A wok robot upper disc control system and method

Abstract

The application provides a cooking robot upper dish control system and method, relates to a cooking robot control technical field, and has the technical scheme as follows: being arranged on a cooking robot, the cooking robot being internally provided with a cavity, a frying pan assembly being rotationally arranged between two side walls of the cavity, the frying pan assembly being spaced apart from the bottom of the cavity, a dish placing area being arranged at the bottom of the cavity and in front of the frying pan assembly, a pot cover assembly being rotationally arranged behind the frying pan assembly, the pot cover assembly comprising a first rotating motor, the system comprising: a grabbing assembly arranged on one side away from the frying pan assembly and used for grabbing dishes; a controller comprising: a first acquisition module for acquiring the serving size of dishes in the frying pan assembly; a first processing module for selecting dishes according to the serving size of the dishes and sending the dishes to the grabbing area of the grabbing assembly; and a first control module for controlling the rotating speed of the first rotating motor according to the size specification of the selected dishes. The cooking robot upper dish control system and method provided by the application have the advantages of being clean and sanitary.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cooking robot control, in particular to a cooking robot dish placing control system and method. BACKGROUND

[0002] With the development of science and technology, the popularity of intelligent devices is getting higher and higher. Among them, the cooking robot can realize autonomous cooking and has been recognized by more and more users.

[0003] Nowadays, more and more cooking robots appear on the market, such as the full-automatic cooking robot disclosed in Chinese Utility Model Patent No. CN217695980U, the pocket-sized full-automatic cooking robot disclosed in Chinese Utility Model Patent No. CN218164867U, and so on.

[0004] The above-mentioned existing cooking robots are usually provided with a turnable wok. After the raw materials are poured into the wok, they are stir-fried. When the dish is cooked, the dish is poured into a dish by turning the wok. Among them, the dish generally needs to be placed in a specified position to receive the dish poured out of the wok. Generally, the dish is placed in the specified area by manual before the wok is stir-fried, that is, before the cooking robot starts cooking, the dish is placed in the specified area by manual. When the cooking is finished, the dish is poured onto the dish. At this time, the dish containing the dish is taken out by manual, and then the dish is placed in the specified area again, and the above-mentioned process is repeated.

[0005] That is, in the prior art, the dish is placed before cooking starts. However, this can easily cause some dust and debris to fall into the dish during cooking, thereby causing adverse effects. Because during cooking, the wok is often controlled to rotate, thereby generating various vibrations. Such vibrations can easily raise some dust and debris to fall into the dish. In addition, such vibrations can also cause the dish to move, thereby causing the dish to be unable to be accurately poured into the dish subsequently, not only causing waste, but also causing hygiene and cleaning problems.

[0006] In view of the above problems, improvement is needed. SUMMARY

[0007] The purpose of the present application is to provide a cooking robot dish placing control system and method, which aims to solve at least one problem existing in the above-mentioned prior art and has the advantages of cleanliness and hygiene.

[0008] In a first aspect, the present application provides a cooking robot dish placing control system, and the technical solution is as follows:

[0009] The application discloses a dish placing device for a cooking robot, which is used for placing a dish for loading dishes cooked by the cooking robot. The cooking robot is internally provided with a cavity. A frying pan assembly is rotationally arranged between two side walls of the cavity. The frying pan assembly is spaced apart from the bottom of the cavity. A dish placing area is arranged at the bottom of the cavity in front of the frying pan assembly. A lid assembly is rotationally arranged at the two side walls of the cavity behind the frying pan assembly. The lid assembly at least comprises a first rotating motor for providing power. The dish placing device comprises:

[0010] A grabbing assembly is arranged at one side of the lid assembly away from the frying pan assembly, and is used for grabbing a dish and sending the dish to the dish placing area under the driving of the first rotating motor.

[0011] A controller is arranged on the cooking robot. The controller comprises:

[0012] A first acquisition module is arranged on the controller, and is used for acquiring the quantity of dishes in the frying pan assembly.

[0013] A first processing module is arranged on the controller, and is used for selecting a size specification of the dish sent to a grabbing area of the grabbing assembly from multiple size specifications according to the quantity of dishes in the frying pan assembly.

[0014] A first control module is arranged on the controller, and is used for controlling the rotating speed of the first rotating motor according to the size specification of the selected dish.

[0015] The grabbing assembly is arranged at one side of the lid assembly away from the frying pan assembly, and is used for grabbing a dish. Then, the first rotating motor on the lid assembly is used for sending the dish to the dish placing area. On one hand, the dish does not need to be manually placed, and the workload of the staff is saved. On the other hand, the controller can send the dish to the grabbing area after the dishes are cooked, and then the grabbing assembly can grab the dish and place the dish in the dish placing area. Therefore, the dish placing device has the beneficial effect of being clean and hygienic.

