Cooking equipment and cooking food material thickness detection method

Abstract

The embodiment of the invention discloses cooking equipment and a cooking food material thickness detection method, relates to the technical field of cooking equipment, and is used for rapidly and accurately detecting the thickness of cooking food materials in a cooking cavity, and the cooking equipment comprises a box body which is provided with a cooking cavity for accommodating the cooking food materials; the image acquisition device is used for acquiring an in-cavity image in the cooking cavity; the distance measuring sensor is used for detecting the distance between the cooking food material and the distance measuring sensor; the controller is configured to acquire a first image in the cooking cavity through the image acquisition device, the first image comprises cooking food materials in the cooking cavity, and the cooking food materials are placed on the baking tray; and determining the thickness of the cooking food material based on the first image and the distance between the cooking food material and the distance measuring sensor.

Description

Technical Field

[0001] The present application relates to the technical field of cooking equipment, and in particular to a cooking equipment and a method for detecting the thickness of cooking ingredients. Background Art

[0002] With the upgrading and popularization of intelligent recognition related technologies in the field of cooking equipment, the application of image recognition technology is becoming more and more extensive. Cooking equipment can use image recognition technology to identify information such as the specifications, size, and shape of ingredients in the cooking cavity.

[0003] However, in some application scenarios, judging the thickness of cooking ingredients solely through information on the image requires supplementing multiple images from special angles to re-establish the 3D model. The calculation is relatively complex and the calculation results are not accurate enough, so the cooking time and cooking power cannot be accurately controlled, and the appropriate cooking parameters cannot be adapted, resulting in poor cooking results. Moreover, this thickness calculation method consumes a lot of chip data and is difficult to promote. Summary of the invention

[0004] The present application provides a cooking device and a method for detecting the thickness of cooking ingredients, which are used to quickly and accurately detect the thickness of cooking ingredients in a cooking cavity.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions.

[0006] In a first aspect, an embodiment of the present application provides a cooking device, comprising: a box having a cooking cavity for accommodating cooking ingredients; an image acquisition device for acquiring an intra-cavity image in the cooking cavity; a ranging sensor for detecting a distance between the cooking ingredients and the ranging sensor; and a controller, configured to: acquire a first image in the cooking cavity through the image acquisition device, the first image including the cooking ingredients in the cooking cavity, the cooking ingredients being placed on a baking tray; and determine a thickness of the cooking ingredients based on the first image and the distance between the cooking ingredients and the ranging sensor.

[0007] The technical solution provided by the embodiment of the present application brings at least the following beneficial effects: the technical solution determines the thickness of the cooking ingredients by utilizing the first image captured by the image acquisition device in the cooking equipment and the ranging sensor. There is no need to collect multiple pictures at special angles to build a 3D model, which simplifies the calculation complexity and the method is simple and easy to promote.

[0008] In some embodiments, the controller is configured to determine the thickness of the cooking ingredients based on the first image and the distance between the cooking ingredients and the ranging sensor, and is specifically configured to: determine correction information of the ranging sensor based on the first image; correct the layout angle of the ranging sensor based on the correction information; and determine the thickness of the cooking ingredients based on the detection data of the corrected ranging sensor.

[0009] In this way, the data can be detected by the corrected distance measuring sensor, and the actual thickness of the cooking ingredients can be calculated based on the detected data with high accuracy.

[0010] In some embodiments, the controller is configured to: determine correction information of the ranging sensor based on the first image, and is specifically configured to: determine a projection image of the baking tray where the cooking ingredients are located in the first image; wherein the projection image is a rectangle; and determine correction information of the ranging sensor based on the first image and the projection image.

[0011] In some embodiments, the controller is configured to: determine correction information of the ranging sensor based on the first image and the projection image, and is specifically configured to: determine position information of a target position point on the surface of the cooking ingredients in the baking tray image on the first image, and determine position information of a target projection point of the target position point in the projection image; determine correction information of the ranging sensor based on the position information of the target position point and the position information of the target projection point.

[0012] In some embodiments, the controller, before being configured to determine correction information of the ranging sensor based on the position information of the target position point and the position information of the target projection point, is also configured to: determine the position information of the vanishing point based on the baking tray image in the first image; wherein the baking tray image has a set of non-parallel opposite sides, and the vanishing point is determined based on the non-parallel opposite sides of the baking tray image; and determine the position information of the target projection point of the target position point in the projection image based on the position information of the target position point and the position information of the vanishing point.

[0013] In some embodiments, the controller is configured to determine the position information of the target projection point of the target position point in the projection image based on the position information of the target position point and the position information of the vanishing point, and is specifically configured to: determine the position information of the first intersection of the straight line passing through the vanishing point and the target position point and the baking pan where the cooking ingredients are located; determine the position information of the second intersection based on the position information of the target position point and the information of the target triangle; the target triangle is composed of the target edge of the baking pan image, the projection edge of the target edge in the projection image, and the connecting line between the target edge and the projection edge, and the second intersection is the intersection of a similar triangle of the target triangle determined based on the target position point and the projection edge; determine the position information of the target projection point of the target position point in the projection image based on the position information of the first intersection and the position information of the second intersection.

[0014] In some embodiments, the correction information includes a first correction angle and a second correction angle; the first correction angle is determined based on the following formula:

[0015] β=arc tan((X t -X F ) / (Y P2 -YK ));

[0016] Among them, β is the first correction angle, X t is the horizontal coordinate of the projection point of the ranging sensor in the plane where the first image is located, X F is the horizontal coordinate of the first intersection point, Y P2 is the ordinate of the first vertex on the bottom edge of the baking tray image. The abscissa of the first vertex is greater than the abscissa of the second vertex on the bottom edge.

[0017] Y K is the ordinate of the second intersection point;

[0018] The second correction angle is determined based on the following formula:

[0019]

[0020] Among them, α is the second correction angle of the ranging sensor, X P2 is the horizontal coordinate of the first vertex, X P1 is the horizontal coordinate of the second vertex on the bottom edge of the baking tray image, X P3 is the horizontal coordinate of the third vertex on the side opposite to the base. The horizontal coordinate of the third vertex is greater than the horizontal coordinate of the fourth vertex on the side opposite to the base. P1 is the ordinate of the second vertex, long is the length of the baking pan where the cooking ingredients are located, and h is the vertical distance between the ranging sensor and the baking pan where the cooking ingredients are located.

