Kitchen robot, method of operation control thereof, and heating base

Abstract

Embodiments of the present application provide a kitchen robot, a work control method thereof and a heating base. In the embodiments of the present application, during the execution of a work task by the kitchen robot, the current execution temperature of the kitchen robot and the change information of the execution temperature are monitored, and in the case that the current execution temperature does not match the target execution temperature, the execution power of the kitchen robot is flexibly adjusted in combination with the change information of the execution temperature, so as to achieve the purpose of adjusting the execution temperature, and make the execution temperature of the kitchen robot match the target execution temperature. Compared with the mode of controlling the work of the kitchen robot only according to the execution power and time, the control mode of the embodiments of the present application is more flexible and accurate, and can meet more abundant work requirements.

Description

Kitchen robot, its operation control method, and heating base Technical Field

[0001] This application relates to the field of artificial intelligence technology, and in particular to a kitchen robot, its operation control method, and a heating base. Background Technology

[0002] With the rapid development of artificial intelligence, more and more intelligent machines are being applied to people's lives. For example, intelligent cooking machines allow users to complete the automated cooking process with very few steps, bringing great convenience to cooking delicious food.

[0003] During the cooking process of a smart cooking machine, the heating process can be controlled according to the power (such as high, medium, and low heat) and time. For example, a certain step may require cooking on high heat for 1 minute, while another step may require cooking on low heat for 4 minutes. However, this heating control method is not flexible enough and may not meet the cooking requirements of some ingredients. Summary of the Invention

[0004] This application provides a kitchen robot, its operation control method, and a heating base to enhance the flexibility of the kitchen robot's operation control and meet a wider range of operational needs.

[0005] This application provides a method for controlling the operation of a kitchen robot, comprising: acquiring structured data required for the kitchen robot to perform a task, the structured data including the operation steps and the target execution temperature corresponding to the operation steps; monitoring the current execution temperature and temperature change information of the kitchen robot during the execution of the operation steps; if the current execution temperature does not match the target execution temperature, adjusting the execution power of the kitchen robot according to the current execution temperature and the temperature change information, so that the subsequent execution temperature of the kitchen robot matches the target execution temperature.

[0006] This application embodiment also provides a kitchen robot, including: a receiving cavity and a heating base, wherein the heating base is provided with a temperature sensor, a processor, and a memory storing a computer program; the heating base is used to heat the receiving cavity during the kitchen robot's operation; the temperature sensor is used to collect the current operating temperature of the kitchen robot and report it to the processor; the processor is used to execute the computer program for:

[0007] The system acquires structured data required for the kitchen robot to perform tasks, including task steps and target execution temperatures corresponding to those steps. It controls the kitchen robot to perform tasks according to the task steps and monitors temperature changes based on execution temperatures reported by the temperature sensor at different times. If the current execution temperature reported by the temperature sensor does not match the target execution temperature, the system adjusts the execution power of the kitchen robot based on the current execution temperature and the temperature change information to ensure that subsequent execution temperatures match the target execution temperature.

[0008] This application embodiment also provides a heating base, including: a base body and a base supporting the base body; the base body is provided with a temperature sensor, and the base is provided with a processor and a memory storing a computer program; the heating base is used to heat the receiving cavity of the kitchen robot during the kitchen robot's operation; the temperature sensor is used to collect the operating temperature of the kitchen robot and report it to the processor; the processor is used to execute the computer program for:

[0009] The system acquires structured data required for the kitchen robot to perform its tasks, including the task steps and the target execution temperature corresponding to each task step. It controls the kitchen robot to perform the tasks according to the task steps and monitors the temperature changes of the kitchen robot based on the execution temperatures reported by the temperature sensor at different times. If the current execution temperature reported by the temperature sensor does not match the target execution temperature, the system adjusts the execution power of the kitchen robot based on the current execution temperature and the temperature change information to ensure that the subsequent execution temperature of the kitchen robot matches the target execution temperature.

[0010] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to implement the steps in the above method embodiments.

[0011] In this embodiment, during the kitchen robot's task execution, the current execution temperature and its changes can be monitored. If the current execution temperature does not match the target execution temperature, the robot's execution power can be flexibly adjusted based on the temperature change information to achieve the desired temperature match. Compared to controlling the kitchen robot's operation solely based on execution power and time, this embodiment offers a more flexible and accurate control method, capable of meeting a wider range of operational needs. Attached Figure Description

[0012] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0013] Figure 1 is a schematic diagram of the kitchen robot system provided in an embodiment of this application;

[0014] Figure 2a is a flowchart of the operation control method of the kitchen robot provided in an embodiment of this application;

[0015] Figure 2b is a flowchart of the kitchen robot performing the blanching step provided in the embodiment of this application;

[0016] Figure 3 is a schematic diagram of the operation control system of the kitchen robot provided in an embodiment of this application;

[0017] Figure 4a is a schematic diagram of the structure of the kitchen robot provided in an embodiment of this application;

[0018] Figure 4b is a schematic diagram of the structure of the heating base provided in the embodiment of this application;

[0019] Figure 4c is a side view of the base body provided in an embodiment of this application;

[0020] Figure 4d is a bottom view of the base provided in an embodiment of this application;

[0021] Figure 4e is a top view of the base provided in an embodiment of this application. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] To address the issue of inflexible heating control methods in existing cooking machines, this application proposes a kitchen robot and its operation control method to solve this problem. The kitchen robot in this embodiment refers to a machine capable of performing tasks in a kitchen environment, such as a smart electric oven or a smart cooking machine. In this embodiment, the kitchen robot has specific temperature requirements during task execution; different operation stages may require different execution temperatures, which affect the robot's performance. To ensure optimal performance, this application pre-generates structured data required for the kitchen robot to perform tasks. This structured data includes the required operation steps and the required execution temperatures for each step. To distinguish this from the actual execution temperature of the kitchen robot, the required execution temperature is referred to as the target execution temperature.

[0024] For a given task, it may include one or more task steps. A task step refers to a step within the task, describing the actions the kitchen robot needs to perform and the sequence of those actions. When there are multiple task steps, different steps may require different target execution temperatures, or they may be the same. The target execution temperature required for a task step can be explicitly represented in the structured data (e.g., the structured data explicitly includes temperature values ​​such as 60℃ and 30℃), or implicitly represented in the structured data (e.g., the temperature value for a certain task is not explicitly shown in the structured data, and a default flag can be used to indicate the use of a default temperature value). There are no restrictions on this approach.

[0025] In this embodiment, the method by which the kitchen robot obtains structured data is not limited. Structured data can be provided to the kitchen robot by a terminal device bound to it, or by a server corresponding to the kitchen robot. Figure 1 is a schematic diagram of the kitchen robot system provided in this embodiment. As shown in Figure 1, the system includes a kitchen robot 10, a terminal device 30 bound to the kitchen robot 10, and a server 20. Figure 1 shows only one kitchen robot 10, but it is not limited to this; the entire system can have multiple kitchen robots 10, and each kitchen robot 10 can be bound to a corresponding terminal device 30.

[0026] Taking the kitchen robot 10 shown in Figure 1 as an example, users can bind their terminal device 30 to the kitchen robot 10 and control it in various ways through the terminal device 30. For example, users can install a control APP adapted to control the kitchen robot 10 on the terminal device 30; through this APP, users can issue start operation commands to the kitchen robot to instruct it to perform tasks. During the operation of the kitchen robot 10, users can also adjust the execution power, execution time, and other operation parameters used by the kitchen robot 10 to perform tasks through the APP. Furthermore, users can also issue pause operation commands and end operation commands to the kitchen robot 10 through the APP. In addition, users can also use the APP to pre-generate structured data required for the kitchen robot 10 to perform tasks and provide this structured data to the kitchen robot 10 so that the kitchen robot 10 can perform tasks based on the structured data.

[0027] In this embodiment, the method by which the user generates structured data through an APP on the terminal device 30 is not limited. An exemplary implementation of generating structured data is as follows:

[0028] Method 1: Structured data is generated by terminal device 30.

