Control Method of Intelligent Cooking Machine, Intelligent Cooking Machine and Storage Medium

Abstract

The present invention relates to the field of automation technology, and particularly to a control method, an intelligent cooking machine, and a storage medium for an intelligent cooking machine. The method includes obtaining a first feeding instruction at the current moment and at least one second feeding instruction at the next moment of the intelligent cooking machine; determining whether the first feeding instruction and the at least one second feeding instruction meet a preset combined execution condition; if so, combining the first feeding instruction and the at least one second feeding instruction to generate an instruction sequence; controlling the feeding component to feed into the turning pan based on the instruction sequence, and after the feeding is completed, restoring the turning pan to the cooking position. In the present invention, the intelligent cooking machine includes a feeding component and a turning pan, and the feeding component includes a feeding material component and / or a feeding vegetable component. By designing a control mechanism for combining feeding of materials and vegetables, the execution efficiency of the feeding and vegetable feeding actions is improved, frequent flipping of the drum pan of the cooking machine is avoided, and at the same time, the turning pan is kept in the feeding position for as little time as possible to improve the cooking efficiency and cooking effect.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular, to a control method for an intelligent cooking machine, an intelligent cooking machine, and a storage medium. Background Art

[0002] Existing intelligent drum cooking machines have functions of ingredient feeding and vegetable feeding. The ingredient feeding component is above the machine, and when feeding ingredients, they fall into the pot by the gravity of the ingredients. Vegetable feeding is that the manipulator on the right side of the equipment puts the side dishes in the vegetable box into the pot. Therefore, when feeding ingredients or vegetables, the pot mouth needs to be flipped to the feeding position (at this time, the turning pot is in a horizontal position), and when cooking, the equipment is in the cooking position (the pot mouth is tilted outwards, the ingredients fall on the pot wall, and the heating source is located at the pot wall, and the heating efficiency is the highest at this time). Only when receiving an ingredient feeding or vegetable feeding instruction, the turning pot will be automatically turned to the feeding position. After the ingredient feeding or vegetable feeding action is completed, the turning pot automatically returns to the working position before ingredient feeding or vegetable feeding (i.e., the cooking position). Since when the turning pot is in the feeding position, the ingredients all fall to the bottom of the pot, at this time, the heating power needs to be turned off or reduced to protect the pot body. If multiple feeding instructions are executed, and ingredient feeding or vegetable feeding causes the turning pot to be in the feeding position for a long time, it will affect the cooking efficiency and even the quality of the dishes. Therefore, a solution that can combine feeding instructions and execute the combined feeding instructions is needed. Summary of the Invention

[0003] The main purpose of the present invention is to solve the problem of low execution efficiency of multiple feeding instructions in the prior art.

[0004] In the first aspect of the present invention, a control method for an intelligent cooking machine is provided, characterized in that the intelligent cooking machine includes a feeding component and a turning pot, the feeding component includes an ingredient feeding component and / or a vegetable feeding component, and the control method includes: obtaining a first feeding instruction at the current moment of the intelligent cooking machine and at least one second feeding instruction at the next moment; determining whether the first feeding instruction and at least one of the second feeding instructions meet a preset combined execution condition; if so, combining the first feeding instruction and at least one of the second feeding instructions to generate an instruction sequence; controlling the feeding component to feed into the turning pot based on the instruction sequence, and after the feeding is completed, returning the turning pot to the cooking position.

[0005] Optionally, in the first implementation manner of the first aspect of the present invention, determining whether the first feeding instruction and at least one of the second feeding instructions meet a preset combined execution condition includes: determining the instruction types corresponding to the first feeding instruction and at least one of the second feeding instructions; judging whether the first feeding instruction is mutually exclusive with the second feeding instruction or each of the second feeding instructions according to the instruction types; if not mutually exclusive, determining that the first feeding instruction and the second feeding instruction or each of the second feeding instructions meet the preset combined execution condition.

[0006] Optionally, in the second implementation manner of the first aspect of the present invention, determining whether the first dispensing instruction is mutually exclusive with the second dispensing instruction or each of the second dispensing instructions according to the instruction type includes: determining whether the instruction types between the first dispensing instruction and the second dispensing instruction or each of the second dispensing instructions are the same; if the instruction types are the same, determining the subtypes of the first dispensing instruction and each of the second dispensing instructions with the same instruction type, where the subtypes correspond to different seasonings or different food ingredients or different dispensing components; determining whether the subtypes corresponding to the first dispensing instruction and each of the second dispensing instructions with the same instruction type are the same; if the subtypes are different, the first dispensing instruction is not mutually exclusive with the second dispensing instruction or each of the second dispensing instructions.

[0007] Optionally, in the third implementation manner of the first aspect of the present invention, determining whether the first dispensing instruction and at least one of the second dispensing instructions meet a preset combined execution condition further includes: obtaining the dispensing component corresponding to the first dispensing instruction, and marking the working state of the corresponding dispensing component as busy, and marking the working states of other dispensing components as idle; identifying the working states of the dispensing components corresponding to each of the second dispensing instructions, and determining that the working states are idle; if they are idle, determining that the first dispensing instruction and the second dispensing instruction or each of the second dispensing instructions meet the preset combined execution condition.

[0008] Optionally, in the fourth implementation manner of the first aspect of the present invention, determining whether the first dispensing instruction and at least one of the second dispensing instructions meet a preset combined execution condition further includes: determining whether the current control mode of the intelligent cooking machine is a recipe control mode; if it is the recipe control mode, determining the time interval between the first dispensing instruction and the second dispensing instruction or each of the second dispensing instructions; determining whether the time interval is not greater than a preset time threshold, where the time threshold is N times the time taken for the wok to return from the feeding position to the cooking position, and N is greater than or equal to 2; if it is not greater, determining that the first dispensing instruction and the second dispensing instruction or each of the second dispensing instructions meet the preset combined execution condition.

[0009] Optionally, in the fifth implementation manner of the first aspect of the present invention, controlling the dosing component to dose into the turning pan based on the instruction sequence, and after the dosing is completed, restoring the turning pan to the cooking position includes: obtaining the real-time position of the turning pan, and judging whether the turning pan is in the dosing position according to the real-time position; if it is not in the dosing position, clearing the reset flag for the turning pan to restore to the cooking position, and controlling the turning pan to adjust from the real-time position to the dosing position; extracting the second dosing instruction in the instruction sequence and continuing to control the corresponding dosing component to dose the corresponding ingredients or seasonings into the turning pan; after all the second dosing instructions in the instruction sequence are executed, restoring the turning pan to the cooking position.

