Cooking robot self-powered system and control method

Abstract

The invention discloses a cooking robot self-powered system and a control method, the self-powered system comprises a cooking module, the cooking module comprises a hearth, the bottom of the hearth is provided with a combustor, the top of the hearth is provided with a pot, any side of the pot is provided with a stirring assembly, and the stirring assembly is connected with the combustor. The boiler further comprises an oil supply module, a water supply module, a power supply module and a central controller, the oil supply module is connected with the combustor, the hearth comprises a first cavity and a second cavity arranged on the periphery of the first cavity, a circulating water jacket is arranged between the first cavity and the second cavity, the water supply module is connected with the circulating water jacket, and the power supply module is connected with the central controller. The power supply module comprises a thermoelectric power generation set, a rectifier, an inverter and a storage battery. The thermoelectric power generation set is located between the first cavity of the hearth and the circulating water jacket. The control method is based on the self-power-generation system, power generation can be automatically controlled, and the constancy of electric energy output is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of power generation, and in particular relates to a cooking robot self-power supply system and a control method. Background Art

[0002] Cooking robots can use fuels such as diesel for heating and cooking, but the robot's control system, fork movement, and pan-flipping and food-turning movements all require electricity to drive. Therefore, when using a cooking robot in the wild or in places where there is a lack of power supply, the biggest problem is the robot's power supply.

[0003] At present, the patent for a self-powered cooking robot with publication number FR3113363A1 discloses that the bowl is designed to be heated by the induction coil of the stove, and the magnetic flux of the induction coil is guided to the bottom of the mixing bowl. This structure can only provide power for heating the bottom of the bowl, and cannot provide power for other forks and movements such as flipping pots and dishes. In addition, the induction coil has certain requirements for the environment for self-powering. For example, temperature, humidity, magnetic field interference, physical space, air quality, etc. will affect the performance of the coil. It has too many limitations and is not stable.

[0004] In view of this, the inventor provides a cooking robot self-power supply system and control method to solve the above technical problems. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and propose a self-powered system and control method for a cooking robot. By setting a central controller, a cooking module, a water supply module, a power supply module and an oil supply module, the system can automatically adjust the heating amount in the first cavity of the furnace according to the different heat required by the cooking robot in different cooking stages, and adjust the water temperature in the circulating water jacket according to the temperature of the first cavity, thereby ensuring the constancy of the power output and realizing the self-powering of the pure fuel cooking robot in the wild or in places where there is a lack of power supply capacity.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] On the one hand, the present invention provides a cooking robot self-power supply system, comprising a cooking module, the cooking module comprising a furnace, a burner for heating the furnace is arranged at the bottom of the furnace, a pot is arranged at the top of the furnace, a stirring assembly is arranged on either side of the pot, and an oil supply module, a water supply module, a power supply module and a central controller, the oil supply module is connected to the burner and is used to supply oil to the burner, the furnace comprises a first cavity and a second cavity arranged on the outer periphery of the first cavity, a circulating water jacket is arranged between the first cavity and the second cavity, the water supply module is connected to the circulating water jacket and is used to supply water into the circulating water jacket, the power supply module comprises a temperature difference power generation group, a rectifier, an inverter and a battery, the temperature difference power generation group is located between the first cavity of the furnace and the circulating water jacket, the temperature difference power generation group is connected to the rectifier, the rectifier is connected to the inverter, and the inverter is respectively connected to the battery and the stirring assembly;

[0008] The first cavity is also provided with a second temperature sensor for detecting its temperature, and the circulating water jacket is provided with a third temperature sensor for detecting the water temperature inside it;

[0009] The stirring assembly, the oil supply module, the water supply module, the temperature difference power generation group, the inverter, the second temperature sensor and the third temperature sensor are all connected to the central controller.

[0010] Furthermore, the fuel supply module includes a fuel tank and a fuel pump, one end of the fuel pump is connected to the fuel tank, and the other end is connected to the burner through a first pipeline, and the first pipeline is provided with a first solenoid valve and a first flow sensor respectively connected to the central controller.

