Ingredient delivery method, device, storage medium and electronic device

Abstract

The embodiment of the present invention provides an ingredient delivery method, device, storage medium and electronic device, wherein the method comprises: sending a control instruction to an ingredient delivery device included in a cooking machine, wherein the control instruction comprises an execution time point at which the ingredient delivery device performs an ingredient delivery operation; obtaining a first position of a stirring device included in the cooking machine and motion parameters of the stirring device; determining a second position of the stirring device at the execution time point based on the first position and the motion parameters; and controlling the ingredient delivery device to perform an ingredient delivery operation based on the control instruction when the second position satisfies a predetermined condition. The present invention solves the problem in the related art that ingredients are easily delivered onto the pot wall, causing the pot to stick, thereby achieving the effect of preventing the pot from sticking.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of communications, and in particular, to a method, device, storage medium and electronic device for delivering ingredients. Background Art

[0002] In the related art, the automatic feeding cooking machine is mainly controlled by the recipe according to the cooking time and recipe commands when feeding the ingredients. The main disadvantage of this mode is that the actual state of the ingredients in the pot is not taken into consideration when feeding the ingredients. This random feeding method can easily cause the ingredients to deviate from the position of the ingredients when feeding, causing the ingredients to be fed to the wall of the pot and cause the pot to stick; then after passing through the high temperature of the pot wall, it is easy for the pot to become sticky, which seriously affects the cooking effect of the recipe.

[0003] It can be seen from this that the related art has the problem that ingredients are easily thrown onto the pot wall, causing the pot to stick.

[0004] Currently, no effective solution has been proposed for the above-mentioned problems existing in the related technologies. Summary of the invention

[0005] The embodiments of the present invention provide a method, device, storage medium and electronic device for adding ingredients, so as to at least solve the problem in the related art that ingredients are easily added onto the pot wall, resulting in sticking of the pot.

[0006] According to one embodiment of the present invention, there is provided an ingredient delivery method, comprising: sending a control instruction to an ingredient delivery device included in a cooking machine, wherein the control instruction includes an execution time point at which the ingredient delivery device performs an ingredient delivery operation; obtaining a first position of a stirring device included in the cooking machine and motion parameters of the stirring device; determining a second position of the stirring device at the execution time point based on the first position and the motion parameters; and controlling the ingredient delivery device to perform the ingredient delivery operation based on the control instruction when the second position satisfies a predetermined condition.

[0007] According to another embodiment of the present invention, there is provided an ingredient delivery device, comprising: a sending module, for sending a control instruction to the ingredient delivery device included in a cooking machine, wherein the control instruction includes an execution time point at which the ingredient delivery device performs an ingredient delivery operation; an acquisition module, for acquiring a first position of a stirring device included in the cooking machine and motion parameters of the stirring device; a determination module, for determining a second position of the stirring device at the execution time point based on the first position and the motion parameters; and a delivery module, for controlling the ingredient delivery device to perform the ingredient delivery operation based on the control instruction when the second position satisfies a predetermined condition.

[0008] According to yet another embodiment of the present invention, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, wherein the computer program implements the steps of any of the above methods when executed by a processor.

[0009] According to yet another embodiment of the present invention, there is provided an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0010] Through the present invention, a control instruction is sent to the ingredient delivery device included in the cooking machine, the first position of the stirring device included in the cooking machine and the motion parameters of the stirring device are obtained, the second position of the stirring device at the execution time point included in the control instruction is determined according to the first position and the motion parameters, and when the second position meets the predetermined conditions, the ingredient delivery device is controlled to perform the ingredient delivery operation based on the control instruction. Since it can be determined whether to perform the ingredient delivery operation according to the position of the stirring device at the execution time point, that is, when the second position meets the predetermined conditions, the ingredients are delivered, which avoids delivering ingredients when the predetermined conditions are not met. Therefore, the problem that the ingredients delivered in the related art are easily thrown on the pot wall, causing the pot to stick, can be solved, and the effect of preventing the pot from sticking can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a hardware structure block diagram of a mobile terminal of a method for delivering ingredients according to an embodiment of the present invention;