[0016] Further, in the application, the grabbing assembly is a suction cup.

[0017] The suction cup is used as the grabbing assembly, and has the advantages of simple structure, convenient use, firm grabbing, low cost and small space occupation.

[0018] Further, in the application, the lid assembly further comprises a swing arm. The swing arm comprises a first hinge section and a second hinge section which are rotationally connected to the two side walls of the cavity respectively. The first hinge section and the second hinge section respectively extend outward. A connecting section is arranged at one end of the first hinge section and the second hinge section which extend outward. A lid is arranged on one side of the connecting section close to the frying pan assembly. The grabbing assembly is arranged on one side of the connecting section away from the frying pan assembly.

[0019] Further, in the application, the first acquisition module comprises:

[0020] The first acquisition element is used to acquire the recipe information corresponding to the current dish.

[0021] The first computing element is used to obtain the time node for the completion of the dish based on the recipe information;

[0022] The second acquisition element is used to acquire the quantity of food in the wok assembly according to the time node.

[0023] Because the weight of the food changes after being stir-fried by the wok components compared to the initial raw materials, the weight of the food in the wok components should be measured after the food is cooked. This ensures that the selected plate size is appropriate. Furthermore, measuring the weight of the food in the wok components after the food is cooked allows the controller to select a plate from various sizes and send it to the gripping area of ​​the gripping component, thus preventing the plate from being sent to the placement area prematurely.

[0024] Furthermore, in this application, the first control module includes:

[0025] A first control element is used to control the rotational speed of the first rotating motor and the position where the gripping assembly disengages from the plate, based on the selected size specifications of the plate.

[0026] Furthermore, in this application, the first control module further includes:

[0027] The third acquisition element is used to acquire whether the rotational speed of the first rotating motor meets a preset range when the gripping component is in the disengaged position from the plate;

[0028] When the rotational speed of the first rotating motor in the disengagement position meets the preset range, the first control element controls the gripping component to disengage from the plate in the disengagement position.

[0029] When the rotational speed of the first rotating motor at the disengagement position does not meet the preset range, the first control element adjusts the rotational speed of the first rotating motor and adjusts the position where the gripping component disengages from the plate.

[0030] Secondly, this application also provides a method for controlling the loading of a food-cooking robot onto a plate, used to control the robot to load the food cooked by the robot. The robot has a cavity, and a wok assembly is rotatably disposed between the two side walls of the cavity. A gap is left between the wok assembly and the bottom of the cavity. A plate-placement area is located at the bottom of the cavity in front of the wok assembly. A lid assembly is rotatably disposed between the two side walls of the cavity behind the wok assembly. The lid assembly includes at least a first rotating motor for providing power, comprising:

[0031] A gripping component is disposed on the side of the pot lid assembly away from the wok assembly, and is used to grip the plate and send the plate to the plate placement area under the drive of the first rotating motor;

[0032] The method includes the following steps:

[0033] Obtain the quantity of food inside the wok assembly;

[0034] The plate is selected from a variety of sizes based on the amount of food in the wok assembly and sent to the gripping area of ​​the gripping assembly;

[0035] The rotation speed of the first rotating motor is controlled according to the selected size specifications of the plate.

[0036] Furthermore, in this application, the step of obtaining the quantity of food inside the wok assembly includes:

[0037] Retrieve the recipe information corresponding to the currently described dish;

[0038] The completion time of the dish is obtained based on the recipe information;

[0039] The quantity of food in the wok assembly is obtained based on the time point.

[0040] Furthermore, in this application, the step of controlling the rotational speed of the first rotating motor according to the selected size specification of the plate includes:

[0041] The rotational speed of the first rotating motor and the position where the gripping component disengages from the plate are controlled according to the selected size specifications of the plate.

[0042] Furthermore, in this application, the step of controlling the rotational speed of the first rotating motor and the position where the gripping component disengages from the plate according to the selected size specifications of the plate further includes:

[0043] Whether the rotational speed of the first rotating motor meets a preset range when the gripping component is in the disengaged position from the plate;

[0044] When the rotational speed of the first rotating motor in the disengagement position meets the preset range, the gripping component is controlled to disengage from the plate in the disengagement position.

[0045] When the rotational speed of the first rotating motor at the disengaged position does not meet the preset range, the rotational speed of the first rotating motor and the position at which the gripping component disengages from the plate are adjusted.

[0046] As can be seen from the above, the stir-fry robot plate-loading control system and method provided in this application uses a gripping component set on the side of the pot lid assembly away from the wok assembly to grip the plate. Then, the first rotating motor on the pot lid assembly sends the plate to the plate-placing area. On the one hand, it eliminates the need for manual placement of plates, saving the workload of staff. On the other hand, the controller can send the plate to the gripping area after the food is cooked, and then the gripping component picks up the plate and places it in the plate-placing area, thus achieving the beneficial effect of cleanliness and hygiene. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the structure of a cooking robot plate-loading control system provided in this application.