[0011] Furthermore, the water supply module includes a water tank and a water pump, one end of the water pump is connected to the water tank, and the other end is connected to the circulating water jacket through a second pipe, the second pipe is provided with a second solenoid valve and a second flow sensor respectively connected to the central controller, the water tank is provided with a first temperature sensor for detecting the internal water temperature thereof, and the first temperature sensor is connected to the central controller.

[0012] Furthermore, the power supply module also includes a DC voltage regulator, the input end of the DC voltage regulator is connected to the output end of the rectifier, and the output end of the DC voltage regulator is connected to the input end of the inverter.

[0013] Furthermore, the temperature difference power generation group includes a plurality of power generation rings composed of temperature difference power generation sheets connected in series, and the plurality of power generation rings are connected in parallel, and the high temperature side of each temperature difference power generation sheet is in contact with the first cavity, and the low temperature side is in contact with the circulating water jacket.

[0014] Furthermore, an annular heat sink is arranged on the outer peripheral surface of the second cavity.

[0015] On the other hand, the present invention also provides a control method for a cooking robot self-power supply system, based on the above cooking robot self-power supply system, comprising the following steps:

[0016] Step 1, the second temperature sensor and the third temperature sensor transmit the detected temperature information to the central controller, and the central controller obtains the temperature difference between the first cavity and the circulating water jacket;

[0017] Step 2: When the temperature difference in step 1 is greater than 60°C, the central controller starts the temperature difference power generation group to generate electricity. Otherwise, the temperature difference is adjusted to meet the power generation requirements according to the preset strategy.

[0018] Step 3: After the temperature difference power generation group generates electricity, the central controller manages and distributes the spontaneously generated electricity;

[0019] Step 4: When the cooking robot requires different amounts of heat at different cooking stages, the central controller adjusts the switch of the first solenoid valve according to the data detected by the first flow meter to adjust the temperature of the first cavity, and at the same time adjusts the temperature difference according to the strategy preset in step 2;

[0020] Step 5: When the stirring component needs to work intermittently during the cooking process, the temperature difference power generation group is controlled by the central controller according to the power required by the system, or the temperature difference is adjusted according to the strategy preset in step 2.

[0021] Further, in step 2, the preset strategy includes: determining the set temperature in the circulating water jacket according to the temperature of the first cavity and the temperature difference required by the current temperature difference power generation group, and adjusting the switch of the second solenoid valve through the data detected by the first temperature sensor, the third temperature sensor and the second flow sensor respectively, so as to make the temperature in the circulating water jacket reach the set temperature;

[0022] In step 5, the operation of the temperature difference power generation group is controlled by shutting down no more than 1 / 2 of the temperature difference power generation sheets through a central controller.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present invention provides a cooking robot self-power supply system and control method. By setting a central controller, a cooking module, a water supply module, a power supply module and an oil supply module, the system can automatically adjust the heating amount in the first cavity of the furnace according to the different heat required by the cooking robot in different cooking stages, and adjust the water temperature in the circulating water jacket according to the temperature of the first cavity, thereby ensuring the constancy of the power output and realizing the self-power supply of the pure fuel cooking robot in the wild or in places lacking power supply capacity. The present invention solves the problem that the existing technology cannot provide power to the load after self-generation and has great application limitations. The present invention controls power generation by controlling heat and water temperature, has strong tolerance to the external environment, high stability, and a wide range of applications, and is particularly suitable for harsh outdoor environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are incorporated in and constitute a part of this specification and, together with the description, serve to explain the principles of the present invention.

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0027] Figure 1 It is a structural schematic diagram of the self-power supply system of the cooking robot of the present invention;

[0028] Figure 2 A schematic diagram of the cooking robot structure of the cooking robot's self-power supply system of the present invention;

[0029] Figure 3 A schematic diagram of the structure of a temperature difference power generation group of the self-power supply system of the cooking robot of the present invention;

[0030] Figure 4 It is a schematic diagram of the structure of the power supply module of the self-power supply system of the cooking robot of the present invention.

