exceeds a predetermined threshold change amount ΔSth, the cause is the light environment If it is a change, the detected temperature of the temperature sensor at timing T1 and the detected temperature at timing T2 are substantially the same. This is because the change in the light environment does not substantially change the temperature of the cooking object.

That is, when the amount of change in the feature amount between consecutive timings exceeds a predetermined amount of threshold change, if the amount of change in temperature between the timings is substantially zero, the light environment is changed between the timings. It can be judged that it has changed. On the other hand, if the amount of temperature change between the timings is not substantially zero (for example, if the amount of temperature change exceeds the predetermined threshold temperature change amount), the user changes the cooking object by some means. It can be judged that it was given.

Therefore, in the cooking target state estimation unit 56, the amount of change in the feature amount between successive timings exceeds the predetermined amount of threshold change, and additionally, the amount of change in the temperature of the cooking target between the timings is substantially When it is zero, it is determined that the light environment has changed between consecutive timings. Thereby, the state of cooking object can be estimated appropriately.

Note that, instead of or in addition to using the temperature detected by the temperature sensor, the weight sensor 28 may detect the weight of the cooking object (container) at each timing at which the state of the cooking object is estimated. Similar to the temperature of the food to be cooked, the weight of the food to be cooked does not change substantially with changes in the light environment. For example, in the case of the example shown in FIG. 8, when the difference ΔSd between the feature amount S1 at the timing T1 and the feature amount S2 at the timing T2 exceeds a predetermined threshold change amount ΔSth, the cause is the light environment If it is a change, the detected weight of the weight sensor at timing T1 and the detected weight at timing T2 are substantially the same.

That is, as in the case of the temperature to be cooked, when the amount of change in the feature amount between successive timings exceeds a predetermined amount of threshold change, if the amount of change in weight between the timings is substantially zero. It can be determined that the light environment has changed between the timings. Therefore, in the cooking target state estimation unit 56, the amount of change in the feature amount between successive timings exceeds the predetermined amount of threshold change, and in addition thereto, the amount of change in the weight of the cooking target between the timings is substantially When it is zero, it is determined that the light environment has changed between consecutive timings. Thereby, the state of cooking object can be estimated appropriately.

Returning to FIG. 3, the heating coil control unit 58 controls the outputs of the heating coils 16A to 16C based on the state of the cooking target estimated by the cooking target state estimation unit 56. For example, when the cooking target state estimation unit 56 estimates that the cooking target is evaporating, the heating coil control unit 58 reduces the output level of the heating coil or stops the heating coil.

As described above, according to the present embodiment, in the heating cooker 10 that controls the heating of the cooking target based on the image of the cooking target shown in the captured image of the camera 30, the influence of the change in the light environment is suppressed. Therefore, it is possible to appropriately heat the cooking target.

As mentioned above, although the present invention was described with the above-mentioned embodiment, the present invention is not limited to the above-mentioned embodiment.

For example, in order to estimate the state of the cooking target with high accuracy, predetermined timing intervals Tp at a plurality of timings for estimating the state may be changed based on the heating output of the heating coil. The higher the heating output (heating level) of the heating coil that heats the cooking object, the more rapidly the state of the cooking object changes. Therefore, it is preferable to shorten predetermined | prescribed timing interval Tp and to estimate the state of cooking object frequently, so that the heating output of a heating coil is high.