[0010] Optionally, in the sixth implementation manner of the first aspect of the present invention, controlling the dosing component to dose into the turning pan based on the instruction sequence, and after the dosing is completed, restoring the turning pan to the cooking position further includes: when the intelligent cooking machine flips from the cooking position to the dosing position, reducing the power of the intelligent cooking machine by a preset value, and reducing the power of the intelligent cooking machine by a corresponding value according to the state of the intelligent cooking machine.

[0011] Optionally, in the seventh implementation manner of the first aspect of the present invention, when the intelligent cooking machine flips from the cooking position to the dosing position, reducing the power of the intelligent cooking machine by a preset value, and reducing the power of the intelligent cooking machine by a corresponding value according to the state of the intelligent cooking machine includes: when the intelligent cooking machine executes the first dosing instruction, reducing the power of the intelligent cooking machine by a first amplitude, where the first amplitude is not greater than the power value at the cooking position; when the intelligent cooking machine is in the dosing position and waiting for the second dosing instruction, reducing the power of the intelligent cooking machine by a second amplitude, where the second amplitude is less than the first amplitude

[0012] Optionally, in the eighth implementation manner of the first aspect of the present invention, when the intelligent cooking machine flips from the cooking position to the dosing position, reducing the power of the intelligent cooking machine by a preset value, and reducing the power of the intelligent cooking machine by a corresponding value according to the state of the intelligent cooking machine further includes: when the intelligent cooking machine flips from the cooking position to the dosing position, reducing the power of the intelligent cooking machine by a second amplitude, and maintaining the reduced power until the first dosing instruction and the second dosing instruction are executed.

[0013] The second aspect of the present invention provides an intelligent cooking machine, characterized in that the intelligent cooking machine includes a dosing component, a turning pan and a control device, the dosing component includes a dosing component and / or a vegetable dosing component, and the control device includes:

[0014] An acquisition module, configured to acquire the first dosing instruction of the intelligent cooking machine at the current moment and at least one second dosing instruction at the next moment;

[0015] A judgment module, configured to judge whether the first delivery instruction and at least one of the second delivery instructions meet a preset combined execution condition;

[0016] A merging module, configured to, if the condition is met, merge the first delivery instruction and at least one of the second delivery instructions to generate an instruction sequence;

[0017] An execution module, configured to control the delivery component to deliver to the wok based on the instruction sequence, and after the delivery is completed, restore the wok to the stir-frying position.

[0018] Optionally, in the first implementation manner of the second aspect of the present invention, the judgment module includes:

[0019] An instruction type determination unit, configured to determine the instruction types corresponding to the first delivery instruction and at least one of the second delivery instructions;

[0020] A mutual exclusion judgment unit, configured to judge whether the first delivery instruction is mutually exclusive with the second delivery instruction or each of the second delivery instructions according to the instruction types;

[0021] A satisfaction unit, configured to, if there is no mutual exclusion, determine that the first delivery instruction and the second delivery instruction or each of the second delivery instructions meet a preset combined execution condition.

[0022] Optionally, in the second implementation manner of the second aspect of the present invention, the mutual exclusion judgment unit is specifically configured to: judge whether the instruction types of the first delivery instruction and the second delivery instruction or each of the second delivery instructions are the same; if the instruction types are the same, determine the subtypes of the first delivery instruction and each of the second delivery instructions with the same instruction type, where the subtypes correspond to different seasonings or different ingredients or different delivery components; judge whether the subtypes corresponding to the first delivery instruction and each of the second delivery instructions with the same instruction type are the same; if the subtypes are different, the first delivery instruction and the second delivery instruction or each of the second delivery instructions are not mutually exclusive.

[0023] Optionally, in the third implementation manner of the second aspect of the present invention, the judgment module further includes:

[0024] A status acquisition unit, configured to acquire the delivery component corresponding to the first delivery instruction, and mark the working status of the corresponding delivery component as busy, and mark the working status of other delivery components as idle;

[0025] An identification and judgment unit, configured to identify the working status of the delivery components corresponding to each of the second delivery instructions, and judge that the working status is idle;

[0026] A satisfaction unit, configured to determine, if in an idle state, that a preset combined execution condition is satisfied between the first feeding instruction and the second feeding instruction or each of the second feeding instructions.

[0027] Optionally, in a fourth implementation manner of the second aspect of the present invention, the judgment module further includes:

[0028] A mode judgment unit, configured to judge whether the current control mode of the intelligent cooking machine is a recipe control mode;

[0029] An interval judgment unit, configured to, if in the recipe control mode, determine the time interval between the first feeding instruction and the second feeding instruction or each of the second feeding instructions, and judge whether the time interval is not greater than a preset time threshold, where the time threshold is N times the time taken for the turning pot to return from the feeding position to the cooking position, and N is greater than or equal to 2;

[0030] A satisfaction unit, configured to determine, if not greater, that a preset combined execution condition is satisfied between the first feeding instruction and the second feeding instruction or each of the second feeding instructions.

[0031] Optionally, in a fifth implementation manner of the second aspect of the present invention, the execution module includes:

[0032] A position judgment unit, configured to obtain the real-time position of the turning pot and judge whether the turning pot is at the feeding position according to the real-time position;

[0033] An adjustment unit, configured to, if not at the feeding position, clear the reset flag for the turning pot to return to the cooking position and control the turning pot to be adjusted from the real-time position to the feeding position;

[0034] An extraction and execution unit, configured to extract the second feeding instruction in the instruction sequence and continue to control the corresponding feeding component to feed the corresponding food ingredients or seasonings into the turning pot, and after all the second feeding instructions in the instruction sequence are executed, return the turning pot to the cooking position.

[0035] Optionally, in a sixth implementation manner of the second aspect of the present invention, the execution module further includes:

[0036] A power adjustment unit, configured to reduce the power of the intelligent cooking machine by a preset value when the intelligent cooking machine flips from the cooking position to the feeding position, and reduce the power of the intelligent cooking machine by a corresponding value according to the state of the intelligent cooking machine.

[0037] Optionally, in the seventh implementation manner of the second aspect of the present invention, the power adjustment unit is specifically configured to: when the intelligent cooking machine executes the first feeding instruction, reduce the power of the intelligent cooking machine by a first amplitude, where the first amplitude is not greater than the power value at the cooking position; when the intelligent cooking machine is at the feeding position and waiting for the second feeding instruction, reduce the power of the intelligent cooking machine by a second amplitude, where the second amplitude is less than the first amplitude.

[0038] Optionally, in the eighth implementation manner of the second aspect of the present invention, the power adjustment unit is further configured to: when the intelligent cooking machine flips from the cooking position to the feeding position, reduce the power of the intelligent cooking machine by the second amplitude, and maintain the reduced power until the first feeding instruction and the second feeding instruction are executed.