[0031] Among them: 1 is a cooking module; 2 is an oil supply module; 3 is a water supply module; 4 is a power supply module; 5 is a central controller; 11 is a furnace; 12 is a burner; 13 is a pot; 14 is a stirring assembly; 15 is an annular heat sink; 21 is an oil tank; 22 is a fuel pump; 23 is a first solenoid valve; 24 is a first flow sensor; 31 is a water tank; 32 is a water pump; 33 is a second solenoid valve; 34 is a second flow sensor; 35 is a first temperature sensor; 41 is a temperature difference power generation group; 42 is a rectifier; 43 is an inverter; 44 is a battery; 45 is a DC voltage regulator; 111 is a first cavity; 112 is a second cavity; 113 is a circulating water jacket; 411 is a temperature difference power generation sheet. DETAILED DESCRIPTION

[0032] Here, exemplary embodiments will be described in detail, and the embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are only examples consistent with some aspects of the present invention described in detail in the appended claims.

[0033] See also Figure 1 and Figure 2 On the one hand, the present invention provides a cooking robot self-powered system, including a cooking module 1, the cooking module 1 includes a furnace 11, the bottom of the furnace 11 is provided with a burner 12 for heating the furnace, the top of the furnace 11 is provided with a pot 13, one side of the pot 13 is provided with a stirring assembly 14 (not shown in the figure), and also includes an oil supply module 2, a water supply module 3, a power supply module 4 and a central controller 5, the oil supply module 2 is connected to the burner 12, and is used to supply oil to the burner 12, the furnace 11 includes a first cavity 111 and a second cavity 112 arranged on the periphery of the first cavity 11, the first cavity 111 is provided with a second cavity 112, and the first cavity 112 is provided with a second cavity 112. A circulating water jacket 113 is provided between the cavity 111 and the second cavity 112. The water supply module 3 is connected to the circulating water jacket 113 and is used to supply water to the circulating water jacket 113. The power supply module 4 includes a temperature difference power generation group 41, a rectifier 42, an inverter 43 and a battery 44. The temperature difference power generation group 41 is located between the first cavity 111 of the furnace 11 and the circulating water jacket 113. The temperature difference power generation group 41 is connected to the rectifier 42, the rectifier 42 is connected to the inverter 43, and the inverter 43 is respectively connected to the battery 44 and the stirring assembly 14, so as to supply the spontaneous electricity to the battery 44 and the stirring assembly 14.

[0034] The first cavity 111 is also provided with a second temperature sensor for detecting its temperature, and the circulating water jacket 113 is provided with a third temperature sensor for detecting the internal water temperature;

[0035] The stirring assembly 14 , the oil supply module 2 , the water supply module 3 , the temperature difference power generation group 41 , the inverter 43 , the second temperature sensor and the third temperature sensor are all connected to the central controller 5 .

[0036] Specifically, the inner thermal grease of the temperature difference power generation group 41 is in close contact with the outer wall of the first cavity 111, and the outer low-temperature part is in close contact with the circulating water jacket 113. A temperature difference is formed between the high-temperature first cavity 111 and the low-temperature circulating water jacket 113, thereby enabling the temperature difference power generation group 41 to generate electricity.

[0037] The first cavity 111 and the second cavity 112 are both made of heat-resistant steel to resist long-term erosion by high-temperature flames.

[0038] In this embodiment, the second temperature sensor (not shown in the figure) is connected to the central controller 5 for transmitting the heating temperature in the first cavity 111 to the central controller 5; the third temperature sensor (not shown in the figure) is connected to the central controller 5 for transmitting the water temperature in the circulating water jacket 113 to the central controller 5.

[0039] Furthermore, the fuel supply module 2 includes a fuel tank 21 and a fuel pump 22, one end of the fuel pump 22 is connected to the fuel tank 21, and the other end is connected to the burner 12 through a first pipe, and the first pipe is provided with a first solenoid valve 23 and a first flow sensor 24 respectively connected to the central controller 5.

