Automatic cooking method, program product, electronic equipment and storage medium

Abstract

The invention provides an automatic cooking method, a program product, electronic equipment and a storage medium, and the method comprises the steps: receiving a plurality of cooking recipes, and arranging a menu task according to the plurality of cooking recipes; the menu task comprises an instruction set in the process of simultaneously making a plurality of cooking recipes, and the cooking equipment comprises an automatic cooker, a mechanical arm and / or a stacking machine; sending a current action instruction to the cooking equipment according to the menu task, and receiving a response signal fed back by the cooking equipment after executing the current action; and if the response signal represents that the execution of the current action is completed, sending the next action instruction as the current action instruction to the corresponding cooking equipment according to the menu task, receiving a response signal fed back by the cooking equipment, and repeatedly executing the actions until the menu task is completed. Through combination of static scheduling and dynamic scheduling, the control system coordinates tasks among different devices, the cooperation capability among the devices is enhanced, and the control system receives response signals fed back by the cooking devices and schedules the next task.

Description

Technical Field

[0001] The present application relates to the technical field of automatic cooking, and in particular to an automatic cooking method, a program product, an electronic device and a storage medium. Background Art

[0002] With the continuous development of intelligent home appliances, cooking machines are becoming more and more popular. Existing automatic cooking methods are often not implemented or have poor usage in actual tests. For example, the actions of a cooking machine are customized according to time. When the cooking machine is delayed due to action delay or transmission signal problems, it may cause subsequent actions to be difficult to complete. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide an automatic cooking method, a program product, an electronic device and a storage medium to improve the above-mentioned problems.

[0004] In a first aspect, an embodiment of the present application provides an automatic cooking method, which is applied to a control system, wherein the control system is connected to a cooking device, and the method comprises: receiving multiple cooking recipes, and arranging menu tasks according to the multiple cooking recipes; the menu task comprises a set of instructions for simultaneously making multiple cooking recipes, and the instruction set is used to indicate the cooking device and the execution action of each action instruction, as well as the execution order and / or execution time of the execution action; the cooking device comprises a cooking machine, a robotic arm and / or a stacker; sending the current action instruction to the cooking device according to the menu task, and receiving a response signal fed back by the cooking device after the cooking device executes the current action; if the response signal indicates that the current action is completed, sending the next action instruction as the current action instruction to the corresponding cooking device according to the menu task, and receiving the response signal fed back by the cooking device, and repeating the above actions until the menu task is completed.

[0005] In the above implementation process, by arranging multiple cooking recipes into menu tasks and generating a series of action instructions according to the arranged menu tasks, static scheduling of cooking equipment is realized, and multiple cooking recipes are executed simultaneously to improve cooking efficiency. Furthermore, the control system can receive response signals from the cooking equipment in real time, quickly respond to changes in the equipment status, and schedule the next task according to the response signal to achieve dynamic scheduling of cooking equipment. By combining static scheduling and dynamic scheduling, the control system enhances the collaboration ability between devices by coordinating tasks between different devices, which not only improves cooking efficiency and quality, but also enhances the stability of automatic cooking and user experience.

[0006] Optionally, in an embodiment of the present application, menu tasks are arranged according to multiple cooking recipes, including: decomposing each cooking recipe into multiple cooking decomposition tasks, wherein each cooking decomposition task corresponds to an action instruction or an action instruction combination; and according to the execution order and execution duration of each cooking decomposition task, multiple cooking decomposition tasks in different cooking recipes are interspersed and arranged to generate menu tasks.

[0007] In the above implementation process, by interspersing and arranging multiple cooking decomposition tasks in different cooking recipes, generating menu tasks, and rationally scheduling instructions of different devices according to the menu tasks, multiple cooking recipes can be carried out simultaneously, thereby improving the utilization rate of cooking equipment, reducing waiting time, and improving the smoothness of the automatic cooking process.

[0008] Optionally, in an embodiment of the present application, a current action instruction is sent to a cooking device according to a menu task, including: obtaining unexecuted action instructions in an instruction set corresponding to the menu task; taking the action instruction with the first order among the unexecuted action instructions as the current action instruction; and sending the current action instruction to the cooking device corresponding to the current action instruction.

[0009] In the above implementation process, the system can quickly select and send the next action instruction from the instruction set, reducing waiting and delay, and improving the overall response speed and efficiency. By accurately controlling the execution order and time of each cooking action, the controllability of the cooking process is improved.

[0010] In a second aspect, an embodiment of the present application provides an automatic cooking method, which is applied to a cooking device, and the cooking device is connected to a control system. The method includes: receiving an action instruction sent by the control system, and sending a first response signal to the control system; the first response signal indicates that the action instruction has been received; executing an action based on the action instruction, and sending a second response signal to the control system after the execution is completed, so that the control system continues to send action instructions according to the menu task based on the second response signal, and repeatedly executes the above actions until the menu task is completed; the second response signal indicates that the action instruction has been completed.

[0011] In the above implementation process, the cooking device provides instant feedback to the control system, so that the control system can monitor the operating status of the device in real time and make decisions quickly based on the feedback from the cooking device, thereby improving the response speed of the entire automatic cooking. The control system continuously sends action instructions based on the second response signal to achieve continuous execution of tasks and reduce idle time. The control system can dynamically adjust task scheduling based on the feedback from the device to optimize the overall cooking process. In addition, the response signal includes the first response signal and / or the second response signal, and the accurate response signal helps the control system to accurately determine the cause of the fault.

[0012] Optionally, in an embodiment of the present application, the cooking device includes a robotic arm; the action instruction includes a dish-dropping instruction, an empty bucket return instruction and / or a dish-serving instruction; the action is executed based on the action instruction, and a second response signal is sent to the control system after the execution is completed, including: if the action instruction is a dish-dropping instruction, a target dish-dropping wok and a stacker dish-taking port for clamping the dish bucket are obtained from the dish-dropping instruction; the dish bucket is clamped from the stacker dish-taking port, and the dish in the dish bucket is dropped into the target dish-dropping wok; based on the empty bucket weight after the dish is dropped into the dish bucket, it is determined whether the dish-dropping instruction is executed, and a table indicating whether the execution is completed is sent to the control system if the execution is completed. A second response signal indicating that the execution of the dish delivery instruction has been completed is obtained; and / or, if the action instruction is an empty bucket return instruction, the stacker recovery port for placing the empty bucket is obtained from the empty bucket return instruction; the empty bucket is placed at the stacker recovery port, and a second response signal indicating that the execution of the empty bucket return instruction has been completed is sent to the control system; and / or, if the action instruction is a dish serving instruction, the target dish serving wok and the stacker dish serving port for placing the finished dish are obtained from the dish serving instruction; the finished dish is taken from the target dish serving wok, and the finished dish is placed at the stacker dish serving port; and a second response signal indicating that the execution of the dish serving instruction is completed is sent to the control system.