[0039] A third aspect of the present invention provides an intelligent cooking machine, which includes a memory and at least one processor, and instructions are stored in the memory; the at least one processor calls the instructions in the memory to enable the control device of the intelligent cooking machine to execute the steps of the control method of the intelligent cooking machine as described above.

[0040] A fourth aspect of the present invention provides a computer-readable storage medium, on which instructions are stored, and when the instructions are executed by a processor, the steps of the control method of the intelligent cooking machine as described above are implemented.

[0041] The present application provides a control method, an intelligent cooking machine and a storage medium for an intelligent cooking machine. Specifically, by obtaining the first feeding instruction at the current moment of the intelligent cooking machine and at least one second feeding instruction at the next moment; judging whether the first feeding instruction and the at least one second feeding instruction meet the preset combined execution condition; if so, combining the first feeding instruction and the at least one second feeding instruction to generate an instruction sequence; controlling the feeding component to sequentially feed into the turning pot based on the instruction sequence, and after the feeding is completed, restoring the turning pot to the cooking position. The present invention improves the execution efficiency of the feeding and vegetable feeding actions by designing a control mechanism for combining feeding and vegetable feeding, avoids frequent flipping of the drum pot of the cooking machine, and at the same time makes the turning pot stay at the feeding position for as little time as possible to improve the cooking efficiency and cooking effect. Description of the Drawings

[0042] Figure 1 It is a schematic diagram of the first embodiment of the control method of the intelligent cooking machine provided by the embodiment of the present invention;

[0043] Figure 2 It is a schematic diagram of the second embodiment of the control method of the intelligent cooking machine provided by the embodiment of the present invention;

[0044] Figure 3Schematic flowchart of the wok flipping position determination provided by the embodiments of the present invention;

[0045] Figure 4 Schematic diagram of the third embodiment of the control method for the intelligent cooking machine provided by the embodiments of the present invention;

[0046] Figure 5 Schematic diagram of the combined execution mechanism provided by the embodiments of the present invention;

[0047] Figure 6 Schematic main control flowchart of the feeding and ingredient adding combined mechanism provided by the embodiments of the present invention;

[0048] Figure 7 Schematic flowchart of the wok flipping reset determination provided by the embodiments of the present invention;

[0049] Figure 8 Schematic diagram of the first structure of the intelligent cooking machine provided by the embodiments of the present invention;

[0050] Figure 9 Schematic diagram of the second structure of the intelligent cooking machine provided by the embodiments of the present invention;

[0051] Figure 10 Schematic diagram of the third structure of the intelligent cooking machine provided by the embodiments of the present invention. Detailed implementation manners

[0052] In view of the existing control methods of intelligent cooking machines, the present application designs a control mechanism for combining feeding and ingredient adding to improve the execution efficiency of feeding and ingredient adding actions, and avoid frequent flipping of the drum pot of the cooking machine to improve the cooking efficiency and cooking effect.

[0053] The terms "first", "second", "third", "fourth", etc. (if any) in the description 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. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments described herein can be implemented in an order different from that shown or described herein. In addition, the terms "comprising" or "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0054] For ease of understanding, the following describes the specific process of the embodiments of the present invention. Please refer to Figure 1 Schematic diagram of the first embodiment of the control method for the intelligent cooking machine provided by the embodiments of the present invention. The method specifically includes the following steps:

[0055] 101. Obtain a first delivery instruction of the intelligent cooking machine at the current moment and at least one second delivery instruction at the next moment.

[0056] The combined applicable scenario described in the present application is that when the smart cooking machine is executing a delivery instruction, a new delivery instruction is received, or a new delivery instruction is received within a preset time after the execution is completed. There can be multiple delivery instructions being executed, and there can also be multiple delivery instructions received. The processing method for the above situation in the prior art is: execute the delivery instructions in sequence, that is, after the current delivery instruction is executed, the smart cooking machine is restored to the initial state and then executes the new delivery instruction. When this method is executed, it is necessary to frequently adjust the delivery components, turning the pot and power of the smart cooking machine, resulting in low cooking efficiency.

[0057] Both feeding and serving dishes require a feeding position for delivery, and feeding and serving dishes can be carried out in parallel. Two adjacent delivery instructions can be between two adjacent feeding instructions, between two adjacent serving dishes instructions, or between a feeding instruction and an adjacent serving dish instruction.

[0058] The time difference between the first delivery instruction at the current moment and the second delivery instruction at the next moment is reflected in that when the smart cooking machine is executing a delivery instruction, it receives a new delivery instruction from the central control. Furthermore, when the smart cooking machine is in the recipe cooking scene, the time of issuing the delivery instruction is fixed. Therefore, in this scene, when executing the current delivery instruction, the time interval between the next delivery instruction and the current delivery instruction will also be calculated, that is, the time interval between two adjacent delivery instructions will be calculated.

[0059] The present application does not impose any restriction on the structure of the intelligent cooking machine, but in order to better achieve the effect of the control method of the intelligent cooking machine described in the present application, the following restrictions are imposed on the intelligent cooking machine: the intelligent cooking machine has at least a turning pot and at least one placing component, the turning pot is used to stir-fry the ingredients, and the placing component is used to place ingredients and / or seasonings into the turning pot. The present invention does not limit the upper limit of the number of placing components, that is, the intelligent cooking machine can be provided with one placing component for placing seasonings or ingredients into the turning pot, or multiple placing components can be provided according to different ingredients.

[0060] 102. Determine whether the first delivery instruction and at least one second delivery instruction meet a preset merge execution condition.

[0061] In this step, the conditions for merging and executing two adjacent delivery instructions are judged. If the conditions are met, the next step is performed. The judgment conditions for merging and executing in this application are: time interval, delivery instruction type and delivery component status. The judgment conditions can be judged individually or in combination.

[0062] When making a judgment based on the time interval, first determine whether the current control mode of the intelligent cooking machine is the recipe control mode; if it is the recipe control mode, determine the time interval between the first dosing instruction and the second dosing instruction or each of the second dosing instructions; determine whether the time interval is not greater than a preset time threshold, where the time threshold is N times the time taken for the wok to return from the dosing position to the cooking position, and N is greater than or equal to 2; if it is not greater, determine that the first dosing instruction and the second dosing instruction or each of the second dosing instructions meet the preset combined execution condition. Specifically, when the intelligent cooking machine is in the scenario of executing recipe cooking, judge the time interval between the first dosing instruction and the second dosing instruction, and judge the size relationship between the time interval and the preset time threshold to determine whether to combine. If the time interval is less than or equal to the preset time threshold, the adjacent two dosing instructions meet the combination condition and can be combined for execution. In another feasible way, when the time interval is less than or equal to the preset time threshold, further judge the types of the adjacent two dosing instructions. If the types are inconsistent, they can be combined for execution.