[0040] Specifically, the first pipeline is made of pressure-resistant and corrosion-resistant metal pipes, has a firm connection, and can withstand higher pressures and temperatures. When connecting, suitable joints and seals are required to ensure that the pipelines are tightly connected and leak-free.

[0041] In this embodiment, the water supply module 3 includes a water tank 31 and a water pump 32, one end of the water pump 32 is connected to the water tank 31, and the other end is connected to the circulating water jacket 113 through a second pipe, and the second pipe is provided with a second solenoid valve 33 and a second flow sensor 34 respectively connected to the central controller 5. The water tank 31 is provided with a first temperature sensor 35 for detecting the internal water temperature thereof, and the first temperature sensor 35 is connected to the central controller 5.

[0042] Specifically, the central controller 5 controls the switch of the water pump 32, receives the water temperature data in the water tank 31 sent by the first temperature sensor 35, and also receives the flow data of the second pipeline sent by the second flow sensor 34. In addition, the central controller 5 controls the water flow rate of the second pipeline by adjusting the switch of the second solenoid valve 33.

[0043] Furthermore, the power supply module 4 also includes a DC regulator 45, the input end of the DC regulator 45 is connected to the output end of the rectifier 42, and the output end of the DC regulator 45 is connected to the input end of the inverter 43. Since different heating gears are used at different stages in the cooking process, the temperature in the first cavity 111 will fluctuate, thereby causing the current and voltage of the generated electricity to fluctuate. Therefore, a DC regulator 45 is installed after the rectifier 42 to ensure the stability of the voltage and current. At the same time, the inverter 43 can convert the DC voltage of the DC regulator 45 into 220V AC to supply other loads, such as the stirring component 14.

[0044] Furthermore, the thermoelectric generating set 41 includes a plurality of power generation rings composed of thermoelectric generating sheets 411 connected in series, and the plurality of power generation rings are connected in parallel, and the high temperature side of each thermoelectric generating sheet 411 is in contact with the first cavity 111, and the low temperature side is in contact with the circulating water jacket 113. It should be noted that the pasting method of the thermoelectric generating sheet 411 will change with the structure of the first cavity 111. Due to the size and power generation characteristics of the thermoelectric generating sheet, the thermoelectric generating sheet 411 must be connected in series and in parallel according to a certain structure so that the power supply connected to it reaches the conventional power level of 220V. The connection structure of the generating sheet is shown in FIG.

[0045] Furthermore, an annular heat sink 15 is disposed on the outer peripheral surface of the second cavity 112 .

[0046] The specific process of the system in practical application is as follows:

[0047] First, the battery 44 provides direct current to start the central controller 5 and the fuel pump 22, completes the ignition of the burner 12 to heat the first cavity 111 of the furnace 11, and starts the water pump 32 to inject water into the circulating water jacket 113. After the burner 12 is ignited, the temperature in the first cavity 111 rises rapidly to above 300 degrees Celsius. At this time, the circulating water jacket 113 is filled with cold water, and a temperature difference is formed between the inside and outside of the temperature difference power generation group 41. When the temperature difference is greater than 60 degrees Celsius, the central controller 5 starts the temperature difference power generation group 41 to start generating electricity. When the power reaches a certain intensity, it can be used to power the stirring component 14, water pump 32, fuel pump 22, central controller 5 and other loads that need power of the cooking robot after rectification and inversion. The excess power is used to charge the battery 44 to keep the battery 44 fully charged.

[0048] On the other hand, an embodiment of the present invention further provides a control method of a cooking robot self-power supply system, based on the above-mentioned cooking robot self-power supply system, comprising the following steps:

[0049] Step 1, the second temperature sensor and the third temperature sensor transmit the detected temperature information to the central controller 5, and then the central controller 5 can obtain the temperature difference between the first cavity 111 and the circulating water jacket 113;

[0050] Step 2: When the temperature difference in step 1 is greater than 60°C, the central controller 5 starts the temperature difference power generation group 41 to generate electricity. Otherwise, the temperature difference is adjusted to meet the power generation requirements according to the preset strategy.