[0013] In the above implementation process, manual intervention is reduced and the level of automation is improved through automated food delivery, empty bucket return and food serving operations. After receiving the action instructions, the robotic arm parses the information and performs the actions according to the instructions, thereby improving the standardization of the cooking process, the consistency of the dishes, and the accuracy of the placement of various utensils.

[0014] Optionally, in an embodiment of the present application, the cooking device includes a stacker; the action instruction includes a dish conveying instruction, an empty barrel recovery instruction and / or a finished dish conveying instruction; the action is executed based on the action instruction, and a second response signal is sent to the control system after the execution is completed, including: if the action instruction is a dish conveying instruction, the order of dish delivery of the first conveyor belt is determined according to the menu task, and when the first conveyor belt meets the dish delivery requirements, the dish barrel is transferred from the shelf to a preset stacker dish picking port according to the dish delivery order, so that the robot arm can perform dish picking operations from the stacker dish picking port; and after the execution is completed, a second response signal indicating that the execution of the dish conveying instruction is completed is sent to the control system; if the action instruction is an empty barrel recovery instruction, it is determined whether the empty barrel is received according to the sensing information of the second conveyor belt, and if received, the empty barrel is transferred to a preset position, and a second response signal indicating that the execution of the empty barrel recovery instruction is completed is sent to the control system; if the action instruction is a finished dish conveying instruction, it is determined whether the finished dish is received according to the sensing information of the second conveyor belt, and if received, the empty barrel is transferred to a preset position, and a second response signal indicating that the execution of the finished dish conveying instruction is completed is sent to the control system.

[0015] In the above implementation process, during the automatic cooking process, the automated empty barrel recycling process reduces manual intervention and improves the overall automation efficiency. The empty barrels are placed in a preset position in an orderly manner, optimizing space utilization and reducing confusion. The stacker can monitor the sensor information of the conveyor belt to confirm whether the instruction is completed and provide feedback, which improves the reliability and stability of the system.

[0016] Optionally, in an embodiment of the present application, the cooking device includes a cooking machine; executing an action based on an action instruction, and sending a second response signal to the control system after the execution is completed, including: obtaining an execution time from the action instruction, controlling the cooking machine to execute the action corresponding to the action instruction, and sending a second response signal to the control system after a preset time is reached to indicate that the action instruction is completed; wherein the action instructions include a hot pot instruction, a stir-fry instruction, a stand at attention instruction, and a pot washing instruction.

[0017] In the above implementation process, the cooking machine can improve the consistency and accuracy of the cooking process by accurately controlling the execution time of each action of the cooking machine, thereby improving the cooking quality. In addition, the cooking machine can effectively communicate with the control system and send a second response signal to the control system when the instruction is completed, indicating that the action instruction has been executed, so that the cooking machine can run efficiently.

[0018] On the third aspect, the embodiment of the present application also provides an automatic cooking device, which is applied to a control system, and the control system is connected to the cooking equipment, including: a menu arrangement task, which is used to receive multiple cooking recipes and arrange menu tasks according to the multiple cooking recipes; the menu task includes a set of instructions in the process of simultaneously making multiple cooking recipes, and the instruction set is used to indicate the cooking equipment and execution actions of each action instruction, as well as the execution order and / or execution time of the execution actions; the cooking equipment includes a cooking machine, a robotic arm and / or a stacker; an instruction generation module, which is used to send the current action instruction to the cooking equipment according to the menu task, and receive a response signal fed back by the cooking equipment after the execution of the current action; a feedback judgment module, which is used to send the next action instruction as the current action instruction to the corresponding cooking equipment according to the menu task if the response signal indicates that the current action is completed, and receive the response signal fed back by the cooking equipment, and repeat the above actions until the menu task is completed.

[0019] In a fourth aspect, an embodiment of the present application further provides an automatic cooking device, which is applied to a cooking device, and the cooking device is connected to a control system, and includes: a command receiving module, which is used to receive an action command sent by the control system and send a first response signal to the control system; the first response signal represents the received action command; an execution and feedback module, which is used to execute an action based on the action command, and send a second response signal to the control system after the execution is completed, so that the control system continues to send action commands according to the menu task according to the second response signal, and repeatedly executes the above actions until the menu task is completed; the second response signal represents the completed action command.

[0020] In a fifth aspect, an embodiment of the present application further provides a computer program product, including computer program instructions, which, when executed by a processor, execute the method provided by the first aspect or any one of the implementations of the first aspect.

[0021] In a sixth aspect, an embodiment of the present application further provides an electronic device, comprising: a processor and a memory, the memory storing computer program instructions, and the computer program instructions, when executed by the processor, execute the method provided by the first aspect or any one of the implementations of the first aspect.

[0022] In the seventh aspect, an embodiment of the present application further provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method provided by the first aspect or any one of the implementations of the first aspect is executed.