[0048] Figure 2 This is a schematic diagram of the structure of the pot lid assembly provided in this application.

[0049] Figure 3 A schematic diagram of the controller provided in this application.

[0050] Figure 4 A flowchart of a cooking robot plate-loading control method provided in this application.

[0051] In the diagram: 100, cooking robot; 110, cavity; 120, wok assembly; 130, plate placement area; 140, lid assembly; 150, first rotating motor; 160, plate; 170, gripping assembly; 180, controller; 141, first hinge section; 142, second hinge section; 143, connecting section; 181, first acquisition module; 182, first processing module; 183, first control module; 184, first acquisition element; 185, first computing element; 186, second acquisition element; 187, third acquisition element; 188, first control element. Detailed Implementation

[0052] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0053] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0054] Please refer to Figures 1 to 4 A control system for loading food onto a stir-fry robot, the technical solution of which is as follows:

[0055] A cooking robot 100 is mounted on a plate for loading dishes cooked by the robot. The robot 100 has a cavity 110. A wok assembly 120 is rotatably mounted between the two side walls of the cavity 110. A gap is left between the wok assembly 120 and the bottom of the cavity 110. A plate-holding area 130 is located at the bottom of the cavity 110 in front of the wok assembly 120. A lid assembly 140 is rotatably mounted on the two side walls of the cavity 110 behind the wok assembly 120. The lid assembly 140 includes at least a first rotary motor 150 for providing power.

[0056] The gripping component 170 is located on the side of the pot lid assembly 140 away from the wok assembly 120, and is used to grip the plate 160 and send the plate 160 to the plate placement area 130 under the drive of the first rotating motor 150.

[0057] Controller 180, controller 180 includes:

[0058] The first acquisition module 181 is used to acquire the quantity of food in the wok component 120;

[0059] The first processing module 182 is used to select a plate 160 from a variety of sizes and send it to the gripping area of ​​the gripping component 170 according to the amount of food in the wok assembly 120.

[0060] The first control module 183 is used to control the rotation speed of the first rotating motor 150 according to the size specifications of the selected plate 160.

[0061] The wok assembly 120 is rotatably disposed between the two side walls of the cavity 110, and a gap is left between the wok assembly 120 and the bottom of the cavity 110. The purpose of this is to enable the wok assembly 120 to be flipped over, thereby realizing functions such as stir-frying and pouring.

[0062] The plate placement area 130 is used to place the plate 160. The plate placement area 130 is located at the bottom of the cavity 110 in front of the wok assembly 120. Its purpose is to allow the wok assembly 120 to pour the food onto the plate 160 by flipping it over.

[0063] The lid assembly 140 is used to cover the wok of the wok assembly 120 to prevent oil fumes from overflowing and to keep the wok warm. The lid assembly 140 is rotatably mounted on both sides of the cavity 110 and includes at least a first rotating motor 150. The first rotating motor 150 drives the lid in the lid assembly 140 to flip, thereby closing the opening at the top of the wok.

[0064] In addition, in the cooking robot 100, a door is usually hinged at the cavity 110 to seal the cavity 110 and prevent external dust and debris from falling into the wok during the cooking process. That is, the cavity 110 is in a closed state during the cooking process and the internal temperature is high. In order to avoid placing the plate 160 in the plate placement area 130 too early, the door can be opened manually after the cooking is finished and the plate 160 can be placed in the plate placement area 130. However, this method is inconvenient and seriously affects the efficiency of food preparation.

[0065] In response, this application proposes to install an automatic plate-loading control system on the cooking robot 100, which is used to automatically load the food onto the plate after the cooking robot 100 has finished cooking.

[0066] Setting up an automatic plate-loading structure on the cooking robot 100 is very difficult because the space inside the cooking robot 100 is limited. Generally speaking, to achieve automatic plate loading, conventional power components such as cylinders and motors can be used to drive the gripper to grab the plate 160 and then place it in the plate-placing area 130. However, the cooking robot 100 has limited space, so how to set up an automatic plate-loading structure within the limited space inside the cooking robot 100 has become a huge challenge.

[0067] In this application, a lid assembly 140 is rotatably mounted on both side walls of the cavity 110. The lid assembly 140 needs to rotate to close the opening on the wok. A gripping component 170 is provided on the side of the lid assembly 140 away from the wok assembly 120 to grip the plate 160. Since the lid assembly 140 itself needs to be rotated by the power of the first rotating motor 150, and to prevent the wok from... The component 120 interferes with the pouring process, so the lid component 140 is located behind the wok component 120. At the same time, the wok component 120 has a gap between itself and the bottom of the cavity 110 so that it can be flipped. Therefore, this application proposes to set a gripping component 170 on the side of the lid component 140 away from the wok component 120. The gripping component 170 is driven to rotate by the first rotating motor 150. Since there is a gap between the wok component 120 and the bottom of the cavity 110, the plate 160 can pass through the gap to reach the plate placement area 130.

[0068] That is, by placing the gripping component 170 on the side of the lid assembly 140 away from the wok assembly 120, this application effectively utilizes the original first rotating motor 150 as power to place the plate 160, thus effectively saving space.

[0069] However, in the above solution, the lid assembly 140 needs to be positioned behind the wok assembly 120 to prevent interference. The purpose of the lid assembly 140 is to close the opening on the wok, while the plate placement area 130 is positioned in front of the wok assembly 120. Therefore, it is difficult for the gripping assembly 170 to deliver the gripped plate 160 to the plate placement area 130.

[0070] To address this, the inertia generated when the first rotating motor 150 drives the gripping component 170 and the plate 160 to rotate can be utilized, so that even if the gripping component 170 cannot completely grip the plate 160 and place it on the plate placement area 130, the plate 160 can still slide to the plate placement area 130 under the action of inertia.

[0071] Therefore, this application further includes a controller 180, specifically comprising a first acquisition module 181, a first processing module 182, and a first control module 183. The first acquisition module 181 acquires the quantity of food in the wok assembly 120. The first processing module 182 selects a plate 160 from various sizes based on the quantity of food in the wok assembly 120 and sends it to the gripping area of ​​the gripping assembly 170. The first control module 183 controls the rotation speed of the first rotating motor 150 based on the size of the selected plate 160.

[0072] The first control module 183 controls the rotation speed of the first rotating motor 150 to generate inertia during the movement of the gripping component 170 gripping the plate 160. This inertia is then used to move the plate 160 to the placement area 130. However, during the cooking process, the amount of food cooked by the cooking robot 100 will vary depending on the user's selection. Different portions require different sized plates 160, which have different weights. The inertia generated during movement will also vary depending on the weight. Therefore, if the plate 160 is simply thrown to the placement area 130 by inertia, it is easy for the inertia to be too large or too small for different sized plates 160, resulting in inaccurate placement of the plate 160.

[0073] Therefore, in the solution of this application, the first control module 183 controls the rotation speed of the first rotating motor 150 according to the size of the selected plate 160, so that plates 160 of different sizes can slide to the plate placement area 130 with appropriate inertia.

[0074] A weight sensor can be installed on the wok assembly 120 to obtain the quantity of food inside the wok assembly 120.

[0075] By setting a gripping component 170 on the side of the pot lid assembly 140 away from the wok assembly 120 to grip the plate 160, and then using the first rotating motor 150 on the pot lid assembly 140 to send the plate 160 to the plate placement area 130, on the one hand, manual placement of the plate 160 is eliminated, saving the workload of the staff. On the other hand, the controller 180 can send the plate 160 to the gripping area after the food is cooked, and then the gripping component 170 will grab the plate 160 and place it in the plate placement area 130, thus achieving the beneficial effect of cleanliness and hygiene. At the same time, the controller 180 obtains the wok... The component 120 selects a plate 160 of the corresponding size based on the quantity of food in the plate. Then, based on the size of the selected plate 160, the rotation speed of the first rotating motor 150 is controlled to drive the gripping component 170 and the plate 160 to rotate. After the gripping component 170 and the plate 160 rotate to the designated position, the gripping component 170 releases the plate 160, allowing the plate 160 to slide to the plate placement area 130 under inertia. The controller 180 controls the rotation speed of the first rotating motor 150 according to the size specifications of the plate 160, so that the plate 160 can slide to the plate placement area 130 under appropriate inertia.

[0076] Specifically, the gripping component 170 is a suction cup.

[0077] Since the bottom of the plate 160 usually has a flat area, a suction cup can be used as a gripping component 170 to grip the plate 160. The suction cup contacts the flat area of ​​the plate 160, and then the plate 160 can be firmly fixed on the suction cup by vacuuming.

[0078] Specifically, an upper plate structure can be set in the area corresponding to the cavity 110 on the back of the cooking robot 100. The upper plate structure can include multiple placement cavities 110, which can be used to place plates 160 of different sizes and specifications. The upper plate structure can also include a drive structure, and the controller 180 controls the drive structure to move the corresponding size plate 160 to the gripping area of ​​the gripping component 170.

[0079] The upper structure is not the focus of this application, and its specific structure will not be described in detail here. For those skilled in the art, it can be implemented using a conventional robotic arm.