[0051] Step 3: After the temperature difference power generation group 41 generates electricity, the central controller 5 manages and distributes the self-generated electricity;

[0052] Step 4: When the cooking robot requires different amounts of heat at different cooking stages, the central controller 5 adjusts the switch of the first solenoid valve 23 according to the data detected by the first flow sensor 24 (i.e., the amount of oil flowing into the burner), thereby adjusting the temperature of the first cavity 111, and at the same time adjusts the temperature difference according to the strategy preset in step 2;

[0053] Step 5: When the stirring component 14 is not required to operate during the cooking process, the temperature difference power generation group 41 is controlled by the central controller 5 according to the power required by the system, or the temperature difference is adjusted according to the strategy preset in step 2 to maintain a suitable temperature difference.

[0054] Among them, in step 2, the preset strategy includes: determining the set temperature in the circulating water jacket 113 according to the temperature of the first cavity 111 and the temperature difference required by the current temperature difference power generation group 41, and adjusting the switch of the second solenoid valve 33 (i.e., adjusting the size of the water flow) through the data detected by the first temperature sensor 35, the third temperature sensor and the second flow sensor 34 respectively, so that the temperature in the circulating water jacket 113 reaches the set temperature;

[0055] In step 3, the central controller 5 manages and distributes the self-generated electricity, including supplying the self-generated electricity to the water pump 32, the fuel pump 22, the central controller 5, and the stirring component 14 respectively. When there is excess electricity after the power supply is completed, the excess electricity is charged into the battery 44;

[0056] In step 4, for example, in the stir-frying or frying stage, the flame intensity is required to be high, that is, the temperature of the first cavity 111 becomes high, and the temperature difference is adjusted according to the strategy preset in step 2 to ensure the relative stability of the temperature difference power generation current and voltage; for example, in order to achieve energy saving or at the end of cooking, the combustion flame is reduced, that is, the temperature of the first cavity 111 becomes low, and the temperature difference is adjusted according to the strategy preset in step 2 to ensure the relative stability of the temperature difference power generation current and voltage;

[0057] In step 5, for example, when entering the second half of cooking or the stewing stage, the stirring component 41 moves intermittently and requires lower electrical energy. First, according to the current power consumption needs, the operation of the temperature difference power generation group 41 is controlled. Specifically, no more than 1 / 2 of the temperature difference power generation sheets are turned off through the central controller 5.

[0058] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention.

[0059] It should be understood that the present invention is not limited to what has been described above and that various modifications and changes may be made without departing from its scope. The scope of the present invention is limited only by the appended claims.

Claims

1. A cooking robot self-powered system, comprising a cooking module (1), the cooking module (1) comprising a furnace (11), a burner (12) for heating the furnace (11) being arranged at the bottom thereof, a pot (13) being arranged at the top of the furnace (11), a stirring assembly (14) being arranged on either side of the pot (13), wherein: The invention also comprises an oil supply module (2), a water supply module (3), a power supply module (4) and a central controller (5); the oil supply module (2) is connected to the burner (12) and is used to supply oil to the burner (12); the furnace (11) comprises a first cavity (111) and a second cavity (112) arranged on the outer periphery of the first cavity (11); a circulating water jacket (113) is arranged between the first cavity (111) and the second cavity (112); the water supply module (3) is connected to the circulating water jacket (113) and is used to Water is supplied to the circulating water jacket (113); the power supply module (4) comprises a temperature difference power generation group (41), a rectifier (42), an inverter (43) and a battery (44); the temperature difference power generation group (41) is located between the first cavity (111) of the furnace (11) and the circulating water jacket (113); the temperature difference power generation group (41) is connected to the rectifier (42); the rectifier (42) is connected to the inverter (43); and the inverter (43) is respectively connected to the battery (44) and the stirring assembly (14); The first cavity (111) is also provided with a second temperature sensor for detecting its temperature, and the circulating water jacket (113) is provided with a third temperature sensor for detecting the water temperature inside it; The stirring assembly (14), the oil supply module (2), the water supply module (3), the temperature difference power generation group (41), the inverter (43), the second temperature sensor and the third temperature sensor are all connected to the central controller (5).