[0021] In some embodiments, the controller is configured to determine the thickness of the cooking ingredients based on the detection data of the corrected ranging sensor, and is specifically configured to: obtain first detection data between the ranging sensor and the target projection point through the corrected ranging sensor; increase the vertical correction information of the ranging sensor by a preset angle value, and obtain second detection data between the ranging sensor and the target projection point through the ranging sensor after the increased angle; reduce the vertical angle of the ranging sensor by a preset angle value, and obtain third detection data between the ranging sensor and the target projection point through the ranging sensor after the reduced angle; determine the thickness of the cooking ingredients based on the first detection data, the second detection data and the third detection data.

[0022] In some embodiments, the thickness of the cooking ingredients and the first detection data, the second detection data, and the third detection data satisfy the following relationship:

[0023] th=h-(lm1*cosα+lm2*cos(α+Δ θ )+lm3*cos(α-Δ θ )) / 3;

[0024] Where th is the thickness of the cooking ingredients, lm1 is the first detection data, lm2 is the second detection data, Δ θ is the preset angle, and lm3 is the third detection data.

[0025] In a second aspect, an embodiment of the present application provides a method for detecting the thickness of cooking ingredients, which is applied to the above-mentioned cooking equipment, and the method includes: acquiring a first image in a cooking cavity, the first image including the cooking ingredients in the cooking cavity, and the cooking ingredients are placed on a baking tray; determining the thickness of the cooking ingredients based on the first image and the distance between the cooking ingredients and a ranging sensor.

[0026] In a third aspect, an embodiment of the present application provides a controller comprising: one or more processors; one or more memories; wherein the one or more memories are used to store computer program codes, the computer program codes include computer instructions, and when the one or more processors execute the computer instructions, the controller executes any one of the cooking ingredient thickness detection methods provided in the second aspect.

[0027] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which includes computer instructions. When the computer instructions are executed on a computer, the computer executes the method provided in the second aspect and possible implementation methods.

[0028] In a fifth aspect, an embodiment of the present invention provides a computer program product, which can be directly loaded into a memory and contains software code. After being loaded and executed by a computer, the computer program product can implement the method provided in the second aspect and possible implementation methods.

[0029] It should be noted that the above computer instructions may be stored in whole or in part on a computer-readable storage medium, wherein the computer-readable storage medium may be packaged together with the processor of the controller, or may be packaged separately from the processor of the controller, which is not limited in this application.

[0030] The beneficial effects described in the second to fifth aspects of the present application can be referred to the beneficial effect analysis of the first aspect and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0032] Figure 1 A schematic diagram of the overall structure of a cooking device provided in an embodiment of the present application;

[0033] Figure 2A hardware configuration block diagram of a cooking device provided in an embodiment of the present application;

[0034] Figure 3 A hardware configuration block diagram of another cooking device provided in an embodiment of the present application;

[0035] Figure 4 A schematic diagram of system interaction of a cooking device provided in an embodiment of the present application;

[0036] Figure 5 A schematic diagram of interaction between a controller of a cooking device and a terminal device provided in an embodiment of the present application;

[0037] Figure 6 A schematic diagram of a method for detecting the thickness of cooking ingredients provided in an embodiment of the present application;

[0038] Figure 7 A schematic diagram of imaging of a first image provided in an embodiment of the present application;

[0039] Figure 8 A schematic diagram of another imaging of a first image provided in an embodiment of the present application;

[0040] Fig. 9 A schematic diagram of another imaging of a first image provided in an embodiment of the present application;

[0041] Fig.10 A schematic flow chart of another method for detecting the thickness of cooking ingredients provided in an embodiment of the present application;

[0042] Fig.11 A schematic flow chart of another method for detecting the thickness of cooking ingredients provided in an embodiment of the present application;

[0043] Fig.12 A schematic diagram of the positions of various points in a first image provided in an embodiment of the present application;

[0044] Fig.13 A schematic flow chart of another method for detecting the thickness of cooking ingredients provided in an embodiment of the present application;

[0045] Fig.14 A schematic diagram of the positions of points in another first image provided in an embodiment of the present application;

[0046] Fig.15 A schematic diagram of the positions of points in another first image provided in an embodiment of the present application;

[0047] Fig.16 A schematic diagram of a correction angle of a distance measuring sensor provided in an embodiment of the present application;

[0048] Fig.17A schematic flow chart of another method for detecting the thickness of cooking ingredients provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0052] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances. In addition, when describing a pipeline, the "connected" and "connection" used in this application have the meaning of conduction. The specific meaning needs to be understood in conjunction with the context.

[0053] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0054] To further describe the solution of the present application, the cooking device is taken as an example and described in conjunction with the accompanying drawings as a cooking device provided in an embodiment of the present application. In the embodiment of the present application, the cooking device is a cooking device with a baking function or a steam heating function. For example, the cooking device can be an electric cooking device, an integrated stove with a cooking device function, etc., without limitation.

[0055] In the related art, users cannot judge the maturity of the food by the changes on the surface of the cooking ingredients, and the existing cooking equipment cannot quickly calculate the actual thickness of the cooking ingredients to adjust the cooking parameters.

[0056] Based on this, an embodiment of the present application provides a cooking device, including: a box body, having a cooking cavity for accommodating cooking ingredients; an image acquisition device, used to acquire an intra-cavity image in the cooking cavity; a ranging sensor, used to detect the distance between the cooking ingredients and the ranging sensor; a controller, configured to: acquire a first image in the cooking cavity through the image acquisition device, the first image including the cooking ingredients in the cooking cavity, and the cooking ingredients are placed on a baking tray; determine the thickness of the cooking ingredients based on the first image and the distance between the cooking ingredients and the ranging sensor.

[0057] In this way, by using the first image captured by the image acquisition device in the cooking equipment and the ranging sensor to determine the thickness of the cooking ingredients, there is no need to collect multiple pictures at special angles to build a 3D model, which simplifies the calculation complexity and makes the method simple and easy to promote.

[0058] In some embodiments, the cooking equipment provided in the present application may be a steamer, an oven, a steam-bake-in-one oven, or other possible cooking equipment, and the present application does not limit this.

[0059] The embodiments provided in this application are described in detail below in conjunction with the accompanying drawings.

[0060] Figure 1 The overall structure diagram of a cooking device provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the cooking device 10 includes: a box body 11, a door body 12, a baking tray device 13 and a controller 1000 (not shown in the figure).