[0080] Specifically, the pot lid assembly 140 also includes a swing arm, which includes a first hinge segment 141 and a second hinge segment 142 that are rotatably connected to the two side walls of the cavity 110, respectively. The first hinge segment 141 and the second hinge segment 142 extend outward, and a connecting segment 143 is provided at one end of the first hinge segment 141 and the second hinge segment 142 extending outward. A pot lid is provided on the side of the connecting segment 143 near the wok assembly 120, and a gripping component 170 is provided on the side of the connecting segment 143 away from the wok assembly 120.

[0081] Furthermore, in some embodiments, the first acquisition module 181 includes:

[0082] The first acquisition element 184 is used to acquire the recipe information corresponding to the current dish;

[0083] The first calculation element 185 is used to obtain the time node for the completion of the dish based on the recipe information;

[0084] The second acquisition element 186 is used to acquire the quantity of food in the wok assembly 120 according to the time node.

[0085] Because the weight of the food changes after being stir-fried by the wok assembly 120 compared to the initial raw materials, the amount of food in the wok assembly 120 should be measured after the food is cooked. This ensures that the size of the plate 160 is appropriate. Furthermore, measuring the amount of food in the wok assembly 120 after the food is cooked allows the controller 180 to select the plate 160 from various sizes and send it to the gripping area of ​​the gripping assembly 170 after the food is cooked, thus ensuring that the plate 160 is not sent to the plate placement area 130 too early.

[0086] Furthermore, in some embodiments, the first control module 183 includes:

[0087] The first control element 188 is used to control the rotation speed of the first rotary motor 150 and the position where the gripping assembly 170 disengages from the plate 160 according to the size specifications of the selected plate 160.

[0088] In some of the above embodiments, the controller 180 controls the rotation speed of the first rotary motor 150 according to the size of the selected plate 160, so that plates 160 of different sizes can slide to the plate placement area 130 under appropriate inertia. Typically, when the first rotary motor 150 drives the gripping component 170 to rotate to the lowest point of the cavity 110, the gripping component 170 releases the plate 160, allowing the plate 160 to slide to the plate placement area 130 under inertia. However, this method results in a longer sliding distance for the plate 160 at the bottom of the cavity 110, which can easily cause wear. Therefore, the rotation speed can be increased by having the first rotary motor 150 drive the gripping component 170 to rotate past the lowest point of the cavity 110. Then, the gripping component 170 releases the plate 160, causing the plate 160 to be flung to the placement area 130 to a certain extent. Usually, a flexible rubber layer is provided at the bottom of the cavity 110 to act as a buffer and prevent the plate 160 from making rigid contact with the bottom of the cavity 110. However, in the above solution, even if a rubber layer is provided for buffering, if the plate 160 falls from too high a height, it may still break. Moreover, the larger the size of the plate 160, the easier it is to break. Therefore, the first control element 188 can control the position where the gripping component 170 separates from the plate 160 according to the size of the selected plate 160, thereby ensuring the safety of the plate 160.

[0089] Furthermore, in some embodiments, the first control module 183 further includes:

[0090] The third acquisition element 187 is used to acquire whether the rotation speed of the first rotating motor 150 meets the preset range when the gripping component 170 and the plate 160 are in the disengagement position.

[0091] When the rotational speed of the first rotating motor 150 in the disengagement position meets the preset range, the first control element 188 controls the gripping assembly 170 to disengage from the plate 160 in the disengagement position.

[0092] When the rotational speed of the first rotating motor 150 at the disengaged position does not meet the preset range, the first control element 188 adjusts the rotational speed of the first rotating motor 150 and adjusts the disengaged position of the gripping component 170 from the plate 160.

[0093] The third acquisition element 187 is used to acquire the rotational speed of the first rotating motor 150 when it is in the disengagement position. If the rotational speed of the first rotating motor 150 is within the preset range, the first control element 188 can control the gripping component 170 to disengage from the plate 160 normally. However, if the rotational speed of the first rotating motor 150 is not within the preset range, an abnormal situation may occur. If the gripping component 170 is disengaged from the plate 160 at this time, problems such as the plate 160 being inaccurate in its final position or the plate 160 being broken may occur. Therefore, when the rotational speed of the first rotating motor 150 at the disengagement position is not within the preset range, the rotational speed of the first rotating motor 150 and the disengagement position are adjusted so that the plate 160 can be disengaged again.

[0094] Specifically, the rotational speed of the first rotating motor 150 includes both rotational speed and rotational direction. That is, in some specific embodiments, if the rotational speed of the first rotating motor 150 at the disengagement position does not meet the preset range, the first rotating motor 150 can be reversed to reset the gripping component 170, and then rotate back to the disengagement position. If the rotational speed of the first rotating motor 150 meets the preset range after rotating back to the disengagement position, the disengagement can be performed again at the original disengagement position. If it still does not meet the preset range, the rotational speed and disengagement position can be re-determined.