[0023] The automatic cooking method, program product, electronic device and storage medium provided by the present application are used to arrange multiple cooking recipes into menu tasks, generate a series of action instructions according to the arranged menu tasks, realize static scheduling of cooking equipment, and realize the simultaneous execution of multiple cooking recipes, thereby improving cooking efficiency. Furthermore, the control system can receive the response signal fed back from the cooking equipment in real time, quickly respond to the change of equipment status, and the control system schedules the next task according to the response signal to realize dynamic scheduling of cooking equipment. By combining static scheduling and dynamic scheduling, the control system enhances the collaboration ability between devices by coordinating the tasks between different devices, which not only improves the cooking efficiency and quality, but also enhances the stability of automatic cooking and the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic flow chart of an automatic cooking method applied to a control system provided in an embodiment of the present application;

[0026] Figure 2 A schematic flow chart of an automatic cooking method applied to a cooking device provided in another embodiment of the present application;

[0027] Figure 3 A schematic diagram of the interaction between the control system and the cooking device provided in the embodiment of the present application;

[0028] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0031] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0032] The actions of each device in the existing automatic cooking system are pre-customized according to time. For example, the programming content of a menu is: at 0 minutes, the cooking machine starts to heat the pot and perform the rolling action; at 1 minute, the cooking machine stops rolling, and the robotic arm starts to throw the first dish; at 1 minute and 30 seconds, the cooking machine continues to stir-fry, and the robotic arm resets until the stir-frying time of the cooking machine reaches the requirement, and then the dish is prepared. However, in the existing implementation process, when the cooking machine starts to heat the pot at 0 minutes, it may stop rolling before completing the hot pot operation at 3 minutes due to signal transmission delay or cooking machine startup delay. When the robotic arm starts to throw the dish, it resets before completing the throwing action at 3 minutes and 30 seconds due to the same reasons as the robotic arm action delay or dish picking failure. It can be seen that the automatic cooking method of the prior art has a poor user experience and it is difficult to accurately control the cooking equipment machinery.

[0033] The embodiment of the present application provides an automatic cooking method, which is applied to a control system. By arranging multiple cooking recipes into menu tasks and generating a series of action instructions according to the arranged menu tasks, static scheduling of cooking equipment is achieved, and multiple cooking recipes are executed simultaneously to improve cooking efficiency. Furthermore, the control system can receive response signals fed back from the cooking equipment in real time, quickly respond to changes in the equipment status, and the control system schedules the next task according to the response signal to achieve dynamic scheduling of the cooking equipment. By combining static scheduling and dynamic scheduling, the control system enhances the collaboration ability between devices by coordinating tasks between different devices, which not only improves cooking efficiency and quality, but also enhances the stability of automatic cooking and user experience.

[0034] See also Figure 1 A flow chart of an automatic cooking method applied to a control system provided by an embodiment of the present application is shown. The automatic cooking method provided by the first embodiment of the present application can be applied to a control system, which is responsible for monitoring, commanding and coordinating the cooking equipment and tasks in the entire automatic cooking process, and may include components such as a central processing unit, an input module, an output module, a communication interface, a user interface, and an operating system. The central processing unit is responsible for processing all input data, executing algorithms and logic, and outputting control instructions. The input module is used to receive operator instructions, cooking recipes, and external signals. The output device is used to send control signals to the cooking device. The communication interface enables the control system to exchange data with other systems or devices, such as Ethernet, serial communication, wireless communication, etc. The user interface is a visual interface for operators to view and input instructions.

[0035] The above control system can be deployed in an electronic device, which can include a physical device such as a server, a PC, a tablet computer or a smart phone, or a virtual device such as a virtual machine or a container. The electronic device can be a single device, a combination of multiple devices, or a cluster of a large number of devices. As an implementation, the control system can also be integrated in any cooking device. For example, the control system can be configured in a cooking machine, and the human-computer interaction interface of the cooking machine can be used to enable the operator to monitor the system status, adjust parameters, and receive alarms. The automatic cooking method applied to the control system can include the following steps:

[0036] Step S110: receiving a plurality of cooking recipes, and arranging a menu task according to the plurality of cooking recipes; the menu task comprises a set of instructions for preparing a plurality of cooking recipes at the same time, the set of instructions being used to indicate the cooking equipment and execution action of each action instruction, as well as the execution order and / or execution time of the execution action; the cooking equipment comprises a cooking machine, a robotic arm and / or a stacker.

[0037] Step S120: sending a current action instruction to the cooking device according to the menu task, and receiving a response signal fed back by the cooking device after executing the current action.

[0038] Step S130: If the response signal indicates that the current action is completed, the next action instruction is sent as the current action instruction to the corresponding cooking device according to the menu task, and the response signal fed back by the cooking device is received, and the above actions are repeated until the menu task is completed.

[0039] In step S110, the operator inputs a plurality of cooking recipes through the interactive interface of the control system, or selects a plurality of cooking recipes provided in the control system, wherein the cooking recipes include information such as required ingredients, cooking steps, and required equipment.

[0040] The control system receives multiple cooking recipes input or selected by the operator, arranges the multiple cooking recipes, and obtains a menu task. As an implementation method, the steps of the multiple cooking recipes can be arranged in sequence. After the first cooking recipe is completed, the second cooking recipe is started, until all the cooking recipes are arranged and the menu task is obtained. Of course, in order to improve cooking efficiency, the steps in the multiple cooking recipes can be arranged alternately, and multiple cooking devices can be used to realize parallel cooking processing. The above arrangement method will be introduced later.

[0041] The arranged menu task includes a set of instructions for making multiple cooking recipes at the same time. The set of instructions is used to indicate the execution actions of the cooking device, as well as the execution order and / or execution time of the execution actions. The set of instructions includes multiple instructions,

[0042] In step S120, the current action instruction is sent to the cooking device according to the menu task, that is, the current action instruction is sent according to the instruction set in the menu task. The instruction set includes a series of action instructions that need to be sent in order, and the current action instruction can be the instruction that is at the top of the order among the instructions that have not yet been executed. For example, when the menu task is initially started, at this time, all the action instructions in the instruction set have not been executed, and the first instruction in the instruction set can be sent to the corresponding cooking device as the current action instruction; after the first action instruction is executed, the current action (corresponding to the first action instruction) sent by the cooking device is received and executed, then the instruction at the top of the order among the remaining instructions that have not yet been executed in the instruction set, that is, the second action instruction, is sent again as the current action instruction to the corresponding cooking device.

[0043] After the cooking device receives the current action instruction, it will feedback a response signal to the control system, and the response signal includes a first response signal and / or a second response signal; for example, when the cooking device receives the current action instruction, it can first send a first response signal indicating that the action instruction has been received to the control system, and then execute the action corresponding to the current action instruction. After the execution is completed, it sends a second response signal indicating that the action instruction has been completed to the control system.