In addition to or instead of changing the predetermined timing interval Tp, the predetermined threshold change amount ΔSth to be compared with the change amount of the feature amount between consecutive timings is changed based on the heating output of the heating coil May be As the heating output (heating level) of the heating coil is higher, it is necessary to estimate the state of the cooking object based on the feature amount of the image of the cooking object shown in the photographed image with high accuracy. For that purpose, a feature (correction feature) in which the influence of the light environment is further reduced is required. Otherwise, if the estimation accuracy of the state of the object to be cooked is lowered, heating power control of the heating coil based on the estimation result can not be appropriately performed, and the heating of the object to be cooked may be excessively performed or largely lacking. Therefore, the threshold change amount ΔSth for determining the occurrence of the change in the light environment to reduce the influence of the change in the light environment on the feature amount even if the heating output of the heating coil is higher. It is preferable to reduce the

The predetermined timing interval Tp and the predetermined threshold change amount ΔSth may be different for each type of cooking target. In this case, a predetermined timing interval Tp and a predetermined threshold change amount ΔSth are obtained in advance experimentally or theoretically for each cooking target. The storage unit 60 stores the type of cooking object, the predetermined timing interval Tp, and the predetermined threshold change amount ΔSth in association with each other. As described above, when the user teaches the type of the cooking target, the corresponding predetermined timing interval Tp and the predetermined threshold change amount ΔSth are used to estimate the state of the cooking target.

Moreover, in the case of the above-mentioned embodiment, although a heating cooker is an induction heating cooker which induction-heats a container using a heating coil, embodiment of this invention is not restricted to this. For example, the heating cooker according to the embodiment of the present invention may be a gas cooker. In the case of a gas cooker, the container is placed on Gotoku as a container placement part, and is heated from below by a gas burner as a heating part.

As described above, the embodiment has been described as an illustration of the technology in the present disclosure. For that purpose, the attached drawings and the detailed description are provided. Therefore, among the components described in the attached drawings and the detailed description, not only the components essential for solving the problem but also the components not essential for solving the problem in order to exemplify the above-mentioned technology May also be included. Therefore, the fact that those non-essential components are described in the attached drawings and the detailed description should not immediately mean that those non-essential components are essential.

Moreover, since the above-mentioned embodiment is for illustrating the technique in this indication, various change, substitution, addition, omission, etc. can be performed within the range of a claim, or its equivalent.

The disclosure content of Japanese Patent Application No. 2017-183986 filed on September 25, 2017, the drawings, and the claims is incorporated herein by reference in its entirety. .

The present invention is not limited to the induction heating cooker, and is applicable to any heating cooker that heats a container containing a cooking target.

Claims

A container placement unit on which a container containing a cooking target is placed;
A heating unit configured to heat the container placed on the container placement unit from below;
A camera for photographing the cooking object;
A cooking target state estimation unit that extracts a feature amount from an image of a cooking target shown in a captured image of the camera at a predetermined timing interval, and estimates a state of the cooking target based on the extracted feature amount;
And a heating control unit that controls the heating unit based on the state of the cooking target estimated by the cooking target state estimation unit,
The cooking target state estimation unit
When the amount of change of the feature amount from the first timing to the second timing immediately after the first timing exceeds a predetermined threshold amount of change:
The feature to be cooked at the third timing after the second timing is the feature at the first timing, the feature at the third timing, and the feature at the second timing. A cooker that is configured to estimate based on the amount and the difference between.
The heating cooker according to claim 1, wherein the feature amount is at least one of hue, saturation, and lightness.
The heating cooker according to claim 1, wherein at least one of the predetermined timing interval and the predetermined threshold change amount is changed based on a heating output of the heating unit.
It has a temperature sensor that detects the temperature of the container placed on the container placement part,
The cooking target state estimation unit
When the detected temperature at the first timing and the detected temperature at the second timing are substantially the same,
The difference between the feature amount at the first timing and the feature amount at the third timing and the feature amount at the second timing is the state of the cooking target at the third timing. The cooking device according to any one of claims 1 to 3, which is configured to estimate on the basis of.
It has a weight sensor that detects the weight of the container placed on the container placement part,
The cooking target state estimation unit
When the detected weight at the first timing and the detected weight at the second timing are substantially the same,
The difference between the feature amount at the first timing and the feature amount at the third timing and the feature amount at the second timing is the state of the cooking target at the third timing. The cooking device according to any one of claims 1 to 4, wherein the cooking device is configured to estimate on the basis of.