[0063] Generally, the cooking scenarios of the intelligent cooking machine mainly include executing recipe cooking and user-defined cooking scenarios. In the user-defined cooking scenario, the dosing instruction issuing time is random. At this time, when executing the current feeding / dosing of ingredients, regardless of the interval between the next feeding / dosing and the current one, it is defaulted that it is not known when the next feeding or dosing instruction will arrive, and only corresponding processing methods are adopted according to the feeding / dosing state of the current device when the instruction arrives. In the scenario of executing recipe cooking, the feeding of ingredients has a fixed time, so it is more suitable to use the time interval to judge whether the adjacent dosing instructions can be combined for execution. When making a judgment based on the time interval, define the time required for the drum pan to return from the dosing position to the cooking position after the feeding or dosing of ingredients is completed as time t1, and obtain the time interval t2 between at least two adjacent feeding / dosing instructions. If t2 is less than or equal to t1, after the previous dosing instruction is completed, stay at the dosing position and wait for the next dosing instruction to arrive. After the next feeding / dosing instruction is completed, then flip the drum pan body to the cooking position. Further, if the time for the wok to return from the dosing position to the cooking position is t1, the time threshold can be N times the time t1 taken for the wok to return from the dosing position to the cooking position, and N is greater than or equal to 2.

[0064] When making a judgment based on the dosing instruction type, sequentially judge whether the types and subtypes of the dosing instructions are consistent. Specifically, first judge whether the types of the dosing instructions are consistent, and then further judge whether the subtypes of the dosing instructions of the same type are consistent. If the subtypes are inconsistent, they can be combined for execution.

[0065] When making a judgment based on the status of the dosing component, first obtain the current working status of the dosing component of the intelligent cooking machine. If the status is idle, the second dosing instructions corresponding to the idle dosing components can be merged. Further, when the dosing component is executing a dosing task, mark the dosing component as busy, and only after the dosing task is completed can a new dosing instruction be executed.

[0066] 103. If satisfied, merge the first dosing instruction and at least one second dosing instruction to generate an instruction sequence.

[0067] For the dosing instructions that meet the merging conditions, sort the specific vegetable dosing or ingredient dosing instructions according to the receiving time to obtain an instruction sequence.

[0068] 104. Control the dosing component to dose into the turning pot based on the instruction sequence, and after the dosing is completed, return the turning pot to the cooking position.

[0069] After the previous dosing instruction is completed, stay at the dosing position and wait for the next dosing instruction to arrive. After the next dosing instruction is executed, then turn the turning pot body to the cooking position. Further, when the turning pot stays at the dosing position, adjust the power of the intelligent cooking machine to achieve the effect of protecting the pot body and not affecting the cooking efficiency.

[0070] This application determines whether the first dosing instruction and at least one second dosing instruction meet the preset combined execution conditions, merges the first dosing instruction and at least one second dosing instruction that meet the conditions to generate an instruction sequence, controls the dosing component to dose into the turning pot based on the instruction sequence, and after the dosing is completed, returns the turning pot to the cooking position.

[0071] Please refer to Figure 2 The schematic diagram of the second embodiment of the control method of the intelligent cooking machine provided by the embodiment of the present invention. This method specifically includes the following steps:

[0072] 201. Obtain the first dosing instruction at the current moment and at least one second dosing instruction at the next moment of the intelligent cooking machine.

[0073] 202. Determine the instruction types corresponding to the first dosing instruction and at least one second dosing instruction.

[0074] The dosing instructions include vegetable dosing instructions and ingredient dosing instructions. Therefore, there are mainly two types of dosing instructions, namely vegetable dosing instructions and ingredient dosing instructions. Further, determine the subtype of the ingredient dosing instruction according to the type of the ingredient, mainly including ingredient dosing 1, ingredient dosing 2, ingredient dosing 3, etc., and determine the subtype of the vegetable dosing instruction according to the steps of vegetable dosing, mainly including putting vegetables into the pot, resetting the vegetables, and waiting for the vegetables.

[0075] 203. Determine whether the first dosing instruction is mutually exclusive with the second dosing instruction or each of the second dosing instructions according to the instruction type.

[0076] Determine whether the instruction types of the first dosing instruction and the second dosing instruction or each of the second dosing instructions are the same; if the instruction types are the same, determine the subtypes of the first dosing instruction and each of the second dosing instructions with the same instruction type, where the subtypes correspond to different seasonings or different food ingredients or different dosing components; determine whether the subtypes corresponding to the first dosing instruction and each of the second dosing instructions with the same instruction type are the same; if the subtypes are different, the first dosing instruction and the second dosing instruction or each of the second dosing instructions are not mutually exclusive.

[0077] Feeding and vegetable throwing can be executed together, throwing different seasonings can be executed together, throwing the same seasoning is mutually exclusive and cannot be executed together, and queuing is required for sequential execution. The three forms of vegetable throwing: throwing vegetables into the pot, resetting the vegetable throwing, and waiting for the vegetable throwing are mutually exclusive. In this step, dosing instructions of different types and dosing instructions of the same type but different subtypes are not mutually exclusive and meet the preset combined execution conditions.

[0078] 204. If they are not mutually exclusive, meet the preset combined execution conditions, and combine the first dosing instruction and at least one second dosing instruction to generate an instruction sequence.

[0079] 205. Obtain the real-time position of the wok flipping, and determine whether the wok flipping is at the dosing position according to the real-time position.

[0080] Please refer to Figure 3 , the flowchart of the wok flipping position judgment provided by the embodiment of the present invention. When generating an instruction sequence and executing a dosing task according to the instruction sequence, obtain the real-time position of the wok flipping, and confirm that the wok flipping is at the dosing position. If it is not at the dosing position, when the dosing component throws food ingredients into the wok flipping, the food ingredients will be thrown outside the wok flipping. In another implementable manner, first determine whether the time interval between adjacent dosing instructions meets the combined execution conditions. If it meets, after the first dosing instruction is executed, keep the wok flipping at the dosing position, that is, do not restore the wok flipping to the stir-frying position. At this time, determine whether it should be combined and executed according to the type and subtype of the dosing instruction, and obtain an instruction sequence. At this time, when executing the instruction sequence and / or the second dosing instruction, it is not necessary to determine whether the position of the wok flipping is at the dosing position.