[0044] After the control system receives the first response signal, it can confirm that the cooking device has accurately received the action instruction. Receiving the second response signal can confirm that the cooking device has completed the action instruction. If the second response signal is not received after receiving the first response signal, it can be determined that there is a problem with the cooking device during the execution phase, excluding signal transmission problems. If the first response signal is not received, it can be determined that there is a problem with the communication connection. Receiving the accurate response signal fed back by the cooking device after executing the current action helps to accurately determine the cause of the fault; it also helps to control the overall cooking progress, improve the problem of subsequent action instructions being skipped or executed incorrectly due to a delay in the execution of an instruction, and improve the stability of automatic cooking.

[0045] In step S130, if the response signal indicates that the current action has been completed, the next action instruction is sent to the corresponding cooking device as the current action instruction according to the menu task, and the response signal fed back by the cooking device is received. It should be noted that the cooking devices corresponding to different action instructions may be the same or different. Following the above embodiment, when the menu task is initially started, the first instruction in the instruction set is sent to the corresponding cooking device as the current action instruction. Assuming that the first action instruction is a hot pot instruction, the cooking device corresponding to the hot pot instruction in the menu task is a cooking machine, so the hot pot instruction needs to be sent to the cooking machine. After receiving the action corresponding to the hot pot instruction sent by the cooking machine, the second action instruction in the instruction set is used as the current action instruction. Assuming that the second action instruction is a dish throwing instruction, the cooking device corresponding to the action dish throwing instruction is a robotic arm, the dish throwing instruction should be sent to the robotic arm, and the response signal fed back by the robotic arm is received.

[0046] Repeat the above actions until the menu task is completed. "Repeat the above actions" means repeatedly executing the step of "if the response signal indicates that the current action is completed, send the next action instruction as the current action instruction to the corresponding cooking device according to the menu task, and receive the response signal fed back by the cooking device", and completing the menu task means that all the instruction sets in the menu task are executed, or the instructions specified in the instruction set are executed, or other time conditions are met.

[0047] For example, if the response signal fed back by the above robot arm indicates that the second action instruction (i.e., the dish throwing instruction) has been executed, the next action instruction (the third action instruction) is sent to the corresponding cooking device as the current instruction until the menu task is completed. The next action instruction can be determined according to the sequence number of the action instructions or according to the execution time of the action instructions.

[0048] In the implementation process of the above embodiment: by arranging multiple cooking recipes into menu tasks, a series of action instructions are generated according to the arranged menu tasks, static scheduling of cooking equipment is realized, and multiple cooking recipes are executed simultaneously, thereby improving cooking efficiency. Furthermore, the control system can receive response signals from the cooking equipment in real time, quickly respond to changes in the equipment status, and the control system schedules the next task according to the response signal to realize dynamic scheduling of the cooking equipment. By combining static scheduling and dynamic scheduling, the control system enhances the collaboration ability between devices by coordinating tasks between different devices, which not only improves cooking efficiency and quality, but also enhances the stability of automatic cooking and user experience.

[0049] Optionally, in the embodiment of the present application, the menu tasks are arranged according to a plurality of cooking recipes, including:

[0050] Each cooking recipe is decomposed into multiple cooking decomposition tasks, where each cooking decomposition task corresponds to an action instruction or a combination of action instructions. Each step in each cooking recipe can be identified and decomposed into specific cooking decomposition tasks. For example, a simple stir-fry recipe may include the following tasks: heating the pot, adding food, putting the empty bucket back, stir-frying, serving the food, and washing the pot. Putting the empty bucket back means putting the empty bucket containing the food back after adding the food. The cooking decomposition tasks include the corresponding cooking equipment and execution actions, as well as the execution order and / or execution time of the execution actions.

[0051] Then define a corresponding action instruction for each cooking decomposition task. These instructions will be used to control specific cooking equipment, such as robotic arms, cooking machines, etc. For example, the corresponding instruction for a hot pot is the hot pot instruction, the corresponding cooking equipment is a cooking machine, the execution action is stir-frying, the execution order of the execution action is before serving, and the execution time is 90 seconds.

[0052] According to the execution order and execution time of each cooking decomposition task, multiple cooking decomposition tasks in different cooking recipes are interspersed and arranged to generate menu tasks. The menu tasks generated by the interspersed arrangement can control multiple cooking devices to cook at the same time, instead of starting to execute the second cooking recipe after the first cooking recipe is completed.

[0053] In the process of interleaving and arranging different cooking recipes, it is necessary to consider resource dependence and demand. For example, each cooking recipe corresponds to a cooking machine, but different cooking recipes may require the same robotic arm to throw in and serve the food. Therefore, in the process of interleaving and arranging, it is necessary to avoid conflicts among the robotic arms as much as possible. For example, during the time interval when the robotic arm is not needed in the first cooking recipe, the cooking decomposition tasks that require the use of the robotic arm in the second cooking recipe are arranged.

[0054] In the implementation process of the above embodiment: by interspersing and arranging multiple cooking decomposition tasks in different cooking recipes, generating menu tasks, and rationally scheduling instructions of different devices according to the menu tasks, multiple cooking recipes can be carried out simultaneously, thereby improving the utilization rate of cooking equipment, reducing waiting time, and improving the smoothness of the automatic cooking process.

[0055] Optionally, in an embodiment of the present application, a current action instruction is sent to a cooking device according to a menu task, including: obtaining unexecuted action instructions in an instruction set corresponding to the menu task; taking the action instruction with the first order among the unexecuted action instructions as the current action instruction; and sending the current action instruction to the cooking device corresponding to the current action instruction.

[0056] For example, the control system maintains an execution status list to record which instructions have been executed and which have not been executed. The control system retrieves all unexecuted instructions from the instruction set to prepare for the next step of selecting the current action instruction. From the sorted list of unexecuted instructions, the action instruction with the first order is selected and marked as the "current action instruction".

[0057] Sending the current action instruction to the cooking device corresponding to the current action instruction can first perform device identification, and the control system identifies the cooking device that needs to execute the current action instruction. The control system sends the current action instruction to the corresponding cooking device through the communication interface to start the execution process of the device. After receiving the instruction, the cooking device executes the corresponding action, and after the execution is completed, it sends a feedback signal to the control system, indicating that the action has been completed.

[0058] In the implementation process of the above embodiment: the system can quickly select and send the next action instruction from the instruction set, reducing waiting and delay, and improving the overall response speed and efficiency. By accurately controlling the execution order and time of each cooking action, the controllability of the cooking process is improved.

[0059] See also Figure 2A flow chart of an automatic cooking method applied to a cooking device provided by another embodiment of the present application is shown. The automatic cooking method provided by the first embodiment of the present application can be applied to a cooking device, and the cooking device includes a cooking machine, a robotic arm and / or a stacker. The cooking device is connected to a control system, so each cooking system can communicate and interact with the control system. The method includes:

[0060] Step S210: receiving an action instruction sent by the control system, and sending a first response signal to the control system; the first response signal indicates that the action instruction has been received;

[0061] Step S220: Execute an action based on the action instruction, and send a second response signal to the control system after the execution is completed, so that the control system continues to send the action instruction according to the menu task according to the second response signal, and repeats the above actions until the menu task is completed; the second response signal indicates that the action instruction has been completed.

[0062] In step S210, the cooking device receives an action instruction from the control system through its built-in communication module. The action instruction may be a digital signal or a specific command code, instructing the device to perform a specific action and execution time, such as "dish throwing instruction", "hot pot instruction", etc.

[0063] When the cooking device successfully receives and interprets the action command, it will send a first response signal to the control system. The first response signal is a confirmation signal indicating that the device has received and understood the action command. The first response signal can be sent back to the control system via a wireless network, a wired connection, or other communication protocols.

[0064] In step S220, after receiving the action instruction, the cooking device performs the corresponding action according to the instruction. For example, if the instruction is a "heat pot instruction", the cooking machine will start its heating element to a specified temperature.

[0065] After the action is completed, the cooking device sends a second response signal to the control system. The second response signal indicates that the specified action has been successfully completed and the device is ready to receive the next instruction. The second response signal allows the control system to understand the status of the current action and continue to send subsequent action instructions based on this information.

[0066] In the implementation process of the above embodiment: the cooking device provides instant feedback to the control system, so that the control system can monitor the operating status of the device in real time and make decisions quickly based on the feedback from the cooking device, thereby improving the response speed of the entire automatic cooking. The control system continuously sends action instructions based on the second response signal to achieve continuous execution of tasks and reduce idle time. The control system can dynamically adjust task scheduling based on the feedback from the device to optimize the overall cooking process. In addition, the response signal includes the first response signal and / or the second response signal, and the accurate response signal helps the control system accurately determine the cause of the fault.

[0067] Optionally, in an embodiment of the present application, the cooking device includes a robotic arm; the action instruction includes a dish-throwing instruction, an empty bucket-returning instruction, and / or a dish-serving instruction; executing an action based on the action instruction, and sending a second response signal to the control system after the execution is completed, includes:

[0068] If the action instruction is a dish-delivering instruction, the target dish-delivering pot and the dish-taking port of the stacker for picking up the dish bucket are obtained from the dish-delivering instruction; the dish bucket is picked up from the dish-taking port of the stacker, and the dishes in the dish bucket are put into the target dish-delivering pot; based on the weight of the empty bucket after the dishes are put into it, it is determined whether the dish-delivering instruction has been executed, and if so, a second response signal indicating the completion of the dish-delivering instruction is sent to the control system.

[0069] The dish throwing command is used to instruct the robot arm to pick up dishes from the dish picking port of the stacker and put them into the target delivery wok. After receiving the dish throwing command, the robot arm uses a clamp to pick up the dish bucket containing dishes from the dish picking port of the stacker. The robot arm carries the dish bucket containing dishes to the top of the target delivery wok and puts the dishes in the dish bucket into the target delivery wok.

[0070] After the dish is thrown in, the robot arm is equipped with a weight sensor to detect the weight change of the food bucket. By comparing the weight of the food bucket before and after the dish is thrown in, it is determined whether the dish has been completely thrown into the cooking pot. After confirming that the execution of the dish throwing instruction is completed, the robot arm sends a second response signal to the control system, indicating that the dish throwing action has been completed. After receiving the second response signal sent by the robot arm, the control system can send the next instruction, such as sending a stir-fry instruction to the cooking machine or sending an empty bucket return instruction to the robot arm.

[0071] And / or, if the action instruction is an empty barrel return instruction, the stacker recovery port where the empty barrel is placed is obtained from the empty barrel return instruction; the empty barrel is placed at the stacker recovery port, and a second response signal indicating that the empty barrel return instruction has been executed is sent to the control system.

[0072] The robot receives the empty barrel return instruction, parses the empty barrel return instruction, and extracts the stacker recovery port information where the empty barrel is placed. The robot moves to the designated stacker recovery port and places the empty barrel at the stacker recovery port. After the empty barrel is placed, the robot sends a second response signal to the control system, indicating that the empty barrel return action has been completed.

[0073] As an implementation method, after the robotic arm places the empty barrel at the stacker recovery port, the sensor on the stacker conveyor belt senses the empty barrel and can send a response signal to the control system, indicating that a certain (target) stacker recovery port has received the empty barrel and the mass of the empty barrel is XX grams.

[0074] And / or, if the action instruction is a dish serving instruction, then the target dish serving wok and the dish serving outlet of the stacker for placing the finished dish are obtained from the dish serving instruction; the finished dish is taken from the target dish serving wok and placed at the dish serving outlet of the stacker; and a second response signal indicating that the execution of the dish serving instruction is completed is sent to the control system.

[0075] The dish delivery instruction is used to instruct the robot arm to take the finished dish from the target dish delivery wok and place the finished dish at the stacker dish delivery port. After receiving the dish delivery instruction, the robot arm extracts the target dish delivery wok and the stacker dish delivery port information where the finished dish is placed.

[0076] The robot arm moves to the target cooking pot and takes the finished dish from the cooking pot. Then it carries the finished dish to the stacker's dish outlet, and the robot arm places the finished dish at the stacker's dish outlet. After the finished dish is placed, the robot arm sends a second response signal to the control system, indicating that the dish delivery action has been completed.

[0077] In the implementation process of the above embodiment: through the automated operation of throwing food in, putting back the empty bucket and serving food, human intervention is reduced and the level of automation is improved. After the robotic arm receives the action instruction, it parses the information therein and performs the action according to the instruction content, thereby improving the standardization of the cooking process, the consistency of the dishes, and the accuracy of the placement of various utensils.