[0012] Figure 2 is a flow chart of a method for placing ingredients according to an embodiment of the present invention;

[0013] Figure 3 is a schematic diagram of the connection between a stirring device, an ingredient feeding device and a pot body of a cooking machine according to an exemplary embodiment of the present invention;

[0014] Figure 4 is a schematic diagram of a preferred delivery area according to an exemplary embodiment of the present invention;

[0015] Figure 5 is a schematic diagram of a sub-preferred delivery area according to an exemplary embodiment of the present invention;

[0016] Figure 6 is a schematic diagram of a central control host controlling a batching delivery device to perform a batching delivery operation according to an exemplary embodiment of the present invention;

[0017] Figure 7 4 is a structural block diagram of a batching delivery device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and in combination with the embodiments.

[0019] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0020] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 1 is a hardware structure block diagram of a mobile terminal of a batching method according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0021] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for dispensing ingredients in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the mobile terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0022] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0023] In this embodiment, a method for placing ingredients is provided. Figure 2 is a flow chart of a method for placing ingredients according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0024] Step S202, sending a control instruction to an ingredient delivery device included in the cooking machine, wherein the control instruction includes an execution time point for the ingredient delivery device to perform an ingredient delivery operation;

[0025] Step S204, obtaining a first position of a stirring device included in the cooking machine and a motion parameter of the stirring device;

[0026] Step S206, determining a second position of the stirring device at the execution time point based on the first position and the motion parameter;

[0027] Step S208: When the second position satisfies a predetermined condition, the ingredient delivery device is controlled to perform the ingredient delivery operation based on the control instruction.

[0028] In the above embodiment, the cooking machine may include a pot, an ingredient delivery device, a stirring device, etc. A schematic diagram of the connection of the stirring device, the ingredient delivery device, and the pot of the cooking machine can be found in the attached Figure 3 ,like Figure 3 As shown, the pot body 32 can be fixedly connected to the stirring device 34, and the ingredient delivery device 36 is placed on one side of the pot body. The pot body is used to hold ingredients, and the ingredient delivery device is used to deliver ingredients into the pot body during cooking. The stirring device can be a stirring rod, a shovel, etc., which is used to stir the ingredients in the pot body. The ingredient delivery device can receive instructions from a "recipe". The "recipe" records the preparation process of each dish, as well as the time point, delivery ratio, delivery quality, etc. of each ingredient; the cooking machine receives pot body control instructions, such as heating power, speed, etc., and interactive feedback can be set between the batching machine and the pot body. The control terminal of the cooking machine can be an independent central control device, or it can be an integrated mechanism installed on the batching machine or the cooking machine.

[0029] In the above embodiment, the stirring device can rotate together with the pot body and continuously stir the ingredients during the rotation. During the rotation, there is a possibility that the ingredients leave the pot body. If ingredients are added into the pot body at this time, the ingredients may be directly added to the pot wall. Therefore, it is necessary to determine the second position of the stirring device when adding the ingredients. When the conditions are met at the second position, the ingredient adding operation is performed.

[0030] In the above embodiment, the control instruction may include the execution time point of executing the control instruction. The first position and motion parameters of the stirring device when the control instruction is sent may be determined first, and the second position of the stirring device at the execution time point may be determined based on the first position and motion parameters. Determine whether the second position meets the predetermined conditions, and then perform the ingredient delivery operation when it meets the conditions. For example, the control instruction may be to perform the ingredient delivery operation after 5s (this time point is only an exemplary description, and may also be 3s, 10s, 1min, etc., and the present invention is not limited to this), then confirm the first position of the stirring device at this time, and the motion parameters, such as the rotation speed, the rotation direction, and the time required for one rotation. Then determine the second position of the stirring device after 5s. When the stirring device is in the second position, the food material contacts the pot body over a large area, and it is considered that the second position meets the predetermined conditions. Therefore, the ingredient delivery operation may be performed after 5s.