[0061] In some embodiments, the box body 11 is provided with a top plate 110 on the top side, side plates 111 on both sides, a rear plate 112 (not shown) on the rear side, a bottom plate 113 (not shown) on the bottom, and a front plate 114 on the front side. A cooking cavity for taking in and putting food is provided on the front plate 114, and a protruding structure 115 is formed at one end of the front plate 114 away from the bottom plate 113 at the edge of the cooking cavity. The protruding structure 115 is located on the side where the free end of the door body 12 in the closed state is located. The box body 11 can be as follows Figure 1 The one shown is approximately a rectangular parallelepiped, but other shapes are also possible.

[0062] In some embodiments, one end of the door body 12 is rotatably connected to the bottom plate 113 of the box body 11 through a door hinge assembly, and the other end is a free end. When the door body 12 is in a closed state, it covers the cooking cavity opening and forms a cooking cavity with the box body 11, and the cooking cavity is connected to the cooking cavity opening opened on the front plate 114. When cooking is required, the cooking cavity is opened by using the door body 12, and the food to be cooked is placed into the cooking cavity from the cooking cavity opening, and then the cooking cavity is closed by using the door body 12, and the power is turned on to cook. After cooking is completed, the food is taken out to achieve cooking of the food.

[0063] In some embodiments, an observation window may be provided on the door body 12 to observe the cooking status of the food in the cooking device 10. The observation window is usually made of high temperature resistant transparent glass. Through the transparent glass of the observation window, the user can clearly see the cooking status of the food inside the cooking device, which is convenient for the user to confirm whether the cooking device 10 is in a normal operating state.

[0064] In some embodiments, a door handle may be further provided on the door body 12 to provide a force point for the user to open the door of the cooking device, thereby facilitating the user to open the door body 12 of the cooking device 10 .

[0065] In some embodiments, a baking tray device 13 is further provided in the cooking cavity, and the baking tray device includes a baking tray shelf 131 and a removable baking tray 132. The baking tray shelf 131 can be divided into multiple levels according to the size of the cooking cavity, for example, Figure 1 As shown, the baking tray rack 131 is divided into a first rack 1311, a second rack 1312, a third rack 1313, a fourth rack 1314 and a fifth rack 1315. The baking tray rack 131 is used to support the baking tray 132. According to the cooking needs of the user, the baking tray 132 can be moved on multiple levels of the baking tray rack 131 to obtain a better cooking effect.

[0066] Optionally, the baking tray device 13 can also be replaced by a rotatable tray device, which includes a tray body and a drive motor. The tray body is used to hold the food to be cooked, and the drive motor drives the tray body to rotate, so that the food is cooked more evenly and quickly. Alternatively, the baking tray device 13 can also be replaced by a rotatable grill device, which includes a plurality of oil-leaking skeleton structures and a drive motor. The skeleton structure is used to insert the food to be baked, and the drive motor drives the skeleton structure to rotate, so that the food is baked more evenly, and the oil generated during the baking process can also leak out, so as to obtain more delicious food.

[0067] In the embodiment shown in the present application, the controller 1000 refers to a device that can generate an operation control signal according to the instruction operation code and the timing signal to instruct the cooking device 10 to execute the control instruction. Exemplarily, the controller 1000 can be a central processing unit (CPU), a general-purpose processor network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD) or any combination thereof. The controller 1000 can also be other devices with processing functions, such as circuits, devices or software modules, and the embodiments of the present application do not impose any restrictions on this.

[0068] In addition, the controller 1000 can be used to control various components inside the cooking device 10 so that each component operates to achieve various predetermined functions of the cooking device 10.

[0069] Figure 2 This is a hardware configuration block diagram of a cooking device provided in an embodiment of the present application. Figure 2 As shown, the cooking device 10 may further include: a heating device 14 , an image acquisition device 15 , a distance measuring sensor 16 , a human-computer interaction device 17 and a power supply device 18 .

[0070] In some embodiments, the heating device 14 refers to a heating component with a heating function, which is used to heat the food inside the cooking device 10 so that the food inside the cooking device 10 is cooked. The heating device 14 can be arranged at the upper and lower parts of the box 11, and can also be arranged on the four sides of the box 11, and the number of the heating device 14 can be set to multiple.

[0071] In some embodiments, the cooking device 10 may further include a plurality of guide plates, which are disposed around the heating device 14 to ensure that the heat radiated by the heating device 14 is radiated to the surface of the food at a certain angle.

[0072] In some embodiments, the image acquisition device 15 is used to acquire the cavity image in the cooking cavity.

[0073] Optionally, the image acquisition device 15 may be a camera, and the image acquisition device 15 may be disposed at any position in the cooking device 10 .

[0074] It should be noted that the image acquisition device 15 may also be other devices that can be used to acquire images, and this application does not limit this.

[0075] In some embodiments, the distance sensor 16 is used to detect the distance between the cooking ingredients and the distance sensor.

[0076] Optionally, the distance measuring sensor 16 may be a laser distance measuring sensor, and the distance measuring sensor 16 may be disposed on the door body 12 of the cooking device 10 , or may be disposed at other locations of the cooking device 10 .

[0077] It should be noted that the distance measuring sensor 16 may also be other devices that can be used to detect distance, and this application does not limit this.

[0078] In some embodiments, the human-machine interaction device 17 is used to implement interaction between the user and the cooking device 10. The human-machine interaction device 17 may include one or more of a physical button or a touch display panel. For example, the user may instruct the cooking device 10 to start executing a cooking program through the human-machine interaction device 17, or the user may also set parameters such as the temperature value of the cooking cavity of the cooking device 10, the operating time, or the preheating temperature value for preheating of the cooking device 10 and the preheating completion time through the human-machine interaction device 17.

[0079] In some embodiments, the display panel included in the human-computer interaction device 17 can also display parameters such as the set preheating temperature value, the set preheating completion time and the preheating time.

[0080] Optionally, the human-machine interaction device 17 may be an operation panel having function buttons. Exemplarily, the function buttons may include a switch button, a mode selection button, a temperature selection button, + (increase button), - (decrease button), etc. The user may interact with the cooking device 10 through the operation panel to control the operation of the cooking device 10.

[0081] In some embodiments, the power supply device 18, under the control of the controller 1000, uses the power input from the external power source to provide power supply support for the cooking device 10. The power supply device 18 may include a built-in power supply circuit installed inside the cooking device 10, or may be an external power source installed in the cooking device 10 to provide a power interface for an external power source in the cooking device 10.