[0078] Optionally, in an embodiment of the present application, the cooking device includes a stacker; the action instruction includes a dish conveying instruction, an empty bucket recycling instruction and / or a finished dish conveying instruction; executing an action based on the action instruction and sending a second response signal to the control system after the execution is completed include:

[0079] If the action instruction is a dish delivery instruction, the dish delivery order of the first conveyor belt is determined according to the menu task. When the first conveyor belt meets the dish delivery requirements, the dish barrels are transferred from the shelf to the preset stacker dish picking port according to the dish delivery order, so that the robot arm can pick up the dishes from the stacker dish picking port; and after the execution is completed, a second response signal indicating the completion of the dish delivery instruction is sent to the control system.

[0080] In order to make the process more standardized (e.g. raw and cooked food partitioning) and improve the transmission efficiency, the stacker can be equipped with multiple conveyor belts to transport different items. For example, the first conveyor belt is used to transport unprocessed dishes, while the second conveyor belt is used to transport empty buckets or processed dishes. The first conveyor belt can be the upper conveyor belt, and the second conveyor belt can be the lower conveyor belt. Of course, more conveyor belts can be set, such as multi-layer conveyor belts, to adapt to more scenarios.

[0081] Whether the first conveyor belt meets the food delivery requirements refers to determining whether the number of food buckets in the first conveyor belt is less than a preset threshold. Whether the number of food buckets is less than the preset threshold indicates that more food needs to be obtained to cooperate with the robotic arm to deliver food. Therefore, if the number of food buckets in the first conveyor belt is less than the preset threshold, it is determined that the first conveyor belt meets the food delivery requirements.

[0082] The stacker determines the order of dishes to be delivered to the first conveyor belt according to the menu task. For example, the first dish to be delivered is tomato, the second is cauliflower, etc. It determines the shelves where tomatoes and cauliflower are located and the stacker's dish picking ports to be delivered to. It obtains tomatoes from the shelf where tomatoes are located and delivers them to the corresponding stacker's dish picking port. It obtains cauliflower from the shelf where cauliflower is located and delivers them to the corresponding stacker's dish picking port. After the execution is completed, the stacker sends a second response signal to the control system indicating that the dish delivery instruction has been executed.

[0083] If the action instruction is an empty barrel recovery instruction, it is determined whether an empty barrel is received based on the sensing information of the second conveyor belt. If received, the empty barrel is transmitted to a preset position, and a second response signal indicating that the empty barrel recovery instruction has been executed is sent to the control system.

[0084] Continuing with the above embodiment, the robot arm receives the empty barrel return instruction and places the empty barrel on the stacker recovery port of the second conveyor belt. The stacker determines whether the empty barrel is received based on the sensing information of the second conveyor belt. The stacker is equipped with a sensor for detecting whether there is an empty barrel on the second conveyor belt. The sensor includes an optical sensor, a weight sensor or other types of sensors that can identify the presence of an empty barrel. If received, the empty barrel is transferred to a preset location, such as a preset shelf, and a second response signal indicating that the empty barrel recovery instruction has been executed is sent to the control system.

[0085] If the action instruction is a finished food delivery instruction, it is determined whether the finished food is received based on the sensing information of the second conveyor belt. If received, the empty bucket is transferred to a preset position, and a second response signal indicating that the finished food delivery instruction has been executed is sent to the control system.

[0086] In the implementation process of the above embodiment: in the process of automatic cooking, the automated empty barrel recycling process reduces manual intervention and improves the overall automation efficiency. The empty barrels are placed in a preset position in an orderly manner, optimizing space utilization and reducing confusion. The stacker can monitor the sensing information of the conveyor belt to confirm whether the instruction is completed and provide feedback, which improves the reliability and stability of the system.

[0087] Optionally, in an embodiment of the present application, the cooking device includes a cooking machine; executing an action based on the action instruction and sending a second response signal to the control system after the execution is completed, including:

[0088] The execution duration is obtained from the action instruction, and the cooking machine is controlled to execute the action corresponding to the action instruction. After the preset duration is reached, a second response signal representing the completion of the action instruction is sent to the control system; wherein the action instructions include a hot pot instruction, a stir-fry instruction, a stand at attention instruction, and a pot washing instruction.

[0089] The cooking machine receives action instructions from the control system through its built-in communication module, parses the received action instructions, and extracts necessary information from them, such as the specific action to be performed (hot pot, stir-fry, etc.) and the preset execution time. According to the parsed action instructions, the cooking machine performs the corresponding action. For example, if the action instruction is "hot pot", the cooking machine will start the heating element and heat it to the required temperature. After that, the built-in timer or central control module of the cooking machine starts timing and counts the time taken for the action to be executed. When the preset execution time is reached, the control system of the cooking machine confirms that the action instruction has been completed. The cooking machine sends a second response signal to the control system, indicating that the action instruction has been executed. This signal includes the type and completion status of the action instruction.

[0090] During the execution of the action, the cooking machine's control system monitors the execution status of the action in real time to ensure that the action is carried out according to the established requirements. If any abnormality is detected during the execution (such as overtemperature, equipment failure, etc.), the central control module will take measures such as suspending the operation, issuing an alarm or automatic adjustment.

[0091] In the implementation process of the above embodiment: by accurately controlling the execution time of each action of the cooking machine, the consistency and accuracy of the cooking process are improved, thereby improving the cooking quality. In addition, the cooking machine can effectively communicate with the control system and send a second response signal to the control system when the instruction is completed, indicating that the action instruction has been executed, so that the cooking machine can run efficiently.

[0092] See also Figure 3 A schematic diagram showing the interaction between a control system and a cooking device provided in an embodiment of the present application is shown.

[0093] The control system can send action instructions to multiple cooking devices to control the cooking devices to perform corresponding actions. The cooking devices include stackers, robotic arms and cooking machines, among which there can be multiple cooking machines.

[0094] The control system generates a series of action instructions based on the preset recipes and cooking processes, and sends these instructions to the corresponding cooking equipment through a wired or wireless network. Each cooking device is equipped with a receiving module for receiving instructions issued by the control system. For example, the cooking machine receives the "heat pan instruction" and the robotic arm receives the "dish throwing instruction". After receiving the instruction, each cooking device performs the corresponding action according to the instruction content. The cooking machine adjusts the temperature and time according to the heating instruction, the stacker transports the ingredients to the designated location, and the robotic arm grabs and throws the ingredients. After the cooking device completes the action, it will feedback the execution status to the control system.