[0031] In the above embodiment, the first position of the stirring device can be determined by a sensor. For example, a positioning sensor can be installed on the stirring device to determine the first position by the positioning sensor on the stirring device. A deflection angle sensor can also be installed on the stirring device to determine the first position by the deflection angle. A sensor (such as a laser pair tube, an infrared pair tube, etc.) can also be installed on the cooking machine. When the stirring device moves, the sensor can be triggered to determine the first position. A sensor can be installed at a fixed position of the cooking machine. When the stirring device moves to the fixed position, the timing starts, and the first position is determined in combination with the motion parameters of the stirring device. When the stirring device moves to the fixed position again, the timing starts again to determine the first position of the stirring device at different times.

[0032] Optionally, the execution subject of the above steps can be a cooking machine, or other equipment with similar processing capabilities, or a machine that at least integrates a data processing device, wherein the data processing device may include terminals such as computers and mobile phones, but is not limited to this.

[0033] Through the present invention, a control instruction is sent to the ingredient delivery device included in the cooking machine, the first position of the stirring device included in the cooking machine and the motion parameters of the stirring device are obtained, the second position of the stirring device at the execution time point included in the control instruction is determined according to the first position and the motion parameters, and when the second position meets the predetermined conditions, the ingredient delivery device is controlled to perform the ingredient delivery operation based on the control instruction. Since it can be determined whether to perform the ingredient delivery operation according to the position of the stirring device at the execution time point, that is, when the second position meets the predetermined conditions, the ingredients are delivered, which avoids delivering ingredients when the predetermined conditions are not met. Therefore, the problem that the ingredients delivered in the related art are easily thrown on the pot wall, causing the pot to stick, can be solved, and the effect of preventing the pot from sticking can be achieved.

[0034] In an exemplary embodiment, before controlling the ingredient delivery device to perform the ingredient delivery operation based on the control instruction, the method further includes: determining a first position relationship between the second position and a preset delivery area, wherein the preset delivery area is a predetermined area; when the first position relationship indicates that the second position is within the preset delivery area, determining that the second position satisfies the predetermined condition. In this embodiment, after determining the second position of the stirring device at the execution time point, it is also possible to determine whether the second position satisfies the predetermined condition. The predetermined condition may be within the preset delivery area. That is, when the second position is within the preset delivery area, it is determined that the second position satisfies the predetermined condition, and when the second position is not within the preset delivery area, it is determined that the second position does not satisfy the predetermined condition. The preset delivery area is a predetermined safe delivery area, that is, when the ingredients are delivered within this area, the ingredients will not be delivered onto the pot wall.

[0035] In an exemplary embodiment, when the first position relationship indicates that the second position is within the preset delivery area, determining that the second position satisfies the predetermined condition includes: when the first position relationship indicates that the second position is within a first preset delivery area included in the preset delivery area, determining that the second position satisfies the predetermined condition, wherein the first preset delivery area is an area where the stirring device does not contact the target object in the pot included in the cooking machine within a stirring cycle; or, when the first position relationship indicates that the second position is within a second preset delivery area included in the preset delivery area, determining that the second position satisfies the predetermined condition, wherein the second preset delivery area is an area where the stirring device leaves the target object after contacting the target object within a stirring cycle; wherein the stirring device rotates to a target angle within one stirring cycle. In this embodiment, the preset delivery area may include a preferred delivery area and a sub-preferred delivery area. Figure 4As shown, when the stirring device is at point B, the food is about to enter the stirring stage. During the stirring process, the food will tumble irregularly, and the food in the spraying area of ​​the ingredient delivery device will be taken away. If the ingredients are added at this time, the seasoning will stick to the pot wall and cause the pot to get stuck. In the area from point A to point B, the stirring device does not contact the food. Therefore, the fan-shaped area formed by point A, point B and the center point O of the pot body, that is, fan-shaped AOB is the preferred delivery area, that is, the first preset delivery area. Figure 5 As shown, when the stirring device is at position C, the stirring is basically completed at this time. When the stirring device turns to point A, the residual food falls completely. Therefore, the fan-shaped area formed by point C, area A and the center point of the pot body, that is, the fan-shaped COA, can be the secondary safe feeding area, that is, the second preset delivery area. Therefore, the preset delivery area can be a fan-shaped BOC area, the first predetermined delivery area can be a fan-shaped AOB area that does not include the food area, and the second preset delivery area can be a fan-shaped COA area that does not include the food area. Among them, A is the reset feedback point of the stirring device, that is, the stirring device rotates one circle from point A to point A, which is a stirring cycle, B is the critical point where the stirring device starts stirring, and C is the critical point where the stirring rod ends stirring. Among them, within one stirring cycle, the stirring device rotates 360°, that is, the target angle is 360°.