[0095] In summary, this application provides a cooking robot plate-loading control system. It utilizes the existing pot lid assembly 140 inside the cooking robot 100 and sets up a gripping component 170 on the pot lid assembly 140 to grip the plate 160. This avoids the problems of placing the plate 160 in the plate-loading area 130 too early, which could easily cause dust and debris to fall in, or the plate 160 to shift and make it impossible to plate accurately. Based on this, the controller 180 obtains the amount of food and selects a plate 160 of appropriate size and specifications. Then, the rotation speed of the first rotating motor 150 is controlled according to the size and specifications of the plate 160, so that the plate 160 can slide to the plate-loading area 130 under the action of inertia. It has the advantages of cleanliness and hygiene, small space occupation, and low manufacturing cost.

[0096] Secondly, referring to Figures 1 to 4This application also provides a method for controlling the loading of a cooking robot onto a plate, used to control the cooking robot 100 to load the food cooked by the cooking robot 100 onto a plate. The cooking robot 100 has a cavity 110, and a wok assembly 120 is rotatably disposed between the two side walls of the cavity 110. A gap is left between the wok assembly 120 and the bottom of the cavity 110. A plate-laying area 130 is disposed at the bottom of the cavity 110 in front of the wok assembly 120. A lid assembly 140 is rotatably disposed between the two side walls of the cavity 110 behind the wok assembly 120. The lid assembly 140 includes at least a first rotary motor 150 for providing power, including:

[0097] The gripping component 170 is located on the side of the pot lid assembly 140 away from the wok assembly 120, and is used to grip the plate 160 and send the plate 160 to the plate placement area 130 under the drive of the first rotating motor 150.

[0098] The method includes the following steps:

[0099] S110. Obtain the quantity of food inside the wok component 120;

[0100] S120. Based on the amount of food in the wok assembly 120, select a plate 160 from various sizes and send it to the gripping area of ​​the gripping assembly 170.

[0101] S130: Control the rotation speed of the first rotating motor 150 according to the size specifications of the selected plate 160.

[0102] By setting a gripping component 170 on the side of the pot lid assembly 140 away from the wok assembly 120 to grip the plate 160, and then using the first rotating motor 150 on the pot lid assembly 140 to send the plate 160 to the plate placement area 130, on the one hand, manual placement of the plate 160 is eliminated, saving the workload of staff; on the other hand, the plate 160 can be sent to the gripping area after the food is cooked, and then the gripping component 170 picks up the plate 160 and places it in the plate placement area 130, thus achieving the beneficial effect of cleanliness and hygiene. Simultaneously, by acquiring the wok assembly 120... The appropriate plate 160 is selected based on the portion size of the dishes. Then, the rotation speed of the first rotating motor 150 is controlled according to the size of the selected plate 160 while driving the gripping component 170 and the plate 160 to rotate. After the gripping component 170 and the plate 160 rotate to the designated position, the gripping component 170 releases the plate 160, allowing the plate 160 to slide to the plate placement area 130 under inertia. By controlling the rotation speed of the first rotating motor 150 according to the size specifications of the plate 160, the plate 160 can slide to the plate placement area 130 under appropriate inertia.

[0103] Furthermore, in some embodiments, the step of obtaining the quantity of food within the wok assembly 120 includes:

[0104] Get the recipe information for the current dish;

[0105] The completion time of the dish is determined based on the recipe information;

[0106] The quantity of food in the wok component 120 is obtained based on the time point.

[0107] Because the weight of the food changes after being stir-fried by the wok assembly 120 compared to the initial raw materials, the amount of food in the wok assembly 120 should be measured after the food is cooked. This ensures that the size of the plate 160 is appropriate. Furthermore, measuring the amount of food in the wok assembly 120 after the food is cooked allows the controller 180 to select the plate 160 from various sizes and send it to the gripping area of ​​the gripping assembly 170 after the food is cooked, thus ensuring that the plate 160 is not sent to the plate placement area 130 too early.

[0108] Furthermore, in some embodiments, the step of controlling the rotational speed of the first rotary motor 150 according to the size specifications of the selected plate 160 includes:

[0109] The rotation speed of the first rotating motor 150 and the position where the gripping component 170 disengages from the plate 160 are controlled according to the size specifications of the selected plate 160.