[0029] A control app corresponding to the kitchen robot 10 can be installed on the terminal device 30. This app has a "structured data generation" function, allowing users to create structured data required by the kitchen robot 10 when performing tasks. When the user decides to create structured data, the terminal device 30 can display a structured data creation interface for the user to input the necessary information. Optionally, the structured data creation interface can display information selection options required for creating structured data, such as task steps, task duration, and the target object. These selection options and their corresponding optional information are pre-set. The user simply selects the required information from the optional information and generates the corresponding structured data after confirming the selected information.

[0030] Furthermore, for each operation step in the user-created structured data, there is a corresponding target execution temperature, so that the kitchen robot 10 can perform the corresponding operation according to the target execution temperature for each operation step. Optionally, each operation step can also correspond to a target execution power, so that each operation step can be controlled according to the target execution power. Optionally, the structured data creation interface also provides an editing function, allowing users to edit the generated structured data.

[0031] Furthermore, the terminal device 30 can respond to the user's input on the structured data creation interface, acquiring information such as the user-inputted work step options, work duration options, the object to be executed, the target execution temperature, and the target execution power, and converting the work step information into executable status control commands for the kitchen robot 10, instructing the kitchen robot 10 to perform the corresponding operations according to the status control commands. Furthermore, the terminal device 30 can send the user-generated structured data to the kitchen robot 10, allowing the kitchen robot 10 to perform work tasks based on the structured data. Optionally, the kitchen robot 10 can respond to the user's confirmation that the structured data creation is complete, or respond to the user's request to perform work tasks according to the created structured data, by sending the generated structured data to the kitchen robot 10, but is not limited to these. For example, the terminal device 30 can also send the structured data to the kitchen robot 10 by default after generating the structured data.

[0032] Method 2: Structured data generated by kitchen robot 10

[0033] The kitchen robot 10 includes a display screen and supports structured data creation. The display screen shows the user a structured data creation interface, allowing the user to create structured data. Users can perform input operations on the structured data creation interface to input the necessary information. Optionally, the structured data creation interface can display information selection options required for creating structured data.

[0034] For example, there are options for job steps, job duration, and the target object. These options and their corresponding optional information are pre-defined. Users only need to select the information they need from the optional information and generate the corresponding structured data after confirming the selected information.

[0035] Furthermore, for each operation step in the user-created structured data, there is a corresponding target execution temperature, so that the kitchen robot 10 can perform the corresponding operation according to the target execution temperature for each operation step. Optionally, each operation step can also correspond to a target execution power, so that each operation step can be controlled according to the target execution power. Optionally, the structured data creation interface also provides an editing function, allowing users to edit the generated structured data.

[0036] Furthermore, the kitchen robot 10 can respond to the user's input operation on the structured data creation interface, obtain information such as the user input operation step options, operation duration options, the object to be executed, the target execution temperature, and the target execution power, and convert the operation step information into state control instructions that the kitchen robot 10 can execute, so as to instruct the kitchen robot 10 to perform the corresponding operation according to the state control instructions.

[0037] In one optional embodiment, when a user generates structured data using terminal device 30, as shown in Figure 1, the APP on terminal device 30, in addition to providing the structured data to kitchen robot 10, can also report the structured data and its corresponding task identification information to server 20. Server 20 can aggregate the structured data reported by different users and save the correspondence between different structured data and task identification information. Based on this, in another optional embodiment, when kitchen robot 10 can communicate with server 20, server 20 can also send the structured data required by kitchen robot 10 to kitchen robot 10 so that kitchen robot 10 can perform corresponding operations according to the structured data. Specifically, after receiving the work instruction sent by terminal device 30, kitchen robot 10 can parse the task identification information to be performed from the work instruction and report the task identification information to server 20. Server 20 queries the pre-maintained correspondence between structured data and task identification information based on the task identification information reported by kitchen robot 10, determines the structured data required by kitchen robot 10, and provides it to kitchen robot 10. Alternatively, when the terminal device 30 needs the kitchen robot to perform a task, it can report the task identification information to the server 20. The server 20 can query the correspondence between the pre-maintained structured data and the task identification information based on the task identification information reported by the terminal device 30, determine the structured data required by the kitchen robot 10, and provide it to the kitchen robot 10.

[0038] Based on the aforementioned structured data, this application embodiment also provides a method for controlling the operation of a kitchen robot. This method can flexibly adjust the execution power of the kitchen robot according to the required execution temperature in the task to meet the operational needs and ensure the effectiveness of the operation. Figure 2a is a flowchart of the method. As shown in Figure 2a, the method includes:

[0039] S1. Obtain the structured data required for the kitchen robot to perform its tasks. The structured data includes the task steps and the target execution temperature corresponding to each task step.

[0040] S2. During the process of the kitchen robot performing the above-mentioned work steps, monitor the current operating temperature and temperature change information of the kitchen robot.

[0041] S3. If the current execution temperature does not match the target execution temperature, adjust the execution power of the kitchen robot according to the current execution temperature and temperature change information so that the subsequent execution temperature of the kitchen robot matches the target execution temperature.

[0042] In this embodiment, before performing a task, structured data required for the kitchen robot to perform the task can be obtained. This structured data includes the task steps required for the kitchen robot to perform the task, and the target execution temperature corresponding to each task step. There can be one or more task steps. When there are multiple task steps, the target execution temperatures for different task steps can be the same or different. Further, optionally, when there are multiple task steps, some task steps may have explicit requirements for execution temperature, while others may not. For task steps with explicit execution temperature requirements, the structured data will include the target execution temperatures corresponding to these task steps. For task steps without explicit execution temperature requirements, the target execution temperatures corresponding to these task steps can be set to the target execution temperature of the previous task step, or the target execution temperatures corresponding to these task steps can be set to a fixed temperature value, such as a default execution temperature, for example, 30℃ or 50℃. Of course, you can also choose not to set a target execution temperature for these operation steps, meaning that these steps have no requirement for execution temperature. When the kitchen robot performs these operation steps, it can perform the operation task according to the target execution temperature of the previous operation step, or it can directly perform the operation task with the default execution temperature. The specific implementation form is not limited here.

[0043] Furthermore, the kitchen robot can execute corresponding tasks based on the work steps in the structured data. During the execution of the task, the target execution temperature for the current step is determined based on the structured data, and the kitchen robot is controlled to execute the task at this target temperature to ensure effective task execution. During the task execution, the current actual execution temperature (referred to as the current execution temperature) and temperature change information of the kitchen robot can be monitored, and it can be determined whether the current execution temperature matches the target execution temperature for the current step. If a match is found, the robot continues to be controlled at the current execution power. If a mismatch is found, the execution power of the kitchen robot is adjusted based on the current execution temperature and temperature change information to ensure that the subsequent execution temperature matches the target execution temperature for the current step. The execution power of the kitchen robot is closely related to the execution temperature; higher execution power results in a higher execution temperature, and vice versa. Therefore, adjusting the execution power of the kitchen robot can achieve the purpose of adjusting the execution temperature.

[0044] In some optional embodiments, if the kitchen robot needs to perform multiple tasks that require specific execution temperatures, the kitchen robot should execute each task at the target execution temperature. Specifically, during each task, the kitchen robot can adjust its execution power based on the current execution temperature and temperature change information to ensure that the subsequent execution temperature matches the target execution temperature of the current task. The process of adjusting the kitchen robot's execution power based on the monitored current execution temperature and temperature change information is the same or similar for different task steps. The following detailed explanation uses the currently executed task step (hereinafter referred to as the current task step) as an example to illustrate how to adjust the kitchen robot's execution power based on the monitored current execution temperature and temperature change information.

[0045] During the execution of the current task by the kitchen robot, the current operating temperature can be collected and compared with the target operating temperature. If a mismatch is found, the robot's operating power is adjusted based on the current operating temperature and temperature change information. During each task step, the actual operating temperature of the kitchen robot can be collected multiple times. Optionally, a collection cycle can be set, and the current operating temperature is collected each time the cycle is reached. Different task steps may have different temperature requirements, so the robot's operating power may be continuously adjusted throughout the task. Each adjustment results in a gradual change in operating temperature, meaning the actual operating temperature fluctuates due to power adjustments. Power adjustments affect temperature changes, and conversely, temperature changes affect power adjustments. Multiple consecutive temperature data collections can reflect the trend of the actual operating temperature. The relationship between the temperature trend and power adjustments is as follows:

[0046] If the operating temperature is trending upwards, when an increase in operating power is needed, the increase can be smaller to account for the continued rise in temperature; conversely, when a decrease in operating power is needed, the decrease can be larger to offset the continued rise in temperature. If the operating temperature is trending downwards, when an increase in operating power is needed, the increase can be larger to offset the continued fall in temperature; conversely, when a decrease in operating power is needed, the decrease can be smaller to account for the continued fall in temperature.