[0036] In the above embodiment, the area where the angle between the stirring device and the horizontal direction is greater than a predetermined threshold after the stirring device contacts the target object within a stirring cycle can also be determined as a sub-preferred delivery area. That is, after the stirring device leaves the food area, some food will remain on the stirring device. As the stirring device moves, the angle with the horizontal direction below continues to decrease. During the continuous rotation of the stirring device, the food will continue to fall. When the stirring device moves above the horizontal direction, the angle with the horizontal direction above continues to increase. When the angle is greater than the predetermined threshold, the stirring of the food is completed, and only a small amount of food will remain on the stirring device. Therefore, the area where the angle between the stirring device and the horizontal direction is greater than the predetermined threshold can be determined as a sub-preferred delivery area. The horizontal direction refers to the horizontal direction where the center of the pot is located, and the angle between the stirring device and the horizontal direction indicates the angle formed by the stirring device and the horizontal direction above the horizontal direction.

[0037] In an exemplary embodiment, after determining the first positional relationship between the second position and the preset delivery area, the method further includes: when the first positional relationship indicates that the second position is not within the preset delivery area, adjusting the motion parameters to obtain target motion parameters; controlling the stirring device to operate according to the target motion parameters so that the third position of the stirring device at the execution time point is within the preset delivery area. In this embodiment, when it is determined that the second position is within an area other than the preset delivery area, the motion parameters of the stirring device can be adjusted to obtain the target motion parameters, and the stirring device can be controlled to operate according to the target motion parameters so that the third position of the stirring device at the execution time point is within the preset delivery area.

[0038] In the above embodiment, the pot body of the cooking machine is equipped with a speed feedback module. When cooking, a plurality of gears are set, and different gears correspond to different speeds and the time required for a cycle to rotate at different speeds. For example, each gear has a corresponding speed: V1, V2, V3, V4 and a corresponding time: t1, t2, t3, t4. Since the stirring device is fixedly connected to the pot body, the stirring device also has different speeds and the time required for a cycle to rotate at different speeds. When it is determined that the second position of the stirring device at the execution time point is not in the preset delivery area, the gear of the pot body can be adjusted so that when the stirring device rotates at the target gear, it can be in the preset position at the position at the execution time point.

[0039] In the above embodiment, when the recipe executes the ingredient feeding command, the central control host included in the cooking machine will send a signal to the motor or controller that controls the pot body and the stirring device. When it is determined that the second position is not in the preset delivery area at the execution time point, the motor or controller will adjust the rotation speed so that at the delivery time point, the position of the stirring device is exactly in the preset delivery area. At the same time, the stirring rod positioning feedback point will read the position of the stirring rod. If the stirring rod is in a position where the stirring has been completed and has left the range of the ingredients, the central control host will send a signal to the host of the ingredient delivery device to execute the ingredient delivery operation. Among them, the schematic diagram of the central control host controlling the ingredient delivery device to execute the ingredient delivery operation can be found in the attached figure. Figure 6 ,like Figure 6As shown, when the central control host sends the feeding instruction A, the feeding instruction will be adopted and executed only when the instructions of the batching host (i.e., the host of the batching device) and the cooking machine (i.e., the host of the stirring device) must be met at the same time. As long as one of them is not met, the feeding instruction will not be executed. Among them, the batching host mainly detects whether the batching device meets the feeding conditions, including confirming whether the feeding pipe is blocked, whether there are ingredients that need to be put in the feeding box, and whether the quality of the ingredients is sufficient. The host of the stirring device will detect whether the current rotation speed meets the conditions, that is, at the execution time point, whether the second position is within the preset delivery area. When both conditions are met, the ingredient delivery operation is performed at the execution time point.