[0082] Figure 3 This is a hardware configuration block diagram of another cooking device provided in an embodiment of the present application. Figure 3 As shown, the cooking device 10 may further include: a memory 1002 and a communicator 1003 .

[0083] In some embodiments, the memory 1002 can be used to store software programs and data. The controller 1000 executes various functions and data processing of the cooking device 10 by running the software programs or data stored in the memory 1002. The memory 1002 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. The memory 1002 stores an operating system that enables the cooking device 10 to run. In the present application, the memory 1002 can store an operating system and various application programs, and can also store code for executing the method for detecting the thickness of cooking ingredients provided in the embodiment of the present application.

[0084] In some embodiments, the communicator 1003 is used to establish a communication connection with other network entities, such as establishing a communication connection with a terminal device. The communicator 1003 may include a radio frequency (RF) module, a cellular module, a wireless fidelity (WIFI) module, and a GPS module. Taking the RF module as an example, the RF module can be used for receiving and sending signals, in particular, sending the received information to the controller 1000 for processing; in addition, sending the signal generated by the controller 1000. Typically, the RF circuit may include but is not limited to an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier (LNA), a duplexer, and the like.

[0085] Those skilled in the art will understand that Figure 3 The hardware structure shown in the figure does not constitute a limitation on the cooking device. The cooking device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0086] Figure 4 A schematic diagram of a cooking device system interaction provided in an embodiment of the present application. Figure 4 As shown, the user interacts with the human-computer interaction device to set parameters. The human-computer interaction device sends the received instructions to the controller, and the controller issues control instructions to start the heating device. Then the image acquisition device collects images of the cooking ingredients, and the distance sensor detects the thickness of the cooking ingredients. After receiving the images, the controller determines the cooking parameters and controls the human-computer interaction device to display the values ​​of various parameters.

[0087] Figure 5 It is a schematic diagram of interaction between a controller 1000 of a cooking device and a terminal device 500 provided in accordance with an exemplary embodiment of the present application.

[0088] like Figure 5As shown, the terminal device 500 can establish a communication connection with the controller 1000 of the cooking device. Exemplarily, any known network communication protocol can be used to establish a communication connection. The above-mentioned network communication protocol can be various wired or wireless communication protocols, such as Ethernet, universal serial bus (USB), FireWire (FIREWIRE), any cellular network communication protocol (such as 3G / 4G / 5G), Bluetooth, wireless fidelity (wireless fidelity, Wi-Fi), NFC or any other suitable communication protocol. The above-mentioned communication connection can be a Bluetooth connection, NFC, Zigbee, wireless fidelity (wireless fidelity, Wi-Fi), etc. The embodiments of the present application do not impose specific restrictions on this.

[0089] It should be noted that Figure 5 The terminal device 500 shown is only an example of a terminal device. The terminal device 300 in the present application may be a remote control, a mobile phone, a tablet computer, a personal computer (PC), a personal digital assistant (PDA), a smart watch, a netbook, a wearable electronic device, an augmented reality (AR) device, a virtual reality (VR) device, a robot, etc. The present application does not impose any special restrictions on the specific form of the terminal device.

[0090] It is understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on the cooking device. In other embodiments of the present application, the cooking device may include more or fewer components than shown in the figure, or combine some components, or separate some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0091] In some embodiments, the controller 1000 is configured to: acquire a first image in the cooking cavity through an image acquisition device, wherein the first image includes cooking ingredients in the cooking cavity, and the cooking ingredients are placed on a baking tray; determine the thickness of the cooking ingredients based on the first image and the distance between the cooking ingredients and the ranging sensor.

[0092] In some embodiments, the controller 1000 is further configured to: determine correction information of the ranging sensor according to the first image; correct the layout angle of the ranging sensor based on the correction information; and determine the thickness of the cooking ingredients according to the detection data of the corrected ranging sensor.

[0093] In some embodiments, the controller 1000 is further configured to: determine a projection image of the baking tray where the cooking ingredients are located in the first image; wherein the projection image is a rectangle; and determine correction information of the ranging sensor based on the first image and the projection image.

[0094] In some embodiments, the controller 1000 is further configured to: determine position information of a target position point on the surface of the cooking ingredients in the baking tray image on the first image, and determine position information of a target projection point of the target position point in the projection image; and determine correction information of the ranging sensor based on the position information of the target position point and the position information of the target projection point.

[0095] In some embodiments, the controller 1000 is further configured to: determine the position information of the vanishing point based on the baking tray image in the first image; wherein the baking tray image has a set of non-parallel opposite sides, and the vanishing point is determined based on the non-parallel opposite sides of the baking tray image; and determine the position information of the target projection point of the target position point in the projection image based on the position information of the target position point and the position information of the vanishing point.

[0096] In some embodiments, the controller 1000 is further configured to: determine the position information of the first intersection of the straight line passing through the vanishing point and the target position point and the baking pan where the cooking ingredients are located; determine the position information of the second intersection based on the position information of the target position point and the information of the target triangle; the target triangle is composed of the target edge of the baking pan image, the projection edge of the target edge in the projection image, and the connecting line between the target edge and the projection edge, and the second intersection is the intersection of a similar triangle of the target triangle determined based on the target position point and the projection edge; determine the position information of the target projection point of the target position point in the projection image based on the position information of the first intersection and the position information of the second intersection.

[0097] In some embodiments, the controller 1000 is also configured to: obtain first detection data between the ranging sensor and the target projection point through the corrected ranging sensor; increase the vertical correction information of the ranging sensor by a preset angle value, and obtain second detection data between the ranging sensor and the target projection point through the ranging sensor after the angle is increased; reduce the vertical angle of the ranging sensor by a preset angle value, and obtain third detection data between the ranging sensor and the target projection point through the ranging sensor after the angle is reduced; determine the thickness of the cooking ingredients based on the first detection data, the second detection data and the third detection data.

[0098] Figure 6 A schematic diagram of a method for detecting the thickness of cooking ingredients provided in an embodiment of the present application is applied to the above cooking equipment. Figure 6 As shown, the method comprises the following steps:

[0099] S101: A controller obtains a first image in a cooking cavity.

[0100] The first image includes cooking ingredients in the cooking cavity, and the cooking ingredients are placed on a baking tray.

[0101] Optionally, the controller may acquire a first image in the cooking cavity through an image acquisition device.

[0102] In some embodiments, the image acquisition device may be a camera, a video camera, or other device that can image an object, but this application does not limit this.