[0081] 206. If it is not at the dosing position, clear the reset flag for restoring the wok flipping to the stir-frying position, and control the wok flipping to adjust from the real-time position to the dosing position.

[0082] If the real-time position of the wok is the position where stir-frying is being resumed or has been resumed, it is judged whether there is a wok reset flag. If there is, the reset flag for the wok to resume the stir-frying position is cleared. Further, when the wok is in the feeding position and the wok reset flag has been suspended, the wok will resume to the stir-frying position according to the wok reset flag. Therefore, the reset flag for the wok to resume the stir-frying position is cleared, and the wok is controlled to adjust from the real-time position to the feeding position.

[0083] 207. Extract the second feeding instruction in the instruction sequence, and continue to control the corresponding feeding component to feed the corresponding ingredients or seasonings into the wok.

[0084] 208. After all the second feeding instructions in the instruction sequence are executed, return the wok to the stir-frying position.

[0085] In this embodiment, after all the feeding instructions are executed, the wok reset flag is suspended, and it is judged whether the wok has returned to the original work position according to the wok reset flag. If it has returned, new feeding instructions can be processed. Further, obtain the queue of waiting feeding instructions that cannot be merged, and control the corresponding feeding components to feed the ingredients into the wok in sequence according to the instruction queue.

[0086] This application realizes the judgment of the merger of the first feeding instruction and the second feeding instruction by judging the type and subtype of the feeding instruction, and judges the preconditions for the execution of the merged feeding instruction: whether the wok is in the feeding position, so as to better execute the feeding instruction.

[0087] Please refer to Figure 4 The schematic diagram of the third embodiment of the control method of the intelligent cooking machine provided by the embodiment of the present invention. The method specifically includes the following steps:

[0088] 301. Obtain the first feeding instruction of the intelligent cooking machine at the current moment and at least one second feeding instruction at the next moment.

[0089] 302. Obtain the feeding component corresponding to the first feeding instruction, and mark the working state of the corresponding feeding component as busy, and mark the working states of other feeding components as idle.

[0090] In this embodiment, the acquisition and judgment of the state of the dispensing components can be implemented according to the following method: acquire the dispensing components corresponding to the dispensing instruction, mark the state of the dispensing components as busy, and mark the working states of other dispensing components as idle, so as to obtain the states of all dispensing components; more preferably, the state of the components corresponding to the second dispensing instruction can also be directly acquired, and it is judged whether the dispensing components are performing a dispensing task. If so, mark the dispensing components as busy, and mark the working states of other dispensing components as idle, so as to obtain the states of all dispensing components; more preferably, acquire the first dispensing components corresponding to the first dispensing instruction and at least one second dispensing component corresponding to the second dispensing instruction, and judge whether the first dispensing component and the second dispensing component are the same. If they are the same, mark the state of the dispensing components as busy, and mark the working states of other dispensing components as idle, so as to obtain the states of all dispensing components.

[0091] 303. Identify the working states of the dispensing components corresponding to each second dispensing instruction, and judge whether the working states are idle.

[0092] In this embodiment, when judging whether the merging execution condition is satisfied according to the working states of the dispensing components, it can be judged through the merging execution mechanism. Please refer to Figure 5 , the schematic diagram of the merging execution mechanism provided by the embodiment of the present invention. The merging execution mechanism includes: a central control host unit, a communication instruction processing unit, a feeding and vegetable dispensing state arbitration unit, a feeding and vegetable dispensing merging unit, an action execution unit, and a wok flipping and resetting unit. Please refer to Figure 6 , the schematic diagram of the main control process of the feeding and vegetable dispensing merging mechanism provided by the embodiment of the present invention. The central control host unit can be used to adjust the power of the intelligent cooking machine, save electronic recipes, etc. The communication instruction processing unit is used to issue dispensing instructions and receive the execution results of the dispensing components. The feeding and vegetable dispensing state arbitration unit is used to judge the states of the dispensing components corresponding to the dispensing instructions. The feeding and vegetable dispensing merging unit is used to judge whether the dispensing instructions should be merged for execution. The action execution unit is used to adjust the wok flipping to the feeding position, reduce the heating power, and suspend the wok flipping reset flag after the action is completed. The wok flipping and resetting unit is used to restore the wok flipping to the cooking position and restore the heating power of the intelligent cooking machine after all dispensing instructions are executed. Among them, if a certain feeding or vegetable dispensing sent by the central control host is judged by the device to be busy in response, the central control host will resend the feeding or vegetable dispensing instruction until the device finishes the current action and is judged to be idle and can process this instruction.

[0093] The intelligent cooking machine can determine whether it can process and execute the current feeding or vegetable - putting instruction sent by the central control according to the combined execution mechanism. If the device is performing the action of the current instruction sent, it is determined that the device is "busy", and the device refuses to execute the instruction. If the device is not performing the action of the current instruction, it is determined to be "idle" and can continue to execute the instruction action. For example, when the device is performing the instruction actions of feeding material 2 and putting vegetables into the pot, and at this time the device receives the instructions of feeding material 1, feeding material 2, and waiting for vegetable - putting position, the device determines that feeding material 1 is idle and can be executed, feeding material 2 is busy and cannot be executed and continues to wait, and waiting for vegetable - putting position is busy and cannot be executed and continues to wait.

[0094] 304. If it is idle, determine that the first feeding instruction and the second feeding instruction or each of the second feeding instructions meet the preset combined execution conditions.

[0095] When the current instruction is determined to be idle and can continue to be executed, if there are other feeding or vegetable - putting instructions being executed, at this time, the current instruction and the instruction being executed can be combined and executed. If there are no other feeding or vegetable - putting instructions being executed, the current instruction is executed alone. The specific combination method is as follows: when it is determined that they can be combined and executed, a. Immediately suspend the reset of the working position to prevent the original working position from being restored in advance when the action currently being executed is completed but the action of the current instruction has not been completed; b. If the vegetable - turning is in the process of restoring the original working position after the feeding or vegetable - putting is completed at this time, immediately stop the vegetable - turning, clear the vegetable - turning working - position reset flag, and execute the combined action; c. If the feeding or vegetable - putting is being executed at this time, immediately combine and execute the action of the current instruction; d. If there are no other feeding or vegetable - putting actions being executed at this time, record the original working position to be restored and then immediately execute the action of the current instruction alone; e. Since the vegetable - putting reset instruction and the waiting - for - vegetable - putting instruction do not require the participation of vegetable - turning, they can be executed in parallel with the feeding, but they are mutually exclusive with the putting - vegetables - into - the - pot.

[0096] In practical applications, for the vegetable - turning reset unit, it is actually executed by timed polling. Please refer to Figure 7 , the schematic diagram of the vegetable - turning reset judgment process provided by the embodiment of the present invention. Specifically, judge whether the vegetable - turning reset flag is suspended. If so, further judge whether all the feeding instructions have been executed. If so, clear the vegetable - turning working - position reset flag until the vegetable - turning reset flag is not suspended, and then judge whether the vegetable - turning has been restored to the cooking position at this time. If so, clear the "busy" flag of the corresponding instruction until the vegetable - turning is restored to the cooking position. When the vegetable - turning reset flag is suspended, that is, at least two feeding / vegetable - putting actions are being executed, it is necessary to wait for all actions to be completed and then clear the vegetable - turning reset suspension flag; when there is no vegetable - turning reset suspension but there is a vegetable - turning reset flag, immediately clear the vegetable - turning reset flag. If the current working position is not the working position to be restored, set the vegetable - turning to restore to the original working position. When it is restored to the original working position, clear the "busy" flag of the corresponding instruction.

[0097] 305. Combine the first dosing instruction and at least one second dosing instruction to generate an instruction sequence.

[0098] 306. Control the dosing component to dose into the wok based on the instruction sequence, and when the intelligent cooking machine flips from the cooking position to the dosing position, reduce the power of the intelligent cooking machine by a preset value.

[0099] Since the heating coil of the cooking machine in this application is located at a position on the side and near the bottom of the drum pot body, so as to better correspond to the ingredient area and heat the ingredients during the cooking process. When the pot body flips to the dosing position, the opening of the pot is upward, and the ingredients in the pot are mainly deposited at the bottom of the pot body. The area corresponding to the heating coil is not completely covered by the ingredients, which is likely to cause the pot to burn. Therefore, reducing the power at the dosing position can reduce the occurrence of burning to a certain extent. More preferably, the heating power at the dosing position can be reduced to half of the heating power at the cooking position.

[0100] 307. Reduce the power of the intelligent cooking machine by a corresponding value according to the state of the intelligent cooking machine.

[0101] When the intelligent cooking machine executes the first dosing instruction, reduce the power of the intelligent cooking machine by the first amplitude, where the first amplitude is not greater than the power value at the cooking position; when the intelligent cooking machine is at the dosing position and waiting for the second dosing instruction, reduce the power of the intelligent cooking machine by the second amplitude, where the second amplitude is less than the first amplitude. When the intelligent cooking machine flips from the cooking position to the dosing position, reduce the power of the intelligent cooking machine by the second amplitude and maintain the reduced power until the first dosing instruction and the second dosing instruction are executed.

[0102] Specifically, when the wok flips to the dosing position, the power is halved, that is, the percentage reduction in firepower is A. When combining adjacent dosing / vegetable dosing instructions, during the execution of the first dosing / vegetable dosing instruction, the above-mentioned firepower reduction is performed, and the percentage reduction is A. During the waiting time t2 at the dosing position, the firepower reduction is performed, and the percentage reduction in firepower is B, where B is less than A. That is, during the process of waiting for the next dosing instruction, the amplitude of firepower reduction is smaller to avoid excessive power reduction for too long, resulting in insufficient wok qi and affecting the cooking effect. When combining adjacent dosing / vegetable dosing instructions, the percentage reduction in power B can be uniformly executed from the moment the pot body flips to the dosing position until the dosing / vegetable dosing instruction to be combined is executed, so as to avoid insufficient firepower and insufficient wok qi due to too long time at the dosing position.

[0103] This application realizes the judgment of the combination of the first dosing instruction and the second dosing instruction by judging whether the state of the dosing component corresponding to the dosing instruction is busy, and adjusts the heating power of the intelligent cooking machine when executing the dosing instruction, so as to achieve a better cooking effect.

[0104] The control method of the intelligent cooking machine in the embodiments of the present invention has been described above. Next, the intelligent cooking machine in the embodiments of the present invention will be described in detail from the perspective of modular functional entities. Please refer to Figure 8 , the first structural schematic diagram of the intelligent cooking machine provided by the embodiments of the present invention. The intelligent cooking machine includes a feeding component 410, a stir-frying pan 420, and a control device 430. The feeding component 410 includes a feeding component and / or a vegetable feeding component. The control device 430 includes:

[0105] An acquisition module 431, configured to acquire a first feeding instruction of the intelligent cooking machine at the current moment and at least one second feeding instruction at the next moment;

[0106] A judgment module 432, configured to judge whether the first feeding instruction and at least one of the second feeding instructions meet a preset combined execution condition;

[0107] A merging module 433, configured to, if the condition is met, merge the first feeding instruction and at least one of the second feeding instructions to generate an instruction sequence;

[0108] An execution module 434, configured to control the feeding component to feed into the stir-frying pan based on the instruction sequence, and after the feeding is completed, restore the stir-frying pan to the cooking position.

[0109] In this solution, it is judged whether the first feeding instruction and at least one of the second feeding instructions meet a preset combined execution condition, and the first feeding instruction and at least one of the second feeding instructions that meet the condition are merged to generate an instruction sequence. Based on the instruction sequence, the feeding component is controlled to feed into the stir-frying pan, and after the feeding is completed, the stir-frying pan is restored to the cooking position.

[0110] Please refer to Figure 9 , the second structural schematic diagram of the intelligent cooking machine provided by the embodiments of the present invention. The intelligent cooking machine includes a feeding component 410, a stir-frying pan 420, and a control device 430. The feeding component 410 includes a feeding component and / or a vegetable feeding component. The control device 430 includes:

[0111] An acquisition module 431, configured to acquire a first feeding instruction of the intelligent cooking machine at the current moment and at least one second feeding instruction at the next moment;

[0112] A judgment module 432, configured to judge whether the first feeding instruction and at least one of the second feeding instructions meet a preset combined execution condition;

[0113] A merging module 433, configured to, if the condition is met, merge the first feeding instruction and at least one of the second feeding instructions to generate an instruction sequence;

[0114] An execution module 434, configured to control the dosing component to dose into the wok based on the instruction sequence, and after the dosing is completed, restore the wok to the cooking position.

[0115] In this embodiment, the judgment module 432 includes:

[0116] A type determination unit 4321, configured to determine the instruction types corresponding to the first dosing instruction and at least one of the second dosing instructions;

[0117] A mutual exclusion judgment unit 4322, configured to judge whether the first dosing instruction and the second dosing instruction or each of the second dosing instructions are mutually exclusive according to the instruction types;

[0118] A satisfaction unit 4323, configured to determine that the first dosing instruction and the second dosing instruction or each of the second dosing instructions satisfy a preset combined execution condition if they are not mutually exclusive.