[0040] In an exemplary embodiment, before controlling the batching device to perform the batching operation based on the control instruction, the method further includes: determining a second position relationship between the second position and a predetermined target position; and determining that the second position satisfies the predetermined condition when the second position relationship indicates that the distance between the second position and the target position is less than a predetermined threshold. In this embodiment, the target position may also be predetermined, and the batching operation is performed when the stirring device reaches the target position at the execution time point, or when the stirring device is near the target position. Figure 3 As shown, the target position may be point A. When the stirring device moves to point A, the ingredient delivery operation may be performed.

[0041] In an exemplary embodiment, controlling the batching delivery device to perform the batching delivery operation based on the control instruction includes: determining the delayed execution time of the control instruction; and controlling the batching delivery device to perform the batching delivery operation when the delayed execution time after the execution time point is reached. In this embodiment, after sending the control instruction, the delayed execution time of the control instruction can also be determined, and when the delayed execution time after the execution time point is reached, the batching delivery device is controlled to perform the batching delivery operation.

[0042] In an exemplary embodiment, determining the delayed execution duration of the control instruction includes: determining the target time required for the stirring device to rotate to a target angle based on the motion parameters; determining the area angle formed by two sides of a predetermined preset delivery area; and determining the delayed execution duration based on the target time, the area angle, and the execution time point. In this embodiment, the target time required for the stirring device to rotate one circle and the area angle formed by two sides of the preset delivery area can be first determined, and the delayed execution duration can be determined based on the target time, the area angle, and the execution time point. Figure 3 , the preset delivery area can be a fan-shaped BOC area, and the two sides of the preset delivery area are OB and OC.

[0043] In the above embodiment, the preset delivery area can also be a fan-shaped BOA area, and the two sides of the preset delivery area are OB and OA. Of course, the preset delivery area can also be a fan-shaped COA area, and the two sides of the preset delivery area are OC and OA.

[0044] In an exemplary embodiment, determining the delayed execution duration based on the target duration, the area angle, and the execution time point includes: determining the number of cycles of the stirring device rotating in the time period from the time of sending the control instruction to the execution time point; determining the ratio of the area angle to the target angle; determining the sum of the number of cycles and the ratio; determining the first product of the sum and the target duration; determining the second product of the target duration and the number of cycles; and determining the duration between the first product and the second product as the delayed execution duration. In this embodiment, the number of cycles of the stirring device rotating in the time period from the time of sending the control instruction to the execution time point, as well as the ratio of the area angle to the target angle, can be determined, the sum of the number of cycles and the ratio can be determined, the sum can be multiplied by the target duration to obtain a first product, the target duration can be multiplied by the number of cycles to obtain a second product, and the duration greater than the second product and less than the first product can be determined as the delayed execution duration. Wherein, the target angle can be 360°.

[0045] In the above-mentioned embodiment, the ingredients can be accurately placed on the food, thus avoiding the randomness of the ingredients being placed and the phenomenon of the ingredients sticking to the pot wall and burning the pot.

[0046] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0047] In this embodiment, a batching device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0048] Figure 7is a structural block diagram of a batching delivery device according to an embodiment of the present invention. Figure 7 As shown, the device comprises:

[0049] A sending module 72, configured to send a control instruction to an ingredient delivery device included in the cooking machine, wherein the control instruction includes an execution time point at which the ingredient delivery device executes an ingredient delivery operation;

[0050] An acquisition module 74, configured to acquire a first position of a stirring device included in the cooking machine and a motion parameter of the stirring device;

[0051] A determination module 76, configured to determine a second position of the stirring device at the execution time point based on the first position and the motion parameter;

[0052] The delivery module 78 is used to control the ingredient delivery device to perform the ingredient delivery operation based on the control instruction when the second position meets the predetermined condition.

[0053] In an exemplary embodiment, the device can be used to determine a first position relationship between a second position and a preset delivery area before controlling the ingredient delivery device to perform the ingredient delivery operation based on the control instruction, wherein the preset delivery area is a predetermined area; when the first position relationship indicates that the second position is within the preset delivery area, it is determined that the second position satisfies the predetermined condition.

[0054] In an exemplary embodiment, the device can determine that the second position satisfies the predetermined condition when the first position relationship indicates that the second position is within the preset delivery area in the following manner: determine that the second position satisfies the predetermined condition when the first position relationship indicates that the second position is within a first preset delivery area included in the preset delivery area, wherein the first preset delivery area is an area where the stirring device does not contact the target object in the pot included in the cooking machine within one stirring cycle; or determine that the second position satisfies the predetermined condition when the first position relationship indicates that the second position is within a second preset delivery area included in the preset delivery area, wherein the second preset delivery area is an area where the stirring device leaves the target object after contacting the target object within one stirring cycle; wherein the stirring device rotates by a target angle within one stirring cycle.

[0055] In an exemplary embodiment, the device can be used to adjust the motion parameters to obtain target motion parameters after determining a first position relationship between a second position and a preset delivery area, if the first position relationship indicates that the second position is not within the preset delivery area; and control the stirring device to operate according to the target motion parameters so that the third position of the stirring device at the execution time point is within the preset delivery area.

[0056] In an exemplary embodiment, the device can be used to determine a second position relationship between the second position and a predetermined target position before controlling the ingredient delivery device to perform the ingredient delivery operation based on the control instruction; when the second position relationship indicates that the distance between the second position and the target position is less than a predetermined threshold, determine that the second position satisfies the predetermined condition.

[0057] In an exemplary embodiment, the delivery module 78 can control the ingredient delivery device to perform the ingredient delivery operation based on the control instruction in the following manner: determine the delayed execution duration of the control instruction; when the delayed execution duration is reached after the execution time point, control the ingredient delivery device to perform the ingredient delivery operation.

[0058] In an exemplary embodiment, the delivery module 78 can determine the delayed execution duration of the control instruction in the following manner: determine the target duration required for the stirring device to rotate to a target angle based on the motion parameters; determine the area angle formed by two sides of a predetermined preset delivery area; determine the delayed execution duration based on the target duration, the area angle and the execution time point.

[0059] In an exemplary embodiment, the delayed execution duration is determined based on the target duration, the area angle and the execution time point: the number of cycles of rotation of the stirring device in the time period from the time when the control instruction is sent to the execution time point is determined; the ratio of the area angle to the target angle is determined; the sum of the number of cycles and the ratio is determined; a first product of the sum and the target duration is determined; a second product of the target duration and the number of cycles is determined; and the duration between the first product and the second product is determined as the delayed execution duration.

[0060] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0061] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0062] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0063] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0064] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0065] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0066] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for placing ingredients, characterized in that: include: Sending a control instruction to an ingredient delivery device included in the cooking machine, wherein the control instruction includes an execution time point at which the ingredient delivery device executes an ingredient delivery operation; Acquire a first position of a stirring device included in the cooking machine and a motion parameter of the stirring device; determining a second position of the stirring device at the execution time point based on the first position and the motion parameter; When the second position satisfies a predetermined condition, controlling the ingredient delivery device to perform the ingredient delivery operation based on the control instruction; Controlling the ingredient delivery device to perform the ingredient delivery operation based on the control instruction includes: determining the delayed execution duration of the control instruction; when the delayed execution duration is reached after the execution time point, controlling the ingredient delivery device to perform the ingredient delivery operation; wherein the delayed execution duration is used to ensure that the stirring device moves to the specified position when the second position meets the predetermined condition.

2. The method according to claim 1, characterized in that Before controlling the ingredient delivery device to perform the ingredient delivery operation based on the control instruction, the method further includes: Determine a first position relationship between the second position and a preset delivery area, wherein the preset delivery area is a predetermined area; When the first position relationship indicates that the second position is within the preset delivery area, it is determined that the second position satisfies the predetermined condition.

3. The method according to claim 2, characterized in that When the first position relationship indicates that the second position is within the preset delivery area, determining that the second position satisfies the predetermined condition includes: In a case where the first position relationship indicates that the second position is in a first preset delivery area included in the preset delivery areas, determining that the second position satisfies the predetermined condition, wherein the first preset delivery area is an area in which the stirring device does not contact a target object in a pot included in the cooking machine within a stirring cycle; or, In the case where the first position relationship indicates that the second position is in a second preset delivery area included in the preset delivery area, determining that the second position meets the predetermined condition, wherein the second preset delivery area is an area where the stirring device leaves the target object after contacting the target object within one stirring cycle; Wherein, within one stirring cycle, the stirring device rotates to a target angle.

4. The method according to claim 2, characterized in that: After determining the first position relationship between the second position and the preset delivery area, the method further includes: When the first position relationship indicates that the second position is not within the preset delivery area, adjusting the motion parameter to obtain a target motion parameter; The stirring device is controlled to operate according to the target motion parameter so that the third position of the stirring device at the execution time point is within the preset delivery area.

5. The method according to claim 1, characterized in that Before controlling the ingredient delivery device to perform the ingredient delivery operation based on the control instruction, the method further includes: determining a second positional relationship between the second position and a predetermined target position; In a case where the second position relationship indicates that the distance between the second position and the target position is less than a predetermined threshold, it is determined that the second position satisfies the predetermined condition.

6. The method according to claim 1, characterized in that Determining the delayed execution time of the control instruction includes: Determining a target time required for the stirring device to rotate to a target angle based on the motion parameters; Determine the area angle of the angle formed by two sides of the predetermined preset delivery area; Determining the delayed execution duration based on the target duration, the regional angle, and the execution time point; determining the delayed execution duration based on the target duration, the regional angle, and the execution time point includes: Determining the number of cycles of the stirring device during the period from the time of sending the control instruction to the execution time point; determining a ratio of the area angle to the target angle; determining a sum of the number of cycles and the ratio; Determine a first product of the sum and the target duration; determining a second product of the target duration and the number of cycles; A duration between the first product and the second product is determined as the delayed execution duration.

7. A batching device, characterized in that: include: A sending module, used to send a control instruction to an ingredient delivery device included in the cooking machine, wherein the control instruction includes an execution time point at which the ingredient delivery device performs an ingredient delivery operation; An acquisition module, used for acquiring a first position of a stirring device included in the cooking machine and a motion parameter of the stirring device; a determination module, configured to determine a second position of the stirring device at the execution time point based on the first position and the motion parameter; A delivery module, configured to control the ingredient delivery device to perform the ingredient delivery operation based on the control instruction when the second position satisfies a predetermined condition; The delivery module controls the ingredient delivery device to perform the ingredient delivery operation based on the control instruction in the following manner: determining the delayed execution duration of the control instruction; when the delayed execution duration is reached after the execution time point, controlling the ingredient delivery device to perform the ingredient delivery operation; wherein the delayed execution duration is used to ensure that the stirring device moves to the specified position when the second position meets the predetermined condition.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program implements the steps of the method described in any one of claims 1 to 6 when executed by a processor.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to perform the method according to any one of claims 1 to 6.

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