[0103] Figure 7 FIG. 1 is a schematic diagram of an imaging of a first image provided in an embodiment of the present application. Figure 7 As shown:

[0104] Exemplarily, the first image may be a quadrilateral A1A2A3A4, and the first image includes cooking ingredients in the cooking cavity, and the cooking ingredients are placed on a baking tray.

[0105] It should be noted that Figure 7 The figure only shows a first image, a baking tray and cooking ingredients by way of example. In a specific implementation, the baking tray can be at any position in the first image, the cooking ingredients can be at any position in the baking tray, and the shapes of the cooking ingredients include but are not limited to the shapes shown in the figure, and the present application does not limit this.

[0106] S102: The controller determines the thickness of the cooking ingredients according to the first image and the distance between the cooking ingredients and the distance measuring sensor.

[0107] In some embodiments, the controller may determine correction information of the distance measuring sensor according to the first image to correct the layout angle of the distance measuring sensor, and determine the thickness of the cooking ingredients according to the detection data of the corrected distance measuring sensor.

[0108] In some embodiments, the controller may determine a projection image of a baking tray where the cooking ingredients are located in the first image, and determine correction information of the distance measuring sensor based on the first image and the projection image.

[0109] The projected image is a rectangle.

[0110] In some embodiments, the shape of the baking tray and the surface of the cooking ingredients may be a rectangle, a circle, etc. This application is described by taking the baking tray and the surface of the cooking ingredients as a rectangle as an example.

[0111] It should be noted that, after the rectangular baking tray is imaged by the image acquisition device, it appears as an isosceles trapezoid.

[0112] For example, Figure 8As shown, the position of the baking tray in the first image A1A2A3A4 may be a quadrilateral P1P2P3P4, and the projection image of the baking tray is a rectangle P1P2P3 ′ P4 ′ , the plane where the cooking food surface is located can be a rectangle N1N2N3N4.

[0113] In some embodiments, the controller determines position information of a target position point on the surface of the cooking ingredients in the baking tray image on the first image, and position information of a target projection point of the target position point in the projection image, and determines correction information of the ranging sensor based on the position information of the target position point and the position information of the target projection point.

[0114] Optionally, the target position point may be a center point on the surface of the cooking ingredient, or other possible position points on the surface of the cooking ingredient.

[0115] Optional, such as Fig. 9 As shown, a plane coordinate system x-01-y can be established in the baking tray image, and a plane coordinate system X-02-Y can be established in the plane where the first image is located.

[0116] For example, the edge P1P2 in the baking tray image is on the x-axis of the coordinate system x-01-y, the edge P1P4 in the baking tray image is on the y-axis of the coordinate system x-01-y, the edge A4A3 in the first image is on the x-axis of the coordinate system X-02-Y, the edge A4A1 in the first image is on the y-axis of the coordinate system X-02-Y, and the target position point on the cooking ingredient surface is the center position point on the cooking ingredient surface (e.g. Fig. 9 Point c).

[0117] Further, the position information of the target position point c in the baking tray image on the first image is the coordinate of the target position point in the coordinate system x-01-y, and the position information of the target projection point of the target position point c in the projection image is the coordinate of the target position point in the coordinate system x-02-y (i.e. Fig. 9 coordinates of the midpoint c1).

[0118] In a possible implementation, the position information of the target position point may be calculated by using the vertex coordinates of each vertex in the plane where the cooking ingredient surface is located.

[0119] For example, Fig.10 A schematic flow chart of another method for detecting the thickness of cooking ingredients provided in an embodiment of the present application, which is used to determine the location information of a target location point, such as Fig.10 As shown, the method comprises the following steps:

[0120] S11. The controller obtains position information of each vertex in the plane where the cooking ingredient surface is located.

[0121] The position information of each vertex is the position information of each vertex in the image of the baking pan where the surface of the cooking ingredients is located in the coordinate system x-01-y.

[0122] Optionally, the controller may obtain the position information of each vertex through a ranging sensor.

[0123] It should be noted that since the plane N1N2N3N4 where the cooking ingredient surface is located is a rectangular shape, the horizontal coordinates of the position information of vertex N1 and vertex N4 are the same, the vertical coordinates of the position information of vertex N1 and vertex N2 are the same, the horizontal coordinates of the position information of vertex N2 and vertex N3 are the same, so the vertical coordinates of the position information of vertex N3 and vertex N4 are the same.

[0124] For example, if the position information of the vertex N1 in the image of the baking pan where the cooking food surface is located in the coordinate system x-01-y is (x n1 ,y n1 ), then the position information of vertex N2 in the coordinate system x-01-y is (x n2 ,y n1 ), the position information of vertex N3 in the coordinate system x-01-y is (x n2 ,y n2 ), the position information of vertex N4 in the coordinate system x-01-y is (x n1 ,y n2 ).

[0125] S12. The controller determines the position information of the target position point based on the position information of each vertex.

[0126] It should be noted that the target position point is the center position point on the cooking ingredient surface. When the cooking ingredient surface is a quadrilateral, the center point position may be the point where two diagonal lines of the cooking ingredient surface intersect.

[0127] Further, according to the position information of each vertex in the baking tray image, the position information of the target position point c is determined as

[0128] In another possible implementation, before correcting the correction information of the ranging sensor based on the position information of the target position point on the surface of the cooking ingredients and the position information of the target projection point, the controller can also determine the position information of the target projection point of the target position point in the projection image based on the position information of the target position point.

[0129] For example, Fig.11 A schematic flow chart of another method for detecting the thickness of cooking ingredients provided in an embodiment of the present application, which is used to determine the position information of the target projection point. Fig.11 As shown, the method comprises the following steps:

[0130] S21. The controller determines the position information of the vanishing point according to the baking tray image in the first image.

[0131] The baking tray image has a set of non-parallel opposite sides, and the vanishing point is determined based on the non-parallel opposite sides of the baking tray image.

[0132] It should be noted that in a three-dimensional space, a set of parallel straight lines will not intersect, or can be said to intersect at the same point at infinity. This point at infinity will be imaged in the image plane under the perspective projection of the camera, and the imaging point becomes a vanishing point (VP).

[0133] Optional, such as Fig.12 As shown, the non-parallel opposite edges in the baking pan image are edge P1P4 and edge P2P3.

[0134] Furthermore, the extended side P1P4 intersects the side P2P3 at point G. This point G is the vanishing point.