[0047] Regardless of whether the kitchen robot's operating temperature is trending upwards or downwards, the rate of increase or decrease will affect the adjustment of the operating power. Therefore, in this embodiment, the temperature change information may include the kitchen robot's temperature change trend and the corresponding temperature change rate. The temperature change trend reflects whether the kitchen robot's operating temperature is rising or falling over a period of time, while the temperature change rate reflects how quickly the kitchen robot's operating temperature rises or falls over a period of time.

[0048] Based on this, in an optional embodiment, adjusting the execution power of the kitchen robot according to the current execution temperature and temperature change information includes: calculating the difference between the current execution temperature and the target execution temperature, denoted as the first difference; and adjusting the execution power of the kitchen robot according to the first difference, the temperature change trend, and the corresponding temperature change rate. The first difference represents the matching degree between the current execution temperature and the target execution temperature. If the first difference is less than 0, it indicates that the current execution temperature is lower than the target execution temperature. In this case, it is necessary to control the kitchen robot to increase its execution power according to the temperature change trend and the corresponding temperature change rate to gradually raise the execution temperature so that the subsequent execution temperature of the kitchen robot matches the target execution temperature. If the first difference is greater than 0, it indicates that the current execution temperature is higher than the target execution temperature. In this case, it is necessary to control the kitchen robot to decrease its execution power according to the temperature change trend and the corresponding temperature change rate to lower the execution temperature of the kitchen robot so that the subsequent execution temperature of the kitchen robot matches the target execution temperature. The adjustment method for the execution power of the kitchen robot is related to the temperature change trend and the corresponding temperature change rate. If the temperature change trend is consistent with the adjustment direction of the execution power of the kitchen robot, the larger the temperature change rate, the smaller the adjustment range. If the temperature change trend is inconsistent with the adjustment direction of the execution power of the kitchen robot, the larger the temperature change rate, the larger the adjustment range.

[0049] In this application, the specific implementation method for controlling the kitchen robot to increase or decrease its execution power is not limited. For example, a fixed adjustment step size can be preset, and the kitchen robot can increase or decrease its execution power according to the preset adjustment step size each time it increases or decreases its execution power. In addition, the acquired structured data may also include a target execution power corresponding to the target execution temperature. When the execution power of the kitchen robot is equal to or close to the target execution power, it indicates to some extent that the actual execution temperature of the kitchen robot is equal to or close to the target execution temperature. Based on this, when controlling the kitchen robot to increase or decrease its execution power, the execution power can be increased or decreased according to the temperature change trend and the corresponding temperature change rate, combined with the target execution power.

[0050] Since the rate of temperature change reflects the speed of temperature change, optionally, a first rate of change threshold and a second rate of change threshold can be set for the rate of temperature change. These thresholds are used to calculate the appropriate execution power for different speeds of temperature change, employing different calculation methods to determine the required execution power. The second rate of change threshold is less than the first rate of change threshold; negative numbers represent the rate of temperature decrease, and positive numbers represent the rate of temperature increase. The values ​​of the first and second rate of change thresholds are not limited; for example, the first rate of change threshold can be 0, and the second rate of change threshold can be -1, etc., and can be flexibly set according to different needs.

[0051] Optionally, when the temperature change trend is an upward trend, if the temperature change rate is greater than a first change rate threshold, it indicates that the kitchen robot's execution temperature increases significantly each time; if the temperature change rate is less than the first change rate threshold, it indicates that the kitchen robot's execution temperature increases less significantly each time. When the temperature change trend is a downward trend, if the temperature change rate is less than a second change rate threshold, it indicates that the kitchen robot's execution temperature decreases significantly each time; if the temperature change rate is less than the first change rate threshold but greater than the second change rate threshold, it indicates that the kitchen robot's execution temperature decreases less significantly each time; if the temperature change rate is greater than the first change rate threshold, it indicates that the change in the kitchen robot's execution temperature is very small or relatively gradual.

[0052] Based on the above, the following describes, in conjunction with several scenarios, exemplary implementation methods for controlling a kitchen robot to adjust its execution power:

[0053] Case 1: The first difference is less than 0

[0054] If the first difference is less than 0, it can be determined that the current operating temperature is lower than the target operating temperature. By increasing the operating power of the kitchen robot, the operating temperature can be made equal to or close to the target operating temperature. For the case where the first difference is less than 0, the temperature change trend of the kitchen robot may be either an increasing trend or a decreasing trend. The following explains both increasing and decreasing trends separately:

[0055] If the temperature change trend is an upward trend when the first difference is less than 0, the first execution power can be calculated based on the target execution power, the first difference, and the temperature change rate. Then, based on the first execution power and the target execution power, the kitchen robot's execution power is increased. The first execution power is an intermediate execution power used for comparison with the target execution power. If the first execution power is equal to or close to the target execution power, it can be used as the kitchen robot's execution power. If the first execution power does not match the target execution power, the first execution power is adjusted until it is equal to or close to the target execution power.

[0056] Furthermore, if the temperature change rate is less than the first change rate threshold, it indicates that the kitchen robot's execution temperature increases only slightly each time. By adjusting the difference between the current execution temperature and the target execution temperature, the current execution temperature can be made equal to or close to the target execution temperature. Optionally, the first execution power can be calculated using the formula PS*k2*(-Tc) to achieve the goal of making the execution temperature equal to or close to the target execution temperature by adjusting the temperature change rate. If the temperature change rate is greater than the first change rate threshold, it indicates that the kitchen robot's execution temperature increases only slightly each time. Simply adjusting the difference between the current execution temperature and the target execution temperature may not meet the actual needs, and it is necessary to adjust the temperature change rate to reduce the magnitude of the execution temperature change. Optionally, the first execution power can be calculated using the formula (k1 / Kp)*PS*k2*(-Tc) to achieve the goal of making the execution temperature equal to or close to the target execution temperature by adjusting the temperature change rate.

[0057] If the temperature change trend is downward when the first difference is less than 0, and the temperature change rate is greater than the first change rate threshold, a second execution power can be calculated based on the target execution power and the first difference. Then, based on the second execution power and the target execution power, the kitchen robot's execution power can be increased. The second execution power is also an intermediate execution power compared to the target execution power. Optionally, the second execution power can be calculated using the formula (k1 / Kp)*PS*k2*(-Tc) to adjust the temperature change rate so that the execution temperature is equal to or close to the target execution temperature. Further, if the temperature change rate is less than the first change rate threshold, it indicates that the kitchen robot's execution temperature changes significantly each time. To prevent the execution temperature from decreasing further, the kitchen robot can be controlled to adjust its execution power to the target execution power and perform tasks according to the target execution temperature.

[0058] In this embodiment, when controlling the kitchen robot to increase its execution power based on the first or second execution power and the target execution power, if the calculated first or second execution power is less than or equal to the target execution power, it indicates that the calculation result is insufficient to meet the kitchen robot's operational requirements for execution power. The calculation result can be adjusted by selecting different k1 and k2 to control the kitchen robot to increase its execution power to the first or second execution power that meets the operational requirements. If the first or second execution power is greater than the target execution power, it indicates that the calculation result has exceeded the kitchen robot's operational requirements for execution power. In this case, the kitchen robot can be controlled to directly increase its execution power to the target execution power so that the kitchen robot performs the operational task according to the target execution temperature.

[0059] Case 2: The first difference is greater than 0

[0060] If the first difference is greater than 0, it can be determined that the current operating temperature is higher than the target operating temperature. By controlling the kitchen robot to reduce its operating power, the operating temperature can be made equal to or close to the target operating temperature. For the case where the first difference is greater than 0, the temperature change trend of the kitchen robot may be either an increasing trend or a decreasing trend. The following explains both increasing and decreasing trends separately:

[0061] If the temperature change trend is downward when the first difference is less than 0, and the temperature change rate is less than the first change rate threshold but greater than the second change rate threshold, it indicates that the kitchen robot's execution temperature change is small or relatively gradual. A third execution power can be calculated based on the target execution power and the first difference, and the kitchen robot can be controlled to adjust its execution power to the third execution power. Optionally, the third execution power can be calculated using the formula (-Kp)*PS*k2*Tc, where the calculated third execution power is equal to or close to the target execution power, so that when the kitchen robot performs the task at the third execution power, the corresponding execution temperature is equal to or close to the target execution temperature. If the temperature change rate is less than the second change rate threshold, it indicates that the kitchen robot's execution temperature decreases significantly each time. To prevent the execution temperature from decreasing further, the kitchen robot can be controlled to adjust its execution power to the target execution power, so that the kitchen robot performs the task at the target execution power.

[0062] Furthermore, if the temperature change trend is downward, and the rate of temperature change is greater than the first rate of change threshold, it means that the change in the execution temperature of the kitchen robot is very small or relatively flat. Since the current execution temperature is greater than the target execution temperature, maintaining the current temperature change trend can ensure that the execution temperature gradually approaches or equals the target execution temperature. Therefore, the kitchen robot can be controlled to maintain the current execution power to meet the operation requirements.

[0063] If the temperature trend is upward when the first difference is less than 0, and the current execution temperature is already higher than the target execution temperature, maintaining the current execution power will cause the execution temperature to rise further and further, which will not meet the operation requirements. In this case, the kitchen robot can be controlled to reduce the execution power to 0, so as to control the kitchen robot to stop performing the current operation task.

[0064] In the calculation formula of the above embodiment, PS is the target execution power; Tc is the first difference; k1 is a preset temperature change rate coefficient, used to adjust the constant coefficient of the temperature change rate corresponding to the current execution temperature; k2 is a preset temperature difference coefficient, used to adjust the constant coefficient of the difference between the current execution temperature and the target execution temperature; Kp is the temperature change rate, a positive value represents the rate of temperature increase, and a negative value represents the rate of temperature decrease. It should be noted that, in the above embodiment, in order to make the calculated execution power a positive number, for the case where the first difference Tc and the temperature change rate Kp are less than 0, their opposites can be taken.

[0065] In the embodiments described above or below in this application, the adjustment of the execution power of the kitchen robot is based on the temperature change trend and corresponding temperature change rate of the kitchen robot. One method for obtaining the temperature change trend and corresponding temperature change rate of the kitchen robot includes: obtaining multiple execution temperatures generated by the kitchen robot within a specified time period before the current moment, and calculating the differences between adjacent execution temperatures to obtain multiple second differences; further, the temperature change trend and corresponding temperature change rate of the kitchen robot can be determined based on the calculated multiple second differences. Optionally, the multiple second differences can be filtered to obtain the mean value corresponding to the multiple second differences, and the temperature change trend of the kitchen robot within that time period can be determined based on the comparison result of the mean value and the target execution temperature. If the mean value of the multiple differences is greater than 0, the kitchen robot is determined to be in a heating trend, and the change rate of the multiple execution temperatures is calculated as the temperature change rate corresponding to the heating trend; if the mean value of the multiple differences is less than 0, the kitchen robot is determined to be in a cooling trend, and the change rate of the multiple execution temperatures is calculated as the temperature change rate corresponding to the cooling trend. Optionally, the temperature change rate corresponding to the execution temperature of the kitchen robot during the specified time period can be determined based on the slope of the temperature change curves corresponding to multiple execution temperatures within that time period. After obtaining the temperature change trend and corresponding temperature change rate of the kitchen robot, the execution power of the kitchen robot can be adjusted according to the steps in the above method embodiment to achieve the purpose of adjusting the execution temperature.

[0066] In an optional embodiment, the aforementioned kitchen robot can be implemented as an intelligent cooking machine. Correspondingly, the aforementioned task is a cooking task, and the aforementioned structured data is an electronic recipe used by the intelligent cooking machine to perform the cooking task. Based on the intelligent cooking machine, users can instruct it to cook corresponding dishes according to the electronic recipe with minimal intervention steps. This operation is simple, time-saving, and labor-saving. The electronic recipe used by the intelligent cooking machine can be pre-set at the factory, created and provided by the user through a terminal device, or sourced from a server. The following example, using an intelligent cooking machine as an example, illustrates the task control process in this embodiment.

[0067] Scenario Example 1:

[0068] The smart cooking machine includes a display screen, allowing users to create electronic recipes, which are then stored in the machine's recipe list. Alternatively, users can create electronic recipes using a terminal device with a cooking application installed; these recipes are then stored in the terminal device's recipe list. When a user wants the smart cooking machine to cook a meal, they can select a target recipe from either the machine's or the terminal device's recipe list and instruct the machine to cook the corresponding dish. Furthermore, during recipe creation, in addition to setting the cooking steps and their execution order, each cooking step includes at least one of the following: the type of action the machine needs to perform, the duration of the action, and the required ingredients and seasonings. Optionally, a target cooking temperature and target cooking power can be set for each cooking step, ensuring the machine cooks according to these target temperatures and power levels.

[0069] Suppose a user creates an electronic recipe for scrambled eggs with tomatoes. This recipe mainly consists of four steps: heating oil, scrambling eggs, heating oil again, and scrambling eggs and tomatoes. In these cooking steps, since the ingredients used in each step are different, the target temperature and power may also differ. For example, in the heating oil step, because the oil needs to reach its boiling point quickly, the target temperature and power are relatively high. Since different oils have different boiling points due to their varying fatty acid content, users can set the target temperature and power according to the type of oil used when creating the electronic recipe, or they can set a uniform target temperature and power for all types of oil. For example, peanut oil and rapeseed oil have a boiling point of 335℃, while soybean oil has a boiling point of 230℃. To improve the compatibility of the cooking temperature with the oil temperature, the target temperature could be set to 340℃, and the target power to 1500W. When frying eggs alone, since eggs are prone to sticking to the pan, the target operating temperature can be set lower, for example, 200℃, corresponding to a target operating power of 800W. When frying eggs and tomatoes together, since tomatoes are relatively firm, the target operating temperature can be set higher, for example, 300℃, corresponding to a target operating power of 1000W.

[0070] Furthermore, after the user completes and selects the electronic recipe, the smart cooking machine, upon receiving the user's cooking instruction, can obtain the cooking steps in the electronic recipe, as well as the target execution temperature and target execution power for each step. During the execution of each cooking step, it continuously monitors the current execution temperature of the smart cooking machine and determines the temperature change trend and corresponding temperature change rate based on the monitored multiple execution temperatures. Further, based on the matching result between the current execution temperature and the target execution temperature, it determines whether the execution power needs to be adjusted. If it is determined that the current execution temperature and the target execution temperature do not match, the execution power of the smart cooking machine is adjusted according to the temperature change trend and corresponding temperature change rate to make the execution power equal to or close to the target execution power.

[0071] For example, during the oil heating step, when heating is first started, the intelligent cooking machine's power is relatively low, and the oil temperature cannot reach the boiling point. The machine can then be controlled to increase its power to gradually bring the oil temperature closer to 340℃, allowing it to boil quickly. After the oil boils, if the user wants to stir-fry eggs, the high temperature could easily cause the eggs to burn. Therefore, the intelligent robot needs to reduce its power to gradually bring the oil temperature closer to 200℃. Similarly, after stir-frying the eggs, further oil heating is needed for stir-frying tomatoes and eggs. During this second oil heating, the intelligent cooking machine needs to increase its power to gradually bring the oil temperature closer to 340℃, allowing it to boil quickly. After the oil boils, if the user wants to stir-fry tomatoes and eggs, the current temperature is higher than the target temperature for stir-frying tomatoes and eggs. Therefore, the intelligent robot needs to reduce its power to gradually bring the oil temperature closer to 300℃.

[0072] During the process of adjusting the execution power of the intelligent robot described above, the execution temperature fluctuates continuously, and the temperature difference varies with each adjustment. For example, from the hot oil step to the scrambled eggs step, the corresponding temperature change trend is downward, and the rate of temperature change is relatively large; from the scrambled eggs step to the hot oil step, the corresponding temperature change trend is upward, and the rate of temperature change is relatively small; from the hot oil step to the scrambled tomatoes and eggs step, the corresponding temperature change trend is downward, and the rate of temperature change is relatively small. Therefore, when adjusting the execution power of the intelligent cooking machine, it is necessary to use different calculation methods to determine the execution power based on the specific temperature change information, so as to make flexible adjustments and avoid poor taste or impact on the nutritional value of the cooked food. The specific process of controlling heating during each cooking step of the intelligent cooking machine can be found in the above embodiments, and will not be repeated here.

[0073] In some embodiments of this application, the cooking steps in a cooking scenario can be categorized into cooking types such as steaming, boiling, frying, deep-frying, and stir-frying. In addition, a blanching step may also be included. When the cooking step is blanching, the target execution temperature is the boiling point of water. In this embodiment, when the kitchen robot performs the blanching step, based on the temperature change information during the blanching process, and upon determining that the water temperature has reached the boiling point, the intelligent cooking machine can be promptly controlled to stop heating to reduce the risk of dry burning or other risks.

[0074] Figure 2b is a flowchart of the blanching step performed by the kitchen robot according to an embodiment of this application. As shown in Figure 2b, during the heating process, the kitchen robot can continuously collect the current execution temperature in units of execution time, and determine whether the current execution temperature matches the target execution temperature by calculating the difference between the current execution temperature and the previous execution temperature, which is recorded as the third difference. The previous execution temperature is the execution temperature closest to the current execution temperature among multiple execution temperatures collected within a specified time period before the current moment. Since the blanching process is a gradual heating process, the water temperature continuously rises from the start of heating to reaching the boiling point. If the water temperature remains unchanged or almost unchanged within the specified time period, it can be determined that the water has reached or is close to the boiling point. Therefore, the matching of the current execution temperature and the target execution temperature can be determined based on the water temperature change information.

[0075] Optionally, a preset difference threshold can be established. This threshold refers to the temperature difference between when the water temperature approaches the boiling point and when it reaches the boiling point within a specified time period. The specific value of this temperature difference is not limited and can be flexibly set according to specific needs, such as 5℃ or 10℃. As shown in Figure 2b, if the third difference is greater than the preset threshold, it indicates that the water temperature has changed significantly within the specified time period but has not yet approached the boiling point, thus determining that the current operating temperature does not match the target operating temperature. Furthermore, the operating temperature of the kitchen robot can continue to be monitored. When the operating temperature of the kitchen robot is monitored at the next moment, the above temperature comparison process is repeated until the third difference is less than the preset threshold.

[0076] Furthermore, as shown in Figure 2b, when it is determined that the third difference is less than or equal to the set difference threshold, it indicates that the current water temperature is close to or equal to the boiling point. To ensure the blanching effect, the water can be heated for a preset time threshold, and a timer can be started while heating continues. During the timer, the kitchen robot is controlled to reduce its execution power, and when the time threshold is reached, the kitchen robot is controlled to reduce its execution power to 0. The method for controlling the kitchen robot to reduce its execution power can be based on a fixed power change rate or a preset value at fixed intervals; the specific implementation is not limited. Further, optionally, during the heating process, the current execution temperature can be continuously monitored and the difference between it and the previous execution temperature can be calculated. If the difference exceeds the set difference threshold, the steps of continuously monitoring and comparing the execution temperature described in the above embodiment can be repeated.

[0077] In practical applications, the amount of water used for blanching, the initial temperature of the water, and the temperature of the blanching container all affect the time it takes for the water to reach its boiling point. Furthermore, the boiling point of water varies with different air pressures or altitudes. For example, at normal sea level pressure, the boiling point of water is typically 100°C. As altitude increases, the air becomes thinner, the air pressure decreases, and the boiling point of water decreases accordingly. For instance, the Himalayas, the world's highest mountain range, have a boiling point of 73.5°C. Therefore, assuming the same amount of water used for blanching, the initial temperature of the water, and the temperature of the blanching container, water at high altitudes and low air pressure takes less time to reach its boiling point than water at sea level pressure. Therefore, in this embodiment, the time threshold can be determined based on at least one of the following: the amount of water used for blanching, the initial temperature of the water, the temperature of the blanching container, and air pressure or altitude. Optionally, to ensure safety and avoid dry burning, a maximum duration threshold can be set for this time threshold. For example, the maximum duration threshold can be twice the time required for cold water and a cold container to reach the boiling point under standard atmospheric pressure. Of course, this method is not limited to this.

[0078] The heating control process of this application embodiment will be described below using a kitchen robot as an intelligent cooking machine, with the blanching step as an example.

[0079] Scenario Example 2:

[0080] Suppose the user creates or selects an electronic recipe for spinach and peanut salad. The cooking process involves three steps: blanching the spinach, blanching the peanuts (this step can be skipped if the peanuts are already roasted), and mixing the blanched spinach and peanuts. For example, for the blanching step, the target temperature is 100℃ and the target power is 1500W. Upon receiving the user's cooking command, the smart cooking machine can obtain the cooking steps from the electronic recipe, as well as the target temperature and power for each step, and control the machine to execute the cooking task according to the target temperature and power.

[0081] In this embodiment, when the intelligent cooking machine reaches the blanching step, a certain amount of water can be injected into the pot first, and the execution power can be continuously increased to raise the execution temperature. During the process of increasing or decreasing the execution power, the current execution temperature of the intelligent cooking machine can be continuously monitored in preset time units. By comparing the difference between the current execution temperature and the previous execution temperature, it can be determined whether the water temperature has reached or is close to the boiling point. If it is determined that the water temperature has not reached the boiling point, the above steps of monitoring and comparing the water temperature are repeated. If it is determined that the water temperature is close to or has reached the boiling point, the intelligent cooking machine can be controlled to add spinach or peanuts and continue heating for a preset time threshold, and the execution rate of the intelligent cooking machine can be reduced. At the same time, the above steps of monitoring and comparing the water temperature are repeated until the execution power is reduced to 0 and heating stops. In this embodiment, the intelligent cooking machine is also affected by the amount of water to be blanched, the initial water temperature, the temperature of the pot, as well as the altitude and air pressure during the blanching process. This embodiment takes the boiling point of water at standard air pressure of 100°C as an example for explanation. For the specific control process, please refer to the above embodiment, which will not be repeated here.

[0082] In this embodiment, during the kitchen robot's task execution, the current execution temperature is continuously monitored. Based on a comparison between the current execution temperature and the target execution temperature corresponding to the executed task, as well as the temperature change information of the kitchen robot within a specified time period prior to the current moment, a method for flexibly adjusting the kitchen robot's power can be determined so that the kitchen robot's execution power is equal to or close to the target execution power corresponding to the executed task. By controlling the execution power, the kitchen robot's execution temperature can be matched with the target execution temperature to meet operational requirements.

[0083] It should be noted that some processes described in the above embodiments and accompanying drawings include multiple operations that appear in a specific order. However, it should be clearly understood that these operations may not be executed in the order they appear in this document, or they may be executed in parallel. The operation numbers, such as S1, S2, etc., are merely used to distinguish different operations and do not represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should also be noted that the descriptions such as "first" and "second" in this document are used to distinguish different messages, devices, modules, etc., and do not represent a sequential order, nor do they limit "first" and "second" to different types.

[0084] Furthermore, the execution subject of each step in the method provided in the above embodiments can be the same device, or the method can be executed by different devices. For example, the execution subject of step S1 can be device A; or, for example, the execution subject of step S1 can be device A, and the execution subject of steps S2 and S3 can be device B. For example, the operation control method of this application embodiment can be implemented by a kitchen robot alone. In addition, with the rapid development of networks today, such as 5G networks which can guarantee instant communication with almost no delay, in this case, it can also be implemented by the kitchen robot in conjunction with a terminal device or a server. In practical applications, the kitchen robot and the terminal device are usually used in the same area. Optionally, without affecting data transmission efficiency, the two can be connected through Wi-Fi, Bluetooth, or other wireless communication methods, which are not limited here. The following uses a system embodiment as an example to describe the process of applying the operation control method in this application embodiment.

[0085] Figure 3 is a schematic diagram of the operation control system of the kitchen robot provided in an embodiment of this application. As shown in Figure 3, the system includes a kitchen robot 10, a server 20, and a terminal device 30. In Figure 3, the kitchen robot 10 is illustrated as an intelligent cooking machine. When the kitchen robot 10 includes an electronic screen, the user can select the structured data required for the kitchen robot 10 to perform its tasks through the kitchen robot 10, or select the structured data required for the kitchen robot 10 to perform its tasks through the terminal device 30, such as a smartphone or tablet, and provide it to the kitchen robot 10. The structured data includes at least the operation steps and the target execution temperature corresponding to the operation steps. Optionally, when the kitchen robot 10 is an intelligent cooking machine, the structured data can be an electronic recipe.

[0086] The kitchen robot 10 can acquire the work steps and the target execution temperature corresponding to the work steps from the structured data. On the one hand, it executes the work tasks according to the work steps, and on the other hand, it collects the current actual execution temperature (hereinafter referred to as the current execution temperature) and reports the target execution temperature and the current execution temperature corresponding to the work steps to the server 20 or the terminal device 30. The server 20 or the terminal device 30 determines whether the current execution temperature matches the target execution temperature. If the current execution temperature does not match the target execution temperature, it obtains the temperature change information of the kitchen robot 10 based on the execution temperature reported by the kitchen robot 10 in the previous period. Based on the current execution temperature and temperature change information of the kitchen robot 10, it controls the kitchen robot 10 to adjust the execution power so that the subsequent execution temperature of the kitchen robot matches the target execution temperature.

[0087] The detailed implementation process of the server 20 or terminal device 30 controlling the kitchen robot 10 to adjust its execution power based on the current execution temperature and temperature change information is the same as or similar to the aforementioned embodiments, except that the execution subject is different, so it will not be described again here.

[0088] Figure 4a is a schematic diagram of the structure of the kitchen robot provided in the embodiment of this application. As shown in Figure 4a, the kitchen robot 10 includes: a housing cavity 11 and a heating base 12. The heating base 12 is provided with a temperature sensor 13, a processor 14 and a memory 15 storing a computer program. The processor 14 and the memory 15 may be one or more. The heating base 12 is used to heat the housing cavity 11 during the operation of the kitchen robot 10. The temperature sensor 13 is used to collect the current operating temperature of the kitchen robot 10 and report it to the processor 14.

[0089] Memory 15 is primarily used to store computer programs that can be executed by processor 14, causing processor 14 to control kitchen robot 10 to perform corresponding functions, actions, or tasks. In addition to storing computer programs, memory 15 can also be configured to store various other data to support operations on kitchen robot 10. Examples of this data include instructions for any applications or methods used to operate kitchen robot 10.

[0090] In this embodiment, the implementation of the processor 14 is not limited; it can be, for example, but not limited to, a CPU, GPU, or MCU. The processor 14 can be considered as the control system of the kitchen robot 10, and can be used to execute the computer program stored in the memory 15 to control the kitchen robot 10 to perform corresponding functions, actions, or tasks. It is worth noting that, depending on the implementation of the kitchen robot 10 and the specific scenario, the required functions, actions, or tasks will differ; correspondingly, the computer program stored in the memory 15 will also differ, and the processor 14 can control the kitchen robot 10 to perform different functions and complete different actions or tasks by executing different computer programs.

[0091] In some alternative embodiments, the kitchen robot 10 may further include a display screen for displaying or allowing the user to select structured data; an audio component for outputting prompts to the user; and a communication component for establishing communication connections with other devices. In this embodiment, these components are only shown schematically and do not imply that the kitchen robot 10 includes only these components. Depending on different application needs, the kitchen robot 10 may also include other components, depending on the product form of the kitchen robot 10.

[0092] In this embodiment, when the processor 14 executes the computer program in the memory 15, it is used to: acquire structured data required for the kitchen robot 10 to perform its tasks, the structured data including the task steps and the target execution temperature corresponding to the task steps; control the kitchen robot 10 to perform the task according to the task steps, and monitor the temperature change information of the kitchen robot 10 according to the execution temperature reported by the temperature sensor 13 at different times; if the current execution temperature reported by the temperature sensor does not match the target execution temperature, adjust the execution power of the kitchen robot 10 according to the current execution temperature and the temperature change information, so that the subsequent execution temperature of the kitchen robot 10 matches the target execution temperature.

[0093] In an optional embodiment, the temperature change information includes the temperature change trend of the kitchen robot 10 and the corresponding temperature change rate. When the processor 14 adjusts the execution power of the kitchen robot 10 according to the current execution temperature and the temperature change information, it can adjust the execution power of the kitchen robot 10 according to the first difference between the current execution temperature and the target execution temperature, the temperature change trend and the corresponding temperature change rate.

[0094] In an optional embodiment, when the processor 14 adjusts the execution power of the kitchen robot 10 based on the first difference between the current execution temperature and the target execution temperature, the temperature change trend, and the corresponding temperature change rate, if the first difference is less than 0, the processor 14 controls the kitchen robot 10 to increase its execution power based on the temperature change trend and the corresponding temperature change rate; if the first difference is greater than 0, the processor 14 controls the kitchen robot 10 to decrease its execution power based on the temperature change trend and the corresponding temperature change rate.

[0095] In an optional embodiment, the structured data further includes: the target execution power corresponding to the target execution temperature; then, when the processor 14 controls the kitchen robot 10 to increase or decrease the execution power according to the temperature change trend and the corresponding temperature change rate, it can control the kitchen robot 10 to increase or decrease the execution power according to the temperature change trend and the corresponding temperature change rate, combined with the target execution power.

[0096] In an optional embodiment, when the processor 14 controls the kitchen robot 10 to increase its execution power based on the temperature change trend and the corresponding temperature change rate, combined with the target execution power, if the temperature change trend is an upward trend, then the processor 14 calculates a first execution power based on the target execution power, a first difference, and the temperature change rate; and controls the kitchen robot 10 to increase its execution power based on the first execution power and the target execution power. If the temperature change trend is a downward trend, then when the temperature change rate is greater than a first change rate threshold, the processor 14 calculates a second execution power based on the target execution power and the first difference; and controls the kitchen robot 10 to increase its execution power based on the second execution power and the target execution power.

[0097] In an optional embodiment, if the temperature change trend is a cooling trend and the temperature change rate is less than a first change rate threshold, the processor 14 controls the kitchen robot to adjust the execution power to the target execution power.

[0098] In an optional embodiment, when the processor 14 calculates the first execution power based on the target execution power, the first difference, and the temperature change rate, if the temperature change rate is less than the first change rate threshold, then the processor 14 calculates the first execution power based on the target execution power, the preset temperature difference coefficient, and the first difference; if the temperature change rate is greater than the first change rate threshold, then the processor 14 calculates the first execution power based on the temperature change rate, the preset temperature change rate coefficient, the target execution power, the preset temperature difference system, and the first difference.

[0099] In an optional embodiment, when the processor 14 controls the kitchen robot 10 to increase its execution power based on the first or second execution power and the target execution power, if the first or second execution power is less than or equal to the target execution power, the processor 14 controls the kitchen robot 10 to increase its execution power to the first or second execution power; if the first or second execution power is greater than the target execution power, the processor 14 controls the kitchen robot 10 to increase its execution power to the target execution power.

[0100] In an optional embodiment, when the processor 14 controls the kitchen robot 10 to reduce its execution power based on the temperature change trend and the corresponding temperature change rate, combined with the target execution power, if the temperature change trend is a cooling trend, then when the temperature change rate is less than a first change rate threshold and greater than a second change rate threshold, a third execution power is calculated based on the target execution power and a first difference; the processor 14 controls the kitchen robot 10 to adjust its execution power to the third execution power; and when the temperature change rate is less than the second change rate threshold, the processor 14 controls the kitchen robot 10 to reduce its execution power to the target execution power; wherein the second change rate threshold is less than the first change rate threshold.

[0101] In an optional embodiment, if the temperature change trend is a cooling trend and the temperature change rate is greater than a first change rate threshold, the processor 14 controls the kitchen robot 10 to maintain the current execution power; or if the temperature change trend is a heating trend, the processor controls the kitchen robot 10 to reduce the execution power to 0.

[0102] In an optional embodiment, when the processor 14 calculates the third execution power based on the target execution power and the first difference, it may calculate the third execution power based on the temperature change rate, the target execution power, the preset temperature difference system, and the first difference.

[0103] In an optional embodiment, when monitoring the temperature change information of the kitchen robot, the processor 14 can obtain multiple execution temperatures generated by the kitchen robot 10 within a specified period before the current moment; calculate the difference between adjacent execution temperatures among the multiple execution temperatures to obtain multiple second differences; determine the temperature change trend of the kitchen robot 10 based on the multiple second differences; and determine the temperature change rate corresponding to the kitchen robot 10 based on the multiple execution temperatures.

[0104] In an optional embodiment, when the processor 14 determines the temperature change trend of the kitchen robot 10 based on a plurality of second differences and determines the corresponding temperature change of the kitchen robot 10 based on a plurality of execution temperatures, if the average of the plurality of second differences is greater than 0, the processor 14 determines that the kitchen robot 10 is in a heating trend and calculates the rate of change of the plurality of execution temperatures as the rate of change of temperature corresponding to the heating trend; if the average of the plurality of second differences is less than 0, the processor 14 determines that the kitchen robot 10 is in a cooling trend and calculates the rate of change of the plurality of execution temperatures as the rate of change of temperature corresponding to the cooling trend.

[0105] In an optional embodiment, the operation step is a blanching step, and the processor 14 is further configured to: calculate a third difference between the current execution temperature and the previous execution temperature; if the third difference is greater than a set difference threshold, determine that the current execution temperature does not match the target execution temperature.

[0106] In an optional embodiment, the processor 14 is further configured to: determine a time threshold based on at least one of the blanching volume, the initial temperature of the water, and the air pressure information; start timing when the third difference is less than or equal to the set difference threshold; control the kitchen robot 10 to reduce the execution power during the timing process; and control the kitchen robot 10 to reduce the execution power to 0 when the timing reaches the time threshold.

[0107] Accordingly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to perform the steps that can be executed by the kitchen robot in the above method embodiments.

[0108] In this embodiment, the heating base and the receiving cavity can be separated. This embodiment also provides a heating base for heating the receiving cavity of the kitchen robot during the operation of the kitchen robot. Figure 4b is a schematic diagram of the structure of the heating base 12 in this embodiment. As shown in Figure 4b, the heating base includes: a base body 121 and a base 122 supporting the base body 121; the base body 121 is provided with a temperature sensor 13, and the base 122 is provided with a processor 14 and a memory 15 storing a computer program; wherein, the processor 14 and the memory 15 can be one or more; the temperature sensor 13 is used to collect the operating temperature of the kitchen robot and report it to the processor 14. The base body 121 and the base 122 can be integrally set, or the base body 121 can be separated from the base 122. When the base body 121 is separable from the base 122, Figure 4c is a side view of the separated base body 121; Figures 4d and 4e are the bottom view and top view of the separated base 122, respectively. As shown in Figure 4e, a coil disk 16 is also included at the bottom of the base 122 for heating the base body 121 when energized.

[0109] Memory 15 is primarily used to store computer programs that can be executed by processor 14, causing processor 14 to control the kitchen robot to perform corresponding functions, actions, or tasks. In addition to storing computer programs, memory 15 can also be configured to store various other data to support operations on the kitchen robot. Examples of this data include instructions for any applications or methods used to operate the kitchen robot.

[0110] In this embodiment, the implementation of processor 14 is not limited; it can be, for example, but not limited to, a CPU, GPU, or MCU. Processor 14 can be considered a control system for the kitchen robot, capable of executing computer programs stored in memory 15 to control the kitchen robot to perform corresponding functions, actions, or tasks. It is worth noting that the required functions, actions, or tasks of the kitchen robot will vary depending on its implementation and the specific scenario; correspondingly, the computer programs stored in memory 15 will also differ, and processor 14 can control the kitchen robot to perform different functions and complete different actions or tasks by executing different computer programs.

[0111] In some alternative embodiments, the body 121 may further include a display screen for displaying or allowing the user to select structured data; an audio component for outputting prompts to the user; and a communication component for establishing communication connections with other devices. In this embodiment, these components are only shown schematically and do not imply that the kitchen robot only includes these components. Depending on different application needs, the kitchen robot may also include other components, depending on the product form of the kitchen robot.

[0112] In this embodiment of the application, when the processor 14 executes the computer program in the memory 15, it is used to: acquire structured data required for the kitchen robot to perform its tasks, the structured data including the task steps and the target execution temperature corresponding to the task steps; control the kitchen robot to perform the task according to the task steps, and monitor the temperature change information of the kitchen robot according to the execution temperature reported by the temperature sensor 13 at different times; if the current execution temperature reported by the temperature sensor does not match the target execution temperature, adjust the execution power of the kitchen robot according to the current execution temperature and the temperature change information, so that the subsequent execution temperature of the kitchen robot matches the target execution temperature.

[0113] In an optional embodiment, the temperature change information includes the temperature change trend of the kitchen robot and the corresponding temperature change rate. When the processor 14 adjusts the execution power of the kitchen robot according to the current execution temperature and the temperature change information, it can adjust the execution power of the kitchen robot according to the first difference between the current execution temperature and the target execution temperature, the temperature change trend and the corresponding temperature change rate.

[0114] In an optional embodiment, when the processor 14 adjusts the execution power of the kitchen robot based on the first difference between the current execution temperature and the target execution temperature, the temperature change trend, and the corresponding temperature change rate, if the first difference is less than 0, the processor 14 controls the kitchen robot to increase its execution power based on the temperature change trend and the corresponding temperature change rate; if the first difference is greater than 0, the processor 14 controls the kitchen robot to decrease its execution power based on the temperature change trend and the corresponding temperature change rate.

[0115] In an optional embodiment, the structured data further includes: the target execution power corresponding to the target execution temperature; then, when the processor 14 controls the kitchen robot to increase or decrease the execution power according to the temperature change trend and the corresponding temperature change rate, it can control the kitchen robot to increase or decrease the execution power according to the temperature change trend and the corresponding temperature change rate, combined with the target execution power.

[0116] In an optional embodiment, when the processor 14 controls the kitchen robot to increase its execution power based on the temperature change trend and the corresponding temperature change rate, combined with the target execution power, if the temperature change trend is an upward trend, then the processor 14 calculates a first execution power based on the target execution power, a first difference, and the temperature change rate; and controls the kitchen robot 10 to increase its execution power based on the first execution power and the target execution power. If the temperature change trend is a downward trend, then when the temperature change rate is greater than a first change rate threshold, the processor 14 calculates a second execution power based on the target execution power and the first difference; and controls the kitchen robot to increase its execution power based on the second execution power and the target execution power.

[0117] In an optional embodiment, if the temperature change trend is a cooling trend and the temperature change rate is less than a first change rate threshold, the processor 14 controls the kitchen robot to adjust the execution power to the target execution power.

[0118] In an optional embodiment, when the processor 14 calculates the first execution power based on the target execution power, the first difference, and the temperature change rate, if the temperature change rate is less than the first change rate threshold, then the processor 14 calculates the first execution power based on the target execution power, the preset temperature difference coefficient, and the first difference; if the temperature change rate is greater than the first change rate threshold, then the processor 14 calculates the first execution power based on the temperature change rate, the preset temperature change rate coefficient, the target execution power, the preset temperature difference system, and the first difference.

[0119] In an optional embodiment, when the processor 14 controls the kitchen robot to increase its execution power based on the first or second execution power and the target execution power, if the first or second execution power is less than or equal to the target execution power, the processor 14 controls the kitchen robot to increase its execution power to the first or second execution power; if the first or second execution power is greater than the target execution power, the processor 14 controls the kitchen robot to increase its execution power to the target execution power.

[0120] In an optional embodiment, when the processor 14 controls the kitchen robot to reduce its execution power based on the temperature change trend and the corresponding temperature change rate, combined with the target execution power, if the temperature change trend is a cooling trend, then when the temperature change rate is less than a first change rate threshold and greater than a second change rate threshold, a third execution power is calculated based on the target execution power and a first difference; the processor 14 controls the kitchen robot to adjust its execution power to the third execution power; and when the temperature change rate is less than the second change rate threshold, the processor 14 controls the kitchen robot to reduce its execution power to the target execution power; wherein the second change rate threshold is less than the first change rate threshold.

[0121] In an optional embodiment, if the temperature change trend is a cooling trend and the temperature change rate is greater than a first change rate threshold, the processor 14 controls the kitchen robot to maintain the current execution power; or if the temperature change trend is a heating trend, the processor controls the kitchen robot to reduce the execution power to 0.

[0122] In an optional embodiment, when the processor 14 calculates the third execution power based on the target execution power and the first difference, it may calculate the third execution power based on the temperature change rate, the target execution power, the preset temperature difference system, and the first difference.

[0123] In an optional embodiment, when monitoring the temperature change information of the kitchen robot, the processor 14 can obtain multiple execution temperatures generated by the kitchen robot within a specified period before the current moment; calculate the difference between adjacent execution temperatures among the multiple execution temperatures to obtain multiple second differences; determine the temperature change trend of the kitchen robot based on the multiple second differences; and determine the temperature change rate corresponding to the kitchen robot based on the multiple execution temperatures.

[0124] In an optional embodiment, when the processor 14 determines the temperature change trend of the kitchen robot based on a plurality of second differences and determines the corresponding temperature change of the kitchen robot based on a plurality of execution temperatures, if the average of the plurality of second differences is greater than 0, the processor 14 determines that the kitchen robot is in an upward trend and calculates the rate of change of the plurality of execution temperatures as the rate of change of temperature corresponding to the upward trend; if the average of the plurality of second differences is less than 0, the processor 14 determines that the kitchen robot is in a downward trend and calculates the rate of change of the plurality of execution temperatures as the rate of change of temperature corresponding to the downward trend.

[0125] In an optional embodiment, the operation step is a blanching step, and the processor 14 is further configured to: calculate a third difference between the current execution temperature and the previous execution temperature; if the third difference is greater than a set difference threshold, determine that the current execution temperature does not match the target execution temperature.

[0126] In an optional embodiment, the processor 14 is further configured to: determine a time threshold based on at least one of the blanching volume, the initial temperature of the water, and the air pressure information; start timing when the third difference is less than or equal to the set difference threshold; control the kitchen robot to reduce its execution power during the timing process; and control the kitchen robot to reduce its execution power to 0 when the timing reaches the time threshold.

[0127] Accordingly, this application also provides a computer-readable storage medium storing a computer program, which, when executed, can perform the steps that can be performed by the heating base in the above method embodiments.

[0128] The memory in the above embodiments can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0129] The communication components in the above embodiments are configured to facilitate wired or wireless communication between the device housing the communication component and other devices. The device housing the communication component can access wireless networks based on communication standards, such as WiFi, 2G, 3G, 4G / LTE, 5G, or combinations thereof. In one exemplary embodiment, the communication component receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component further includes a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID), Infrared Data Association (IrDA) technology, Ultra-Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0130] The display in the above embodiments includes a screen, which may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touchscreen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can sense not only the boundaries of the touch or swipe action, but also the duration and pressure associated with the touch or swipe operation.

[0131] The power supply component in the above embodiments provides power to various components of the device in which the power supply component is located. The power supply component may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device in which the power supply component is located.

[0132] The audio component in the above embodiments can be configured to output and / or input audio signals. For example, the audio component includes a microphone (MIC) configured to receive external audio signals when the device containing the audio component is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals can be further stored in memory or transmitted via a communication component. In some embodiments, the audio component also includes a speaker for outputting audio signals.

[0133] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0134] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0135] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0136] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0137] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0138] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0139] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0140] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0141] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling the operation of a kitchen robot, characterized in that, include: The operation steps of the kitchen robot to perform the operation task and the corresponding target execution temperature, as well as the target execution power corresponding to the target execution temperature, are obtained. During the kitchen robot's task execution, the current execution temperature and temperature change information are monitored. The temperature change information includes the kitchen robot's temperature change trend and the corresponding temperature change rate. A first difference between the current execution temperature and the corresponding target execution temperature is obtained. The target execution temperature is the execution temperature corresponding to the current task step performed by the kitchen robot. If it is determined that the execution power needs to be reduced based on the first difference, and if the temperature change trend is a cooling trend, when the temperature change rate is less than a first change rate threshold and greater than a second change rate threshold, the kitchen robot is controlled to reduce its execution power to a third execution power. When the temperature change rate is less than the second change rate threshold, the kitchen robot is controlled to reduce its execution power to the target execution power, which is calculated based on the target execution power and the first difference. If the temperature change trend is a heating trend, the kitchen robot is controlled to reduce its execution power to 0. This ensures that the subsequent execution temperature of the kitchen robot matches the target execution temperature, where the second change rate threshold is less than the first change rate threshold.

2. The method according to claim 1, characterized in that, Also includes: The third execution power is calculated based on the temperature change rate, the target execution power, the preset temperature difference coefficient, and the first difference.

3. A method for controlling the operation of a kitchen robot, characterized in that, include: During the kitchen robot's task execution, the current execution temperature and temperature change information are monitored. The temperature change information includes the kitchen robot's temperature change trend and the corresponding temperature change rate. The task execution steps and their corresponding target execution temperatures, as well as the target execution power corresponding to the target execution temperatures, are obtained. A first difference between the current execution temperature and the corresponding target execution temperature is obtained, where the target execution temperature is the execution temperature corresponding to the currently executed task step. If, based on the first difference, it is determined that an increase in execution power is needed, the first execution step of the kitchen robot under a rising temperature trend is calculated based on the target execution power, the temperature change trend, and the corresponding temperature change rate. The system calculates a second execution power under a cooling trend and uses the first or second execution power as the expected execution power. If, based on the first difference, it is determined that the execution power needs to be reduced, the system calculates a third execution power for the kitchen robot under a cooling trend or a fourth execution power under a heating trend, based on the relationship between the temperature change rate and a first and second change rate thresholds, the temperature change trend, and the target execution power. The third or fourth execution power is then used as the expected execution power, where the second change rate threshold is less than the first change rate threshold. The system controls the kitchen robot to adjust its execution power to the expected execution power so that the subsequent execution temperature of the kitchen robot matches the target execution temperature.

4. The method according to claim 3, characterized in that, Calculating the first execution power under a heating trend or the second execution power under a cooling trend includes: if the temperature change trend is a heating trend, then calculating the first execution power based on the target execution power, the first difference, and the temperature change rate; if the temperature change trend is a cooling trend, then calculating the second execution power based on the target execution power and the first difference when the temperature change rate is greater than a first change rate threshold.

5. The method according to claim 4, characterized in that, Calculating the third execution power under a cooling trend or the fourth execution power under a heating trend includes: if the temperature change trend is a cooling trend, when the temperature change rate is less than a first change rate threshold and greater than a second change rate threshold, calculating the third execution power based on the target execution power and the first difference; when the temperature change rate is greater than the first change rate threshold, using the current execution power as the third execution power; when the temperature change rate is less than the second change rate threshold, using the target execution power as the third execution power, where the second change rate threshold is less than the first change rate threshold; if the temperature change trend is a heating trend, using the execution power value of 0 as the fourth execution power.

6. A kitchen robot, characterized in that, include: The cavity and heating base are provided, and the heating base is equipped with a temperature sensor, a processor and a memory storing a computer program. The heating base is used to heat the receiving cavity during the kitchen robot's operation; the temperature sensor is used to collect the current operating temperature of the kitchen robot and report it to the processor; the processor is used to execute the computer program to implement the steps of the method according to any one of claims 1-5.

7. A heating base, characterized in that, include: The base body and the base supporting the base body are provided with a temperature sensor, and the base is provided with a processor and a memory storing a computer program. The heating base is used to heat the housing cavity of the kitchen robot during the operation of the kitchen robot; the temperature sensor is used to collect the current operating temperature of the kitchen robot and report it to the processor; the processor is used to execute the computer program to implement the steps of the method according to any one of claims 1-5.

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