[0095] The control system monitors the execution status of all devices in real time and makes necessary adjustments based on feedback. If a cooking device is delayed or has an error, the control system can reschedule the task or issue an alarm. The control system records the operation data of all cooking devices and the feedback records of the response signals for subsequent performance analysis and optimization. The data includes the equipment's operating time, executed tasks, and completed status.

[0096] The embodiment of the present application provides an automatic cooking device 300, which is applied to a control system, and the control system is connected to a cooking device, including:

[0097] The menu arrangement task 310 is used to receive multiple cooking recipes and arrange menu tasks according to the multiple cooking recipes; the menu task includes a set of instructions in the process of making multiple cooking recipes at the same time, and the instruction set is used to indicate the cooking equipment and execution action of each action instruction, as well as the execution order and / or execution time of the execution action; the cooking equipment includes a cooking machine, a robot arm and / or a stacker;

[0098] The instruction generating module 320 is used to send the current action instruction to the cooking device according to the menu task, and receive the response signal fed back by the cooking device after executing the current action;

[0099] The feedback judgment module 330 is used to send the next action instruction as the current action instruction to the corresponding cooking device according to the menu task if the response signal indicates that the current action is completed, and receive the response signal fed back by the cooking device, and repeat the above actions until the menu task is completed.

[0100] Optionally, in an embodiment of the present application, the automatic cooking device 300, the menu arrangement task 310, is used to decompose each cooking recipe into multiple cooking decomposition tasks, wherein each cooking decomposition task corresponds to an action instruction or an action instruction combination; according to the execution order and execution duration of each cooking decomposition task, multiple cooking decomposition tasks in different cooking recipes are interspersed and arranged to generate a menu task.

[0101] Optionally, in an embodiment of the present application, the automatic cooking device 300 generates an instruction module 320 for obtaining unexecuted action instructions in an instruction set corresponding to a menu task; taking the action instruction with the first order among the unexecuted action instructions as the current action instruction; and sending the current action instruction to the cooking device corresponding to the current action instruction.

[0102] The embodiment of the present application provides an automatic cooking device 400, which is applied to a cooking device, and the cooking device is connected to a control system, including:

[0103] The instruction receiving module 410 is used to receive the action instruction sent by the control system and send a first response signal to the control system; the first response signal indicates that the action instruction has been received;

[0104] The execution and feedback module 420 is used to execute actions based on action instructions, and send a second response signal to the control system after the execution is completed, so that the control system continues to send action instructions according to the menu task based on the second response signal, and repeatedly executes the above actions until the menu task is completed; the second response signal indicates that the action instruction has been completed.

[0105] Optionally, in an embodiment of the present application, the automatic cooking device 400, the cooking equipment includes a robotic arm; the action instruction includes a dish-dropping instruction, an empty bucket return instruction and / or a dish-serving instruction; the execution and feedback module 420 is specifically used to obtain a target delivery cooking pot and a stacker food-collecting port for clamping the food bucket from the dish-dropping instruction if the action instruction is a dish-dropping instruction; clamp the food bucket from the stacker food-collecting port, and put the food in the food bucket into the target delivery cooking pot; determine whether the dish-dropping instruction is executed based on the empty bucket weight after the food is put into the food bucket, and send a signal representing the dish-dropping instruction to the control system if the execution is completed. A second response signal indicating the completion of execution; and / or, if the action instruction is an empty barrel return instruction, obtaining the stacker recovery port for placing the empty barrel from the empty barrel return instruction; placing the empty barrel at the stacker recovery port, and sending a second response signal indicating the completion of the empty barrel return instruction to the control system; and / or, if the action instruction is a dish serving instruction, obtaining the target dish serving wok and the stacker dish serving port for placing the finished dish from the dish serving instruction; taking the finished dish from the target dish serving wok, and placing the finished dish at the stacker dish serving port; and sending a second response signal indicating the completion of the dish serving instruction to the control system.

[0106] Optionally, in an embodiment of the present application, the automatic cooking device 400, the cooking equipment includes a stacker; the action instruction includes a dish conveying instruction, an empty barrel recovery instruction and / or a finished dish conveying instruction; the execution and feedback module 420 is specifically used for, if the action instruction is a dish conveying instruction, determining the order of dish delivery of the first conveyor belt according to the menu task, and when the first conveyor belt meets the dish delivery requirements, transferring the vegetable barrel from the shelf to a preset stacker dish picking port according to the dish delivery order, so that the robotic arm can perform dish picking operations from the stacker dish picking port; and after the execution is completed, sending a second response signal indicating that the execution of the dish conveying instruction is completed to the control system; if the action instruction is an empty barrel recovery instruction, determining whether the empty barrel is received according to the sensing information of the second conveyor belt, if received, transferring the empty barrel to a preset position, and sending a second response signal indicating that the execution of the empty barrel recovery instruction is completed to the control system; if the action instruction is a finished dish conveying instruction, determining whether the finished dish is received according to the sensing information of the second conveyor belt, if received, transferring the empty barrel to a preset position, and sending a second response signal indicating that the execution of the finished dish conveying instruction is completed to the control system.

[0107] Optionally, in an embodiment of the present application, the automatic cooking device 400, the cooking equipment includes a cooking machine; the execution and feedback module 420 is specifically used to obtain the execution time from the action instruction, control the cooking machine to execute the action corresponding to the action instruction, and after reaching the preset time, send a second response signal to the control system to indicate the completion of the action instruction; wherein the action instructions include a hot pot instruction, a stir-fry instruction, a stand at attention instruction and a pot washing instruction.

[0108] It should be understood that the device corresponds to the above-mentioned automatic cooking method embodiment and can perform the various steps involved in the above-mentioned method embodiment. The specific functions of the device can be found in the above description. To avoid repetition, the detailed description is appropriately omitted here. The device includes at least one software function module that can be stored in a memory in the form of software or firmware or fixed in the operating system (OS) of the device.