[0135] In some embodiments, the controller may determine the position information of the vanishing point according to the first straight line equation of the side P1P4 and the second straight line equation of the side P2P3.

[0136] It should be noted that, in the embodiment of the present application, since the baking tray images P1P2P3P4 are trapezoidal in shape, the vertical coordinates of the position information of the vertex P1 and the vertex P2 are the same, and the vertical coordinates of the position information of the vertex P3 and the vertex P4 are the same.

[0137] For example, if the position information of vertex P1 in the coordinate system X-02-Y is (X P1 ,

[0138] Y P1 ), the position information of the lower right vertex P2 in the coordinate system X-02-Y is (X P2 , Y P1 ), the position information of the upper right vertex P3 in the coordinate system X-02-Y is (X P3 , Y P2 ), the position information of the upper left vertex P4 in the coordinate system X-02-Y is (X P4 , Y P2 ).

[0139] Furthermore, the equation of the first straight line of side P1P4 is Y 1-4 As shown in formula (1):

[0140] Y 1-4 =(Y P1 -Y P2 ) / (X P1 -X P4 )*(XXP1 )+Y P1 Formula (1)

[0141] The equation of the second straight line of side P2P3 is Y 2-3 As shown in formula (2):

[0142] Y 2-3 =(Y P1 -Y P3 ) / (X P2 -X P4 )*(X -X P2 )+Y P1 Formula (2)

[0143] Furthermore, the first straight line equation Y 1-4 and the equation of the second straight line Y 2-3 The calculated position information of the vanishing point is (X G , Y G ).

[0144] In some embodiments, after the controller determines the position information of the target position point and the position information of the vanishing point, the position information of the target projection point can be determined according to the position information of the target position point and the position information of the vanishing point.

[0145] S22. The controller determines the position information of the target projection point of the target position point in the projection image according to the position information of the target position point and the position information of the vanishing point.

[0146] Among them, the target projection point is the point of the target position on the projection image,

[0147] In some embodiments, after determining the position information of the target position point and the position information of the vanishing point, the controller may determine the position information of the target projection point according to the position information of the target position point and the position information of the vanishing point. Fig.13 A schematic flow chart of another method for detecting the thickness of cooking ingredients provided in an embodiment of the present application, which is used to determine the position information of the target projection point. Fig.13 As shown, step S22 can be specifically implemented as the following steps:

[0148] S221. The controller determines the position information of the first intersection point between the straight line passing through the vanishing point and the target position point and the baking tray where the cooking ingredients are located.

[0149] For example, Fig.14 As shown, the third straight line passing through the vanishing point G and the target position point c intersects the baking tray where the cooking ingredients are located at the first intersection point F.

[0150] Optionally, the position information of the first intersection point F may be (X F , Y F).

[0151] S222. The controller determines the position information of the second intersection point according to the position information of the target position point and the information of the target triangle.

[0152] Among them, the target triangle is composed of the target edge of the baking tray image, the projection edge of the target edge in the projection image, and the connecting line between the target edge and the projection edge, and the second intersection point is the intersection point of the similar triangle of the target triangle determined based on the target position point and the projection edge.

[0153] Optional, such as Fig.15 As shown, the target edge of the baking tray image is edge P1P4, and the projected edge of the target edge in the projection image is edge P1P4 ′ , the line between the target edge and the projection edge is edge P4P4 ′ , the target triangle is ▲P1P4 ′ P4.

[0154] Furthermore, a straight line parallel to the X-axis in the coordinate system X-02-Y is made through the target position point c to intersect the straight line P1G with point H, and a straight line parallel to the straight line P4P4 is made through point H ′ The straight line intersects the straight line P1P4 ′ At the second intersection point K.

[0155] Among them, because the straight line KH ∥ straight line P4P4 ′ , and ∠KP1H=∠P4 ′ P1P4, so ▲P1HK∽▲P1P4P4 ′ .

[0156] Further, according to the similarity relationship between triangles, the position information of the second intersection point K in the coordinate system X-02-Y is determined as (X K , Y K ).

[0157] S223. The controller determines the position information of the target projection point of the target position point in the projection image according to the position information of the first intersection point and the position information of the second intersection point.

[0158] In some embodiments, the controller may determine the position information of the target projection point based on the position information of the first intersection point and the position information of the second intersection point.

[0159] Specifically, the position information of the first intersection point F is known to be (X F , Y F ), the position information of the second intersection point K is (X K , Y K), because the abscissa of the position information of the target projection point c1 is the same as the abscissa of the position information of the first intersection F, and the ordinate of the position information of the target projection point c1 is the same as the ordinate of the position information of the second intersection, the position information of the target projection point c1 is (X F , Y K ).

[0160] In some embodiments, the controller may correct the correction information of the ranging sensor according to the position information of the target position point and the position information of the target projection point.

[0161] In some embodiments, after the controller determines the position information of the target location point and the position information of the target projection point, the controller may determine correction information of the distance measuring sensor according to the position information of the target location point and the position information of the target projection point.

[0162] Optionally, the correction information of the ranging sensor includes a first correction angle and a second correction angle.

[0163] The first correction angle is used to correct the horizontal angle of the distance measuring sensor, and the second correction angle is used to correct the vertical angle of the distance measuring sensor.

[0164] Fig.16 A schematic diagram of a correction angle of a distance measuring sensor provided in an embodiment of the present application. Fig.16 As shown, the distance measuring sensor is connected to the cooking device through a connecting component, and the controller can change the layout direction of the distance measuring sensor by correcting the vertical angle and horizontal angle of the distance measuring sensor.

[0165] In some embodiments, the projection of the ranging sensor in the coordinate system X-02-Y is presented in the form of a point, such as Fig.15 As shown, the point may be point t.

[0166] Optionally, the location information of point t is (X t , Y t ).

[0167] In some embodiments, the controller may determine the correction angle of the ranging sensor according to the position information of point t, the position information of the first intersection point, the position information of the target projection point, and the vertex coordinates of the baking tray image.

[0168] For example, the position information of point t is (X t , Y t ), the position information of the first intersection is (X F , Y F ), the location information of the target projection point is (X F , Y K), the calculation method of the first correction angle β of the ranging sensor is shown in formula (3):

[0169] β=arc tan((X t -X F ) / (Y P2 -Y K ) ) Formula (3)

[0170] Among them, Y P2 is the first vertex of the bottom edge of the baking tray image (i.e. Fig.15 The ordinate of the vertex P2 in the figure is greater than the abscissa of the second vertex on the base (i.e. Fig.15 The horizontal coordinate of the vertex P1 in .