[0110] In some of the above embodiments, the rotation speed of the first rotary motor 150 is controlled according to the size of the selected plate 160, so that plates 160 of different sizes can slide to the plate placement area 130 under appropriate inertia. Generally speaking, when the first rotary motor 150 drives the gripping component 170 to rotate to the lowest point of the bottom of the cavity 110, the gripping component 170 will release the plate 160, allowing the plate 160 to slide to the plate placement area 130 under inertia. However, this method results in the plate 160 sliding a long distance at the bottom of the cavity 110, which is prone to wear. Therefore, the first rotary motor 150 can drive the gripping component 170 to rotate past the lowest point of the bottom of the cavity 110. After the point is reached, the gripping component 170 releases the plate 160, causing the plate 160 to be flung to the placement area 130 to some extent. Usually, a flexible rubber layer is placed at the bottom of the cavity 110 to act as a buffer and prevent the plate 160 from making rigid contact with the bottom of the cavity 110. However, in the above solution, even with a rubber layer for buffering, if the plate 160 falls from too high a height, it may still break. Moreover, the larger the size of the plate 160, the easier it is to break. Therefore, the position where the gripping component 170 separates from the plate 160 can be controlled according to the size of the selected plate 160 to ensure the safety of the plate 160.

[0111] Furthermore, in some embodiments, the steps of controlling the rotational speed of the first rotary motor 150 and the position where the gripping assembly 170 disengages from the plate 160 according to the size specifications of the selected plate 160 further include:

[0112] Whether the rotational speed of the first rotating motor 150 is within a preset range when the gripping component 170 and the plate 160 are in the disengaged position;

[0113] When the rotational speed of the first rotating motor 150 in the disengagement position meets the preset range, the gripping component 170 is controlled to disengage from the plate 160 in the disengagement position.

[0114] When the rotation speed of the first rotating motor 150 at the disengagement position does not meet the preset range, the rotation speed of the first rotating motor 150 and the disengagement position of the gripping component 170 from the plate 160 are adjusted.

[0115] By measuring the rotational speed of the first rotating motor 150 at the disengagement position, if the rotational speed of the first rotating motor 150 is within a preset range, the first control element 188 can control the gripping component 170 to disengage from the plate 160 normally. However, if the rotational speed of the first rotating motor 150 is not within the preset range, an abnormal situation may occur. In this case, if the gripping component 170 is disengaged from the plate 160, problems such as the plate 160 being inaccurate in its final position or the plate 160 being broken may occur. Therefore, when the rotational speed of the first rotating motor 150 at the disengagement position is not within the preset range, the rotational speed of the first rotating motor 150 and the disengagement position are adjusted so that the plate 160 can disengage again.

[0116] Specifically, the rotational speed of the first rotating motor 150 includes both rotational speed and rotational direction. That is, in some specific embodiments, if the rotational speed of the first rotating motor 150 at the disengagement position does not meet the preset range, the first rotating motor 150 can be reversed to reset the gripping component 170, and then rotate back to the disengagement position. If the rotational speed of the first rotating motor 150 meets the preset range after rotating back to the disengagement position, the disengagement can be performed again at the original disengagement position. If it still does not meet the preset range, the rotational speed and disengagement position can be re-determined.

[0117] In summary, this application provides a method for controlling the loading of a cooking robot. It utilizes the existing pot lid assembly 140 inside the cooking robot 100 and sets up a gripping component 170 on the pot lid assembly 140 to grip the plate 160. This avoids the problems of placing the plate 160 in the loading area 130 too early, which could easily cause dust and debris to fall in, or the plate 160 to shift and make it impossible to load accurately. Based on this, the controller 180 obtains the amount of food and selects a plate 160 of appropriate size. Then, the rotation speed of the first rotating motor 150 is controlled according to the size of the plate 160, so that the plate 160 can slide to the loading area 130 under the action of inertia. This method has the advantages of being clean and hygienic, occupying little space, and having low manufacturing cost.

[0118] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of 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 principles of this application should be included within the scope of protection of this application.

Claims

1. A cooking robot loading control system, mounted on a cooking robot (100), for loading dishes cooked by the cooking robot (100), wherein the cooking robot (100) has a cavity (110), a wok assembly (120) is rotatably mounted between the two side walls of the cavity (110), a gap is left between the wok assembly (120) and the bottom of the cavity (110), a plate-laying area (130) is provided at the bottom of the cavity (110) in front of the wok assembly (120), and a lid assembly (140) is rotatably mounted on the two side walls of the cavity (110) behind the wok assembly (120), the lid assembly (140) including at least a first rotary motor (150) for providing power, characterized in that, The system includes: A gripping component (170) is disposed on the side of the pot lid assembly (140) away from the wok assembly (120) for gripping a plate (160) and sending the plate (160) to the plate placement area (130) under the drive of the first rotating motor (150). Controller (180), the controller (180) comprising: The first acquisition module (181) is used to acquire the amount of food in the wok assembly (120); The first processing module (182) is used to select the plate (160) from a variety of sizes and specifications according to the amount of food in the wok assembly (120) and send it to the gripping area of ​​the gripping assembly (170); The first control module (183) is used to control the rotation speed of the first rotating motor (150) according to the size specifications of the selected plate (160).