[0119] In this embodiment, the mutual exclusion judgment unit 4322 is specifically configured to: judge whether the instruction types between the first dosing instruction and the second dosing instruction or each of the second dosing instructions are the same; if the instruction types are the same, determine the subtypes of the first dosing instruction and each of the second dosing instructions with the same instruction type, where the subtypes correspond to different seasonings or different ingredients or different dosing components; judge whether the subtypes corresponding to the first dosing instruction and each of the second dosing instructions with the same instruction type are the same; if the subtypes are different, the first dosing instruction and the second dosing instruction or each of the second dosing instructions are not mutually exclusive.

[0120] In this embodiment, the judgment module 432 further includes:

[0121] A status acquisition unit 4324, configured to acquire the dosing component corresponding to the first dosing instruction, mark the working status of the corresponding dosing component as busy, and mark the working status of other dosing components as idle;

[0122] An identification judgment unit 4325, configured to identify the working status of the dosing components corresponding to each of the second dosing instructions, and judge that the working status is idle;

[0123] A satisfaction unit 4323, configured to determine that the first dosing instruction and the second dosing instruction or each of the second dosing instructions satisfy a preset combined execution condition if it is idle.

[0124] In this embodiment, the judgment module 432 further includes:

[0125] A mode judgment unit 4326, configured to judge whether the current control mode of the intelligent cooking machine is a recipe control mode;

[0126] An interval judgment unit 4327, configured to, if it is the recipe control mode, determine the time interval between the first dosing instruction and the second dosing instruction or each of the second dosing instructions, and judge whether the time interval is not greater than a preset time threshold, where the time threshold is N times the time taken for the wok to return from the feeding position to the stir-frying position, and N is greater than or equal to 2;

[0127] A satisfaction unit 4323, configured to, if it is not greater than, determine that the first dosing instruction and the second dosing instruction or each of the second dosing instructions satisfy a preset combined execution condition.

[0128] In this embodiment, the execution module 434 includes:

[0129] A position judgment unit 4341, configured to obtain the real-time position of the wok and judge whether the wok is at the feeding position according to the real-time position;

[0130] An adjustment unit 4342, configured to, if it is not at the feeding position, clear the reset flag for the wok to return to the stir-frying position and control the wok to be adjusted from the real-time position to the feeding position;

[0131] An extraction execution unit 4343, configured to extract the second dosing instructions in the instruction sequence and continue to control the corresponding dosing components to dose the corresponding ingredients or seasonings into the wok, and after all the second dosing instructions in the instruction sequence are executed, return the wok to the stir-frying position.

[0132] In this embodiment, the execution module 434 further includes:

[0133] A power adjustment unit 4344, configured to, when the intelligent stir-frying machine flips from the stir-frying position to the feeding position, reduce the power of the intelligent stir-frying machine by a preset value, and reduce the power of the intelligent stir-frying machine by a corresponding value according to the state of the intelligent stir-frying machine.

[0134] In this embodiment, the power adjustment unit 4344 is specifically configured to: when the intelligent stir-frying machine executes the first dosing instruction, reduce the power of the intelligent stir-frying machine by a first amplitude, where the first amplitude is not greater than the power value at the stir-frying position; when the intelligent stir-frying machine is at the feeding position and waiting for the second dosing instruction, reduce the power of the intelligent stir-frying machine by a second amplitude, where the second amplitude is less than the first amplitude.

[0135] In this embodiment, the power adjustment unit 4344 is further configured to: when the intelligent stir-frying machine flips from the stir-frying position to the feeding position, reduce the power of the intelligent stir-frying machine by the second amplitude and maintain the reduced power until the first dosing instruction and the second dosing instruction are executed.

[0136] This solution obtains the first feeding instruction at the current moment and at least one second feeding instruction at the next moment of the intelligent cooking machine; determines whether the first feeding instruction and the at least one second feeding instruction meet the preset combined execution condition; if so, combines the first feeding instruction and the at least one second feeding instruction to generate an instruction sequence; controls the feeding component to feed into the turning pan based on the instruction sequence, and after the feeding is completed, returns the turning pan to the cooking position. The present invention designs a control mechanism for combining ingredient feeding and vegetable feeding, improves the execution efficiency of the ingredient feeding and vegetable feeding actions, avoids frequent flipping of the drum pan of the cooking machine, and at the same time keeps the turning pan in the ingredient feeding position for as little time as possible to improve the cooking efficiency and cooking effect.

[0137] Above Figure 8-9 The intelligent cooking machine in the embodiments of the present invention is described in detail from the perspective of modular functional entities. Next, the intelligent cooking machine in the embodiments of the present invention is described in detail from the perspective of hardware processing.

[0138] Figure 10 FIG. 10 is a third structural schematic diagram of the intelligent cooking machine provided by the embodiments of the present invention. The intelligent cooking machine 600 may vary greatly due to configuration or performance, and may include one or more processors (central processing units, CPUs) 610 (for example, one or more processors) and a memory 620, and one or more storage media 630 for storing application programs 633 or data 632 (for example, one or more mass storage devices). Among them, the memory 620 and the storage media 630 may be transient storage or persistent storage. The program stored in the storage media 630 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations on the intelligent cooking machine 600. Further, the processor 610 may be configured to communicate with the storage media 630 and execute a series of instruction operations in the storage media 630 on the intelligent cooking machine 600 to implement the method provided in the above embodiments.

[0139] The intelligent cooking machine 600 may further include one or more power supplies 640, one or more wired or wireless network interfaces 650, one or more input / output interfaces 660, and / or one or more operating devices 631, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art can understand that Figure 10 the shown structure of the intelligent cooking machine does not limit the computer device provided by the present invention, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0140] The present invention also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions run on a computer, the computer is caused to execute each step of the control method of the intelligent cooking machine provided in the above various embodiments.

[0141] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described devices, apparatuses, or units can refer to the corresponding processes in the foregoing method embodiments and will not be described herein again.

[0142] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0143] As described above, the above embodiments are only used to illustrate the technical solution of the present invention and are not intended to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A control method for an intelligent cooking machine, characterized in that, The intelligent cooking machine includes a feeding component and a pan-turning mechanism. The feeding component includes a feeding ingredient component and / or a feeding vegetable component. The control method includes: Obtaining a first feeding instruction at the current moment of the intelligent cooking machine and at least one second feeding instruction at the next moment; Judging whether the first feeding instruction and at least one of the second feeding instructions meet a preset combined execution condition; If so, combining the first feeding instruction and at least one of the second feeding instructions to generate an instruction sequence; Controlling the feeding component to feed into the pan-turning mechanism based on the instruction sequence, and after the feeding is completed, restoring the pan-turning mechanism to the cooking position; The judging whether the first feeding instruction and at least one of the second feeding instructions meet a preset combined execution condition includes: Determining the instruction types corresponding to the first feeding instruction and at least one of the second feeding instructions; Judging whether the first feeding instruction and the second feeding instruction or each of the second feeding instructions are mutually exclusive according to the instruction types, wherein feeding instructions with different types, feeding instructions with the same type but different subtypes are not mutually exclusive; If not mutually exclusive, it is determined that the first feeding instruction and the second feeding instruction or each of the second feeding instructions meet a preset combined execution condition.