[0171] The calculation method of the second correction angle α of the ranging sensor is shown in formula (4):

[0172]

[0173] Among them, X P2 is the horizontal coordinate of the first vertex, X P1 is the horizontal coordinate of the second vertex, X P3 is the third vertex on the side opposite to the base (i.e. Fig.15 The abscissa of the vertex P3 in the figure is greater than that of the fourth vertex on the opposite side of the base (i.e. Fig.15 The horizontal coordinate of the vertex P4 in P1 is the ordinate of the second vertex, long is the length of the baking pan where the cooking ingredients are located, and h is the vertical distance between the ranging sensor and the baking pan where the cooking ingredients are located.

[0174] In some embodiments, the edge where the vertex P1 and the vertex P2 are located is used as the reference edge, the length of the baking pan where the cooking ingredients are located is long, and the width of the baking pan where the cooking ingredients are located is wide. The distance from vertex P1 to vertex P2 is X P2 -X P1 , that is, the pixel length of the baking tray where the cooking ingredients are located is X P2 -X P1 , the pixel width of the baking tray where the cooking ingredients are placed is

[0175] In some embodiments, after the correction angle of the distance measuring sensor is determined, the controller can correct the horizontal angle and vertical angle of the distance measuring sensor according to the correction angle so that the measuring angle can directly hit the target position point of the cooking ingredients.

[0176] Exemplarily, if the first correction angle of the ranging sensor is β, the controller controls the horizontal angle of the ranging sensor to rotate β°; if the second correction angle of the ranging sensor is α, the controller controls the vertical angle of the ranging sensor to rotate α°.

[0177] In some embodiments, after the layout angle of the distance measuring sensor is corrected, the controller determines the thickness of the cooking ingredients based on the corrected detection data of the distance measuring sensor.

[0178] In some embodiments, after the angle of the distance measuring sensor is corrected, the distance measuring sensor can repeatedly detect the distance between itself and the cooking food to determine the thickness of the cooking food.

[0179] Fig.17 A schematic diagram of another method for detecting the thickness of cooking ingredients provided in an embodiment of the present application, which is used to calculate the thickness of cooking ingredients. Fig.17 As shown, the method comprises the following steps:

[0180] S31. The controller obtains first detection data between the distance measuring sensor and the target projection point through the corrected distance measuring sensor.

[0181] The first detection data is an average distance value of multiple distance values ​​between the distance measuring sensor and the target projection point repeatedly detected.

[0182] Optionally, the first detection data lm1 can be calculated by formula (5):

[0183]

[0184] Among them, a is the speed of light, and t1 is the time it takes for the laser of the ranging sensor to emit a specific light wave and receive the light wave signal.

[0185] S32: The controller increases the vertical correction information of the distance measuring sensor by a preset angle value, and obtains second detection data between the distance measuring sensor and the target projection point through the distance measuring sensor after the angle is increased.

[0186] The second detection data is an average distance value of multiple distance values ​​between the distance measuring sensor and the target projection point after repeated detection by the distance measuring sensor with an increased angle.

[0187] It should be noted that the preset angle value is set by the cooking equipment manufacturer and pre-stored in the memory. The preset angle values ​​of different manufacturers may vary, and this application does not limit this.

[0188] Optionally, preset angle value Δ θ The value range is Δ θ ≤α / 50.

[0189] Optionally, the second detection data lm2 can be calculated by formula (6):

[0190]

[0191] Among them, t2 is the time from the laser of the ranging sensor emitting a specific light wave to receiving the light wave signal after the angle is increased.

[0192] S33, the controller reduces the vertical angle of the distance measuring sensor by a preset angle value, and obtains third detection data between the distance measuring sensor and the target projection point through the distance measuring sensor after the angle is reduced.

[0193] The third detection data is an average distance value of multiple distance values ​​between the distance measuring sensor and the target projection point after the angle is reduced and repeated detection.

[0194] Optionally, the third detection data lm3 can be calculated by formula (7):

[0195]

[0196] Among them, t3 is the time from the laser of the distance measuring sensor emitting a specific light wave to receiving the light wave signal after the angle is reduced.

[0197] S34: The controller determines the thickness of the cooking ingredients based on the first detection data, the second detection data, and the third detection data.

[0198] In some embodiments, after the first detection data, the second detection data and the third detection data are determined, the controller can determine the thickness of the cooking ingredients according to the first detection data, the second detection data and the third detection data, the first correction angle and the second correction angle.

[0199] Optionally, the thickness th of the cooking ingredients can be calculated using formula (8):

[0200] th=h-(lm1*cos α+lm2*cos (α+Δ θ )+lm3*cos(α-Δ θ )) / 3 Formula (8)

[0201] Where h is the vertical distance between the distance sensor and the baking tray where the cooking ingredients are placed, Δ θ is the preset angle.

[0202] The technical solution provided by the embodiment of the present application brings at least the following beneficial effects: the technical solution determines the thickness of the cooking ingredients by utilizing the first image captured by the image acquisition device in the cooking equipment and the ranging sensor. There is no need to collect multiple pictures at special angles to build a 3D model, which simplifies the calculation complexity and the method is simple and easy to promote.

[0203] In some embodiments of the present application, an image acquisition device in a cooking device is used to determine a first image in a cooking cavity, and a projection image of a baking tray where the cooking ingredients are located is determined in the first image. Subsequently, based on the projection image, the position information of a target position point on the surface of the cooking ingredients in the baking tray image in the first image and the position information of a target projection point of the target position point in the projection image are determined. Then, according to the position information of the target position point and the position information of the target projection point, a correction angle of the distance measuring sensor is calculated, and the correction information of the distance measuring sensor is corrected according to the correction angle. Finally, the thickness of the cooking ingredients is calculated by the detection data of the corrected distance measuring sensor. Since the scheme determines the correction information of the distance measuring sensor by the position information of multiple points in the first image, and detects data based on the corrected distance measuring sensor to calculate the actual thickness of the cooking ingredients, the measurement accuracy is high, and the user can place the cooking ingredients at any position on the baking tray, and can adjust the cooking parameters according to the thickness of the cooking ingredients, which helps the user to cook more conveniently and achieve better cooking effects.

[0204] An embodiment of the present invention further provides a computer-readable storage medium, which includes computer-executable instructions. When the computer-executable instructions are executed on a computer, the computer executes the method provided in the above embodiment.