2. The cooking robot plate-loading control system according to claim 1, characterized in that, The gripping component (170) is a suction cup.

3. The cooking robot plate-loading control system according to claim 1, characterized in that, The pot lid assembly (140) further includes a swing arm, which includes a first hinge segment (141) and a second hinge segment (142) that are rotatably connected to the two side walls of the cavity (110). The first hinge segment (141) and the second hinge segment (142) extend outward, and a connecting segment (143) is provided at one end of the first hinge segment (141) and the second hinge segment (142) extending outward. The pot lid is provided on the side of the connecting segment (143) near the wok assembly (120), and the gripping component (170) is provided on the side of the connecting segment (143) away from the wok assembly (120).

4. The cooking robot plate-loading control system according to claim 1, characterized in that, The first acquisition module (181) includes: The first acquisition element (184) is used to acquire the recipe information corresponding to the current dish; The first computing element (185) is used to obtain the time node for the completion of the dish based on the recipe information; The second acquisition element (186) is used to acquire the amount of food in the wok assembly (120) according to the time node.

5. The cooking robot plate-loading control system according to claim 1, characterized in that, The first control module (183) includes: A first control element (188) is used to control the rotational speed of the first rotary motor (150) and the position at which the gripping assembly (170) disengages from the plate (160) according to the size specifications of the selected plate (160).

6. The cooking robot plate-loading control system according to claim 5, characterized in that, The first control module (183) also includes: The third acquisition element (187) is used to acquire whether the rotation speed of the first rotating motor (150) meets the preset range when the gripping component (170) and the plate (160) are in the disengaged position; When the rotational speed of the first rotating motor (150) in the disengagement position meets the preset range, the first control element (188) controls the gripping assembly (170) to disengage from the plate (160) in the disengagement position; When the rotational speed of the first rotating motor (150) at the disengaged position does not meet the preset range, the first control element (188) adjusts the rotational speed of the first rotating motor (150) and adjusts the disengaged position of the gripping component (170) from the plate (160).

7. A method for controlling the loading of a cooking robot onto a plate, used to control the cooking robot (100) to load the cooked food onto a plate, wherein the cooking robot (100) has a cavity (110) therein, a wok assembly (120) is rotatably disposed between the two side walls of the cavity (110), the wok assembly (120) and the bottom of the cavity (110) are separated by a gap, a plate-laying area (130) is disposed at the bottom of the cavity (110) in front of the wok assembly (120), and a lid assembly (140) is rotatably disposed between the two side walls of the cavity (110) and the wok assembly (120), the lid assembly (140) including at least a first rotating motor (150) for providing power, characterized in that, include: A gripping component (170) is disposed on the side of the pot lid assembly (140) away from the wok assembly (120) for gripping a plate (160) and sending the plate (160) to the plate placement area (130) under the drive of the first rotating motor (150). The method includes the following steps: Obtain the quantity of food inside the wok assembly (120); According to the amount of food in the wok assembly (120), the plate (160) is selected from a variety of sizes and sent to the gripping area of ​​the gripping assembly (170); The rotational speed of the first rotating motor (150) is controlled according to the size specifications of the selected plate (160).

8. The method for controlling the loading of a cooking robot onto a plate according to claim 7, characterized in that, The step of obtaining the quantity of food in the wok assembly (120) includes: Retrieve the recipe information corresponding to the currently described dish; The completion time of the dish is obtained based on the recipe information; The quantity of food in the wok assembly (120) is obtained according to the time node.

9. The method for controlling the loading of a cooking robot onto a plate according to claim 7, characterized in that, The step of controlling the rotation speed of the first rotating motor (150) according to the size specifications of the selected plate (160) includes: The rotational speed of the first rotating motor (150) and the position at which the gripping component (170) disengages from the plate (160) are controlled according to the size specifications of the selected plate (160).

10. A method for controlling the loading of a cooking robot onto a serving plate according to claim 9, characterized in that, The step of controlling the rotational speed of the first rotary motor (150) and the position at which the gripping assembly (170) disengages from the disk (160) according to the selected size specifications of the disk (160) further includes: Whether the rotational speed of the first rotating motor (150) is within a preset range when the gripping component (170) and the plate (160) are in the disengaged position; When the rotational speed of the first rotating motor (150) in the disengagement position meets the preset range, the gripping component (170) is controlled to disengage from the plate (160) in the disengagement position; When the rotational speed of the first rotating motor (150) at the disengaged position does not meet the preset range, the rotational speed of the first rotating motor (150) is adjusted and the position at which the gripping component (170) disengages from the plate (160) is adjusted.

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