2. The control method of the intelligent cooking machine according to claim 1, characterized in that, The judging whether the first feeding instruction and the second feeding instruction or each of the second feeding instructions are mutually exclusive according to the instruction types includes: Judging whether the instruction types of the first feeding instruction and the second feeding instruction or each of the second feeding instructions are the same; If the instruction types are the same, determining the subtypes of the first feeding instruction and each of the second feeding instructions with the same instruction type, wherein the subtypes correspond to different seasonings or different ingredients or different feeding components; Judging whether the subtypes corresponding to the first feeding instruction and each of the second feeding instructions with the same instruction type are the same; If the subtypes are different, the first feeding instruction and the second feeding instruction or each of the second feeding instructions are not mutually exclusive.

3. The control method of the intelligent cooking machine according to claim 1, characterized in that, The judging whether the first feeding instruction and at least one of the second feeding instructions meet a preset combined execution condition further includes: Obtaining the feeding component corresponding to the first feeding instruction, and marking the working state of the corresponding feeding component as busy, and marking the working states of other feeding components as idle; Identifying the working states of the feeding components corresponding to each of the second feeding instructions, and judging that the working states are idle; If it is idle, it is determined that the first feeding instruction and the second feeding instruction or each of the second feeding instructions meet a preset combined execution condition.

4. The control method of the intelligent cooking machine according to claim 1, characterized in that, The judging whether the first feeding instruction and at least one of the second feeding instructions meet a preset combined execution condition further includes: Judging whether the current control mode of the intelligent cooking machine is a recipe control mode; If it is the recipe control mode, determining the time interval between the first feeding instruction and the second feeding instruction or each of the second feeding instructions; Determine whether the time interval is not greater than a preset time threshold, where the time threshold is N times the time it takes for the wok to return from the feeding position to the cooking position, and N is greater than or equal to 2; If it is not greater than, determine that the first dispensing instruction and the second dispensing instruction or each of the second dispensing instructions meet the preset combined execution conditions.

5. The control method of the intelligent cooking machine according to any one of claims 1-4, characterized in that, The controlling the dispensing component to dispense into the wok based on the instruction sequence and, after the dispensing is completed, returning the wok to the cooking position includes: Obtain the real-time position of the wok, and determine whether the wok is at the feeding position according to the real-time position; If it is not at the feeding position, clear the reset flag for the wok to return to the cooking position, and control the wok to be adjusted from the real-time position to the feeding position; Extract the second dispensing instruction in the instruction sequence and continue to control the corresponding dispensing component to dispense the corresponding ingredients or seasonings into the wok; After all the second dispensing instructions in the instruction sequence are executed, return the wok to the cooking position.

6. The control method of the intelligent cooking machine according to any one of claims 1-4, characterized in that The controlling the dispensing component to dispense into the wok based on the instruction sequence and, after the dispensing is completed, returning the wok to the cooking position further includes: When the intelligent cooking machine flips from the cooking position to the feeding position, reduce the power of the intelligent cooking machine by a preset value, and reduce the power of the intelligent cooking machine by a corresponding value according to the state of the intelligent cooking machine.

7. The control method of the intelligent cooking machine according to claim 6, wherein, The reducing the power of the intelligent cooking machine by a preset value when the intelligent cooking machine flips from the cooking position to the feeding position and reducing the power of the intelligent cooking machine by a corresponding value according to the state of the intelligent cooking machine includes: When the intelligent cooking machine executes the first dispensing instruction, reduce the power of the intelligent cooking machine by a first amplitude, where the first amplitude is not greater than the power value at the cooking position; When the intelligent cooking machine is at the feeding position and waiting for the second dispensing instruction, reduce the power of the intelligent cooking machine by a second amplitude, where the second amplitude is less than the first amplitude.

8. The control method of the intelligent cooking machine according to claim 6, characterized in that, The reducing the power of the intelligent cooking machine by a preset value when the intelligent cooking machine flips from the cooking position to the feeding position and reducing the power of the intelligent cooking machine by a corresponding value according to the state of the intelligent cooking machine further includes: When the intelligent cooking machine flips from the cooking position to the feeding position, reduce the power of the intelligent cooking machine by the second amplitude, and maintain the reduced power until the first dispensing instruction and the second dispensing instruction are executed.

9. An intelligent cooking machine, characterized in that, The intelligent cooking machine includes a dispensing component, a wok, and a control device. The dispensing component includes a feeding component and / or a vegetable dispensing component. The control device includes: An obtaining module, configured to obtain a first dispensing instruction of the intelligent cooking machine at the current moment and at least one second dispensing instruction at the next moment; A judging module, configured to judge whether the first dispensing instruction and at least one of the second dispensing instructions meet the preset combined execution conditions; A combining module, configured to, if they meet, combine the first dispensing instruction and at least one of the second dispensing instructions to generate an instruction sequence; An execution module, configured to control the dispensing component to dispense into the wok based on the instruction sequence, and after the dispensing is completed, restore the wok to the cooking position; The determination module includes: A type determination unit, configured to determine the instruction types corresponding to the first dispensing instruction and at least one of the second dispensing instructions; A mutual exclusion determination unit, configured to determine whether the first dispensing instruction and the second dispensing instruction or each of the second dispensing instructions are mutually exclusive according to the instruction types, wherein dispensing instructions with different types and dispensing instructions with the same type but different subtypes are not mutually exclusive; A satisfaction unit, configured to determine that the first dispensing instruction and the second dispensing instruction or each of the second dispensing instructions satisfy a preset combined execution condition if they are not mutually exclusive.

10. An intelligent cooking machine, characterized in that, The intelligent cooking machine includes a memory and at least one processor, and instructions are stored in the memory; the at least one processor calls the instructions in the memory to cause the intelligent cooking machine to execute each step of the control method of the intelligent cooking machine according to any one of claims 1-8.

11. A computer-readable storage medium, on which instructions are stored, characterized in that, When the instructions are executed by the processor, each step of the control method of the intelligent cooking machine according to any one of claims 1-8 is implemented.

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