[0205] An embodiment of the present invention further provides a computer program product, which can be directly loaded into a memory and contains software code. After being loaded and executed by a computer, the computer program product can implement the method provided in the above embodiment.

[0206] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the present invention may be implemented in hardware, software, firmware, or any combination thereof. When implemented using software, the functions may be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of a computer program from one place to another. The storage medium may be any available medium that a general or special-purpose computer can access.

[0207] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0208] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely exemplary, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The unit described as a separate component may or may not be physically separated, and the component displayed as a unit may be a physical unit or multiple physical units, that is, it may be located in one place, or it may be distributed in multiple different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0209] In addition, each functional unit in each embodiment of the present invention can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a ROM, a RAM, a disk, or an optical disk.

[0210] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A cooking device, characterized in that: include: A box body having a cooking cavity for accommodating cooking ingredients; An image acquisition device, used for acquiring an intra-cavity image of the cooking cavity; A distance measuring sensor, used to detect the distance between the cooking ingredients and the distance measuring sensor; The controller is configured as: Acquire a first image in the cooking cavity by the image acquisition device, wherein the first image includes cooking ingredients in the cooking cavity, and the cooking ingredients are placed on a baking tray; The thickness of the cooking ingredient is determined based on the first image and the distance between the cooking ingredient and the distance measuring sensor.

2. The cooking device according to claim 1, characterized in that: The controller is configured to determine the thickness of the cooking ingredient based on the first image and the distance between the cooking ingredient and the distance measuring sensor, and is specifically configured to: determining correction information of the ranging sensor according to the first image; Based on the correction information, correct the layout angle of the ranging sensor; The thickness of the cooking ingredients is determined according to the corrected detection data of the distance measuring sensor.

3. The cooking device according to claim 2, characterized in that: The controller is configured to: determine the correction information of the ranging sensor according to the first image, specifically configured to: Determine a projection image of the baking pan where the cooking ingredients are located in the first image; wherein the projection image is a rectangle; Correction information of the distance measuring sensor is determined according to the first image and the projection image.

4. The cooking device according to claim 3, characterized in that: The controller is configured to: determine the correction information of the ranging sensor according to the first image and the projection image, and is specifically configured to: Determine position information of a target position point on the surface of the cooking ingredient in the baking pan image on the first image, and determine position information of a target projection point of the target position point in the projection image; Correction information of the distance measuring sensor is determined according to the position information of the target position point and the position information of the target projection point.

5. The cooking device according to claim 4, characterized in that: The controller, before being configured to determine the correction information of the distance measuring sensor according to the position information of the target position point and the position information of the target projection point, is further configured to: Determine the position information of the vanishing point according to the baking tray image in the first image; wherein the baking tray image has a set of non-parallel opposite sides, and the vanishing point is determined based on the non-parallel opposite sides of the baking tray image; According to the position information of the target position point and the position information of the vanishing point, the position information of the target projection point of the target position point in the projection image is determined.

6. The cooking device according to claim 5, characterized in that The controller is configured to determine the position information of the target projection point of the target position point in the projection image according to the position information of the target position point and the position information of the vanishing point, and is specifically configured as follows: Determine the position information of the first intersection point of the straight line passing through the vanishing point and the target position point and the baking pan where the cooking ingredients are located; Determine the position information of the second intersection point according to the position information of the target position point and the information of the target triangle; The target triangle is composed of a target edge of the baking tray image, a projection edge of the target edge in the projection image, and a line between the target edge and the projection edge, and the second intersection point is an intersection point of a similar triangle of the target triangle determined based on the target position point and the projection edge; The position information of the target projection point of the target position point in the projection image is determined according to the position information of the first intersection point and the position information of the second intersection point.

7. The cooking device according to any one of claims 1 to 6, characterized in that: The correction information includes a first correction angle and a second correction angle; the first correction angle is determined based on the following formula: β=arc tan((X t -X F ) / (AND P2 -AND K )); Where β is the first correction angle, X t is the horizontal coordinate of the projection point of the ranging sensor in the plane where the first image is located, X F is the horizontal coordinate of the first intersection point, Y P2 is the ordinate of the first vertex on the bottom edge of the baking tray image, the abscissa of the first vertex is greater than the abscissa of the second vertex on the bottom edge, Y K is the ordinate of the second intersection point; The second correction angle is determined based on the following formula: Among them, α is the second correction angle of the ranging sensor, X P2 is the horizontal coordinate of the first vertex, X P1 is the horizontal coordinate of the second vertex on the bottom edge of the baking tray image, X P3 is the horizontal coordinate of the third vertex on the side opposite to the base, the horizontal coordinate of the third vertex is greater than the horizontal coordinate of the fourth vertex on the side opposite to the base, P1 is the ordinate of the second vertex, long is the length of the baking pan where the cooking ingredients are located, and h is the vertical distance between the distance measuring sensor and the baking pan where the cooking ingredients are located.

8. The cooking device according to claim 2, characterized in that: The controller is configured to determine the thickness of the cooking ingredients according to the corrected detection data of the distance measuring sensor, and is specifically configured as follows: Acquire first detection data between the distance measuring sensor and the target projection point through the corrected distance measuring sensor; Adding vertical correction information of the distance measuring sensor with a preset angle value, and obtaining second detection data between the distance measuring sensor and the target projection point through the distance measuring sensor after the angle is increased; Reducing the vertical angle of the distance measuring sensor by the preset angle value, and acquiring third detection data between the distance measuring sensor and the target projection point through the distance measuring sensor after the angle is reduced; The thickness of the cooking ingredient is determined based on the first detection data, the second detection data and the third detection data.

9. The cooking device according to claim 8, characterized in that The thickness of the cooking ingredients and the first detection data, the second detection data and the third detection data satisfy the following relationship: th=h-(lm1*cosα+lm2*cos(α+Δ θ )+lm3*cos(α-Δ θ )) / 3; Wherein, th is the thickness of the cooking ingredients, lm1 is the first detection data, lm2 is the second detection data, Δ θ is the preset angle, and lm3 is the third detection data.

10. A method for detecting the thickness of cooking ingredients, characterized in that: The method includes: Acquire a first image in the cooking cavity, wherein the first image includes cooking ingredients in the cooking cavity, and the cooking ingredients are placed on a baking tray; Based on the first image and the distance between the cooking ingredient and the distance measuring sensor, the thickness of the cooking ingredient is determined.

Images