2. The cooking robot self-power supply system according to claim 1, characterized in that: The fuel supply module (2) comprises a fuel tank (21) and a fuel pump (22); one end of the fuel pump (22) is connected to the fuel tank (21), and the other end is connected to the burner (12) via a first pipeline; the first pipeline is provided with a first solenoid valve (23) and a first flow sensor (24) respectively connected to a central controller (5).

3. The cooking robot self-power supply system according to claim 1, characterized in that: The water supply module (3) comprises a water tank (31) and a water pump (32); one end of the water pump (32) is connected to the water tank (31), and the other end is connected to the circulating water jacket (113) via a second pipe; the second pipe is provided with a second solenoid valve (33) and a second flow sensor (34) respectively connected to a central controller (5); the water tank (31) is provided with a first temperature sensor (35) for detecting the water temperature inside the water tank, and the first temperature sensor (35) is connected to the central controller (5).

4. The cooking robot self-power supply system according to claim 1, characterized in that: The power supply module (4) further comprises a DC voltage regulator (45), wherein the input end of the DC voltage regulator (45) is connected to the output end of the rectifier (42), and the output end of the DC voltage regulator (45) is connected to the input end of the inverter (43).

5. The cooking robot self-power supply system according to claim 1, characterized in that: The temperature difference power generation group (41) comprises a plurality of power generation rings formed by series connection of temperature difference power generation sheets (411), the plurality of power generation rings being connected in parallel, the high temperature side of each temperature difference power generation sheet (411) being in contact with the first cavity (111), and the low temperature side being in contact with the circulating water jacket (113).

6. The cooking robot self-power supply system according to claim 1, characterized in that: An annular heat sink (15) is provided on the outer peripheral surface of the second cavity (112).

7. A control method for a cooking robot self-power supply system, characterized in that: The cooking robot self-power supply system according to any one of claims 1 to 6 comprises the following steps: Step 1: The second temperature sensor and the third temperature sensor transmit detected temperature information to a central controller (5), and the central controller (5) obtains a temperature difference between the first cavity (111) and the circulating water jacket (113); Step 2: When the temperature difference in step 1 is greater than 60° C., the central controller (5) starts the temperature difference power generation group (41) to start power generation; otherwise, the temperature difference is adjusted to meet the power generation requirements according to a preset strategy; Step 3: After the temperature difference power generation group (41) generates electricity, the central controller (5) manages and distributes the spontaneously generated electricity; Step 4: When the cooking robot requires different amounts of heat at different cooking stages, the central controller (5) adjusts the switch of the first solenoid valve (23) and thereby adjusts the temperature of the first cavity (111) according to the data detected by the first flow meter (24), and at the same time adjusts the temperature difference according to the strategy preset in step 2; Step 5: When the stirring component (14) needs to operate intermittently during the cooking process, the temperature difference power generation group (41) is controlled by the central controller (5) according to the power required by the system, or the temperature difference is adjusted according to the strategy preset in step 2.

8. The control method of the cooking robot self-power supply system according to claim 7, characterized in that: In step 2, the preset strategy includes: determining the set temperature in the circulating water jacket (113) according to the temperature of the first cavity (111) and the temperature difference required by the current temperature difference power generation group (41), and adjusting the switch of the second solenoid valve (33) based on the data detected by the first temperature sensor (35), the third temperature sensor and the second flow sensor (34) respectively, so as to make the temperature in the circulating water jacket (113) reach the set temperature; In step 5, the operation of the temperature difference power generation group (41) is controlled by closing no more than 1 / 2 of the temperature difference power generation sheets through the central controller (5).

Images