[0109] See also Figure 4 The electronic device 300 provided in the embodiment of the present application includes: a processor 310 and a memory 320, wherein the memory 320 stores machine-readable instructions executable by the processor 310, and when the machine-readable instructions are executed by the processor 310, the above method is executed.

[0110] Figure 4The components shown in the figure can be implemented by hardware, software or a combination thereof. The electronic device 300 may be a physical device, such as a server and a cooking device, or a virtual device, such as a virtual machine, a virtualized container, etc. Moreover, the electronic device 300 is not limited to a single device, but may also be a combination of multiple devices or a cluster consisting of a large number of devices.

[0111] An embodiment of the present application further provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above method is executed.

[0112] Among them, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable red-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, disk or optical disk.

[0113] In several embodiments provided by the embodiments of the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0114] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0115] The above description is only an optional implementation manner of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or replacements within the technical scope disclosed in the embodiments of the present application, which should be covered within the protection scope of the embodiments of the present application.

Claims

1. An automatic cooking method, characterized in that: Applied to a control system, the control system is connected to a cooking device, the method comprising: Receive multiple cooking recipes, and arrange menu tasks according to the multiple cooking recipes; the menu tasks include a set of instructions in the process of making multiple cooking recipes at the same time, and the set of instructions is used to indicate the cooking equipment and execution action of each action instruction, as well as the execution order and / or execution time of the execution action; the cooking equipment includes a cooking machine, a robot arm and / or a stacker; Sending a current action instruction to the cooking device according to the menu task, and receiving a response signal fed back by the cooking device after executing the current action; If the response signal indicates that the current action is completed, the next action instruction is sent to the corresponding cooking device as the current action instruction according to the menu task, and a response signal fed back by the cooking device is received, and the above actions are repeated until the menu task is completed.

2. The method according to claim 1, characterized in that The task of arranging menus according to the plurality of cooking recipes comprises: Decomposing each of the cooking recipes into a plurality of cooking decomposition tasks, wherein each of the cooking decomposition tasks corresponds to an action instruction or an action instruction combination; According to the execution order and execution duration of each cooking decomposition task, multiple cooking decomposition tasks in different cooking recipes are interspersed and arranged to generate the menu task.

3. The method according to claim 1, characterized in that The sending the current action instruction to the cooking device according to the menu task includes: Obtaining unexecuted action instructions in the instruction set corresponding to the menu task; The first action instruction in the unexecuted action instructions is used as the current action instruction; The current action instruction is sent to the cooking device corresponding to the current action instruction.

4. An automatic cooking method, characterized in that: Applied to a cooking device, the cooking device is connected to a control system, and the method comprises: receiving an action instruction sent by the control system, and sending a first response signal to the control system; the first response signal indicates that the action instruction has been received; Execute an action based on the action instruction, and send a second response signal to the control system after the execution is completed, so that the control system continues to send action instructions according to the menu task based on the second response signal, and repeatedly executes the above actions until the menu task is completed; the second response signal indicates that the action instruction has been completed.

5. The method according to claim 4, characterized in that The cooking device includes a robotic arm; the action instruction includes a dish-throwing instruction, an empty bucket-returning instruction, and / or a dish-serving instruction; the executing an action based on the action instruction and sending a second response signal to the control system after the execution is completed includes: If the action instruction is the dish-dropping instruction, a target dish-dropping pot and a dish-picking opening of a stacker for picking up a dish bucket are obtained from the dish-dropping instruction; the dish bucket is picked up from the dish-picking opening of the stacker, and the dishes in the dish bucket are dropped into the target dish-dropping pot; based on the empty bucket weight after the dishes are dropped into the dish-dropping pot, it is determined whether the dish-dropping instruction is executed, and if so, a second response signal indicating that the dish-dropping instruction is executed is sent to the control system; and / or, if the action instruction is the empty barrel return instruction, obtaining the stacker recovery port where the empty barrel is placed from the empty barrel return instruction; placing the empty barrel at the stacker recovery port, and sending a second response signal indicating that the empty barrel return instruction has been executed to the control system; And / or, if the action instruction is the dish serving instruction, then the target dish serving wok and the dish serving outlet of the stacker for placing the finished dish are obtained from the dish serving instruction; the finished dish is taken from the target dish serving wok and placed on the dish serving outlet of the stacker; and a second response signal indicating that the execution of the dish serving instruction is completed is sent to the control system.

6. The method according to claim 4, characterized in that The cooking device includes a stacker; the action instruction includes a dish conveying instruction, an empty bucket recovery instruction and / or a finished dish conveying instruction; the executing the action based on the action instruction and sending a second response signal to the control system after the execution is completed includes: If the action instruction is the dish conveying instruction, the dish delivery order of the first conveyor belt is determined according to the menu task, and when the first conveyor belt meets the dish delivery requirements, the dish bucket is transferred from the shelf to the preset stacker dish taking port according to the dish delivery order, so that the robot arm can take the dish from the stacker dish taking port; and after the execution is completed, a second response signal indicating that the execution of the dish conveying instruction is completed is sent to the control system; If the action instruction is the empty barrel recovery instruction, determining whether an empty barrel is received according to the sensing information of the second conveyor belt, and if received, transmitting the empty barrel to a preset position, and sending a second response signal indicating that the empty barrel recovery instruction is executed to the control system; If the action instruction is the finished food delivery instruction, it is determined whether the finished food is received based on the sensing information of the second conveyor belt. If received, the empty bucket is transferred to a preset position, and a second response signal indicating that the finished food delivery instruction has been executed is sent to the control system.

7. The method according to claim 4, characterized in that The cooking device includes a cooking machine; the step of executing an action based on the action instruction and sending a second response signal to the control system after the execution is completed includes: The execution duration is obtained from the action instruction, and the cooking machine is controlled to execute the action corresponding to the action instruction. After the preset duration is reached, a second response signal indicating the completion of the action instruction is sent to the control system; wherein the action instruction includes a stir-fry instruction, a stand at attention instruction, and a pot washing instruction.

8. A computer program product, characterized in that The method comprises computer program instructions, and when the computer program instructions are executed by a processor, the method according to any one of claims 1 to 7 is executed.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the method according to any one of claims 1 to 7 is executed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the method according to any one of claims 1 to 7 is executed.

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