Control method and system of cooking equipment and cooking equipment

Abstract

The invention discloses a control method and system of cooking equipment and the cooking equipment, and relates to the field of intelligent kitchen appliances, and the control method of the cooking equipment comprises the steps: obtaining a food material image collected by an image collection device; performing engraving area identification on the food material image to obtain target engraving area information; based on the target engraving area information, a laser emitting device is controlled to emit a laser beam to a target engraving area corresponding to the target engraving area information for food material engraving; in the food material carving process, information of an uncarved area is obtained; acquiring temperature distribution information of an unengraved area corresponding to the unengraved area information; and the next irradiation position needing to be acted by the laser beam of the laser emitting device in the non-engraved area is determined based on the temperature distribution information of the non-engraved area. The laser irradiation position is adjusted through the temperature distribution information, the engraving process can be accurately controlled, the engraving effect on the target food material is improved, and the interestingness of the cooking equipment is improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent kitchen appliances, and in particular to a control method and system for cooking appliances, and cooking appliances. Background Art

[0002] Existing household cooking equipment, particularly box-type cooking appliances, primarily focuses on improving cooking performance, such as temperature control, heating uniformity, and multi-function cooking modes, while paying less attention to making the cooking process more enjoyable. While these appliances can meet daily cooking needs, they lack interactivity and entertainment, making it difficult to enhance the user experience. This is especially true for family gatherings, parent-child interactions, or holiday celebrations, where they fail to provide an additional element of fun.

[0003] There are some cooking devices on the market that can create food in specific shapes, such as frying pans with specially patterned molds that can fry omelets or pancakes in specific shapes. While these cooking devices add a certain degree of fun to cooking, the patterns are limited and the fun factor is low. Furthermore, these devices typically require manual operation and lack intelligent control functions, which limits their ease of use and flexibility. Summary of the Invention

[0004] The purpose of this application is to provide a cooking device control method, system and cooking device to address at least one of the above-mentioned existing technical problems. The technical solution is as follows:

[0005] In a first aspect, the present application provides a control method for a cooking device, which is applied to the cooking device, wherein the cooking device includes an inner cavity, an image acquisition device, a laser emission device, and a temperature acquisition device disposed in the inner cavity; the method includes:

[0006] Acquiring food images captured by the image acquisition device;

[0007] Performing engraving area recognition on the food image to obtain target engraving area information;

[0008] Based on the target engraving area information, the laser emitting device is controlled to emit a laser beam to the target engraving area corresponding to the target engraving area information to engrave food;

[0009] During the food engraving process, obtaining unengraved area information, wherein the unengraved area information is used to indicate an area in the target engraving area that does not receive laser irradiation;

[0010] Acquiring temperature distribution information of the unengraved area corresponding to the unengraved area information, wherein the temperature distribution information is generated based on the temperature collected by the temperature collection device;

[0011] The next irradiation position of the laser beam of the laser emitting device in the unengraved area to be applied is determined based on the temperature distribution information of the unengraved area.

[0012] In a possible implementation manner, performing engraving area recognition on the food image to obtain target engraving area information includes:

[0013] Performing object recognition on the food image to obtain an image area of the food to be engraved;

[0014] Get the outline information of the preset engraving graphic;

[0015] Extracting geometric features from the image area of the food to be carved to obtain spatial structural features of the food to be carved;

[0016] Based on the contour information and the spatial structure characteristics, spatial matching is performed between the preset engraving pattern and the food to be engraved to obtain a target engraving area mapped by the preset engraving pattern on the food to be engraved, and position information of the target engraving area is determined as the target engraving area information.

[0017] In a possible implementation manner, the food image includes a depth image, and the step of extracting geometric features from the image region of the food to be carved to obtain spatial structural features of the food to be carved comprises:

[0018] Extracting geometric features of the image area of the food to be carved to obtain contour coordinate information;

[0019] Extracting feature points from the depth image to obtain feature point coordinate information;

[0020] Based on the mapping relationship between the feature point coordinate information and the contour coordinate information, the spatial structure feature is obtained, and the spatial structure feature is used to indicate the three-dimensional structure of the food to be carved.

[0021] In a possible implementation, the temperature distribution information includes current temperature values of a plurality of positions to be irradiated distributed on the unengraved area, and determining the next irradiation position in the unengraved area where the laser beam of the laser emitting device is required to act based on the temperature distribution information of the unengraved area includes:

[0022] The current temperature values are sorted from low to high, and the next irradiation position is determined from at least one of the to-be-irradiated positions with a higher sorting level.

[0023] In a possible implementation manner, the method further includes:

[0024] During the food engraving process, the steps of acquiring the unengraved area information, acquiring the temperature distribution information, and determining the next irradiation position are repeatedly performed until the laser irradiation operation of the target engraving area is completed.

[0025] In a possible implementation manner, controlling the laser emitting device to emit a laser beam to a target engraving area corresponding to the target engraving area information to engrave food based on the target engraving area information includes:

[0026] Get preset engraving graphic information;

[0027] Inputting the food image into a food recognition model to obtain food characteristic information, wherein the food characteristic information includes the food type and laser absorptivity of the target food;

[0028] Calculating operating parameters of the laser emitting device based on the preset engraving pattern information and the food characteristic information, wherein the operating parameters are positively correlated with the laser absorptivity, and the operating parameters include operating power and operating time of the laser emitting device;

[0029] The laser emitting device is controlled to emit a laser beam to a target engraving area corresponding to the target engraving area information based on working parameters to engrave food.

[0030] In a possible implementation manner, the method further includes:

[0031] When the working time corresponding to the laser emitting device meets the first preset condition, acquiring an inner wall image of the inner wall of the cooking device;

[0032] identifying an image area to be cleaned from the inner wall image based on an image difference between the inner wall image and a reference inner wall image, wherein the image area to be cleaned is used to indicate dirt present on the inner wall of the cooking device, and the reference inner wall image is an image captured when the inner wall of the cooking device meets a cleaning condition;

[0033] The laser emitting device is controlled to emit a laser beam to the area to be cleaned corresponding to the image area to be cleaned on the inner wall of the cooking device.

[0034] In a possible implementation manner, the method further includes:

[0035] During the food engraving process, based on the image difference between the food area image corresponding to the engraved area information and the preset engraving pattern, determining the area information to be engraved in the engraved area, wherein the area information to be engraved is used to indicate the area in the engraved area where the difference between the engraved pattern and the preset engraving pattern meets the preset difference condition;

[0036] The irradiation path and working parameters of the laser beam are indicated based on the temperature distribution information of the area to be re-engraved corresponding to the information of the area to be re-engraved, so as to control the laser emitting device to repeatedly engrave the area to be re-engraved.

[0037] On the other hand, the present application also provides a control system for a cooking device, which is applied to the cooking device, wherein the cooking device includes an inner cavity, an image acquisition device, a laser emission device, and a temperature acquisition device disposed in the inner cavity; the control system includes:

[0038] A first acquisition module, configured to acquire the food image captured by the image acquisition device;

[0039] an identification module, configured to identify a carving area on the food image and obtain target carving area information;

[0040] A food engraving module, configured to control the laser emitting device to emit a laser beam to a target engraving area corresponding to the engraving area information to perform food engraving based on the target engraving area information;

[0041] a second acquisition module, configured to acquire unengraved area information during the food engraving process, wherein the unengraved area information indicates an area in the target engraving area that is not irradiated by the laser;

[0042] a third acquisition module, configured to acquire temperature distribution information of the unengraved area corresponding to the unengraved area information, wherein the temperature distribution information is generated based on the temperature acquired by the temperature acquisition device;

[0043] The path planning module determines, based on the temperature distribution information of the uncarved area, the next irradiation position where the laser beam of the laser emitting device in the uncarved area needs to act.

[0044] On the other hand, the present application further provides a cooking device, comprising an inner cavity, an image acquisition device, a laser emitting device, a temperature acquisition device, and a controller disposed in the inner cavity;

[0045] The image acquisition device is configured to: acquire food images;

[0046] The temperature acquisition device is configured to: acquire temperature distribution information of the unengraved area corresponding to the unengraved area information, wherein the temperature distribution information is generated based on the temperature acquired by the temperature acquisition device;

[0047] The controller is configured to: acquire a food image acquired by the image acquisition device; perform engraving area identification on the food image to obtain target engraving area information; control the laser emitting device to emit a laser beam to a target engraving area corresponding to the target engraving area information based on the target engraving area information to engrave the food; acquire unengraved area information during the food engraving process, wherein the unengraved area information is used to indicate an area in the target engraving area that does not receive laser irradiation; acquire temperature distribution information of the unengraved area corresponding to the unengraved area information; and determine a next irradiation position where the laser beam of the laser emitting device is required to act in the unengraved area based on the temperature distribution information of the unengraved area.

[0048] The present application provides a cooking device control method, system, and cooking device, which have the following technical effects:

[0049] The control method of the cooking device includes: acquiring an image of food captured by the image acquisition device; identifying an engraving area on the food image to obtain target engraving area information; controlling the laser emitting device to emit a laser beam to a target engraving area corresponding to the target engraving area information based on the target engraving area information to engrave the food; acquiring unengraved area information during the engraving process, the unengraved area information being used to indicate an area within the target engraving area that is not receiving laser irradiation; acquiring temperature distribution information of the unengraved area corresponding to the unengraved area information, the temperature distribution information being generated based on the temperature captured by the temperature acquisition device; and determining a next irradiation position of the laser beam of the laser emitting device within the unengraved area based on the temperature distribution information of the unengraved area. Adjusting the laser irradiation position using the temperature distribution information helps to precisely control the engraving process, improve the engraving effect of the target food, and enhance the fun of the cooking device.

[0050] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0052] Figure 1 This is a flow chart of a method for controlling a cooking device provided in an embodiment of the present application;

[0053] Figure 2 This is a flow chart of a method for identifying an engraving area provided in an embodiment of the present application;

[0054] Figure 3 This is a flow chart of a food carving method provided in an embodiment of the present application;

[0055] Figure 4 is a schematic diagram of a control system of a cooking device provided in an embodiment of the present application;

[0056] Figure 5 A schematic diagram of the hardware structure of a device for implementing a method for controlling a cooking device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0058] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0059] Various exemplary embodiments, features, and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

[0060] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0061] The term "and / or" herein simply describes an association relationship between associated objects, indicating that three relationships can exist. For example, "A and / or B" can represent the existence of three situations: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" herein refers to any combination of at least two of any one or more of a plurality of items. For example, "at least one of A, B, and C" can represent any one or more elements selected from the set consisting of A, B, and C.

[0062] In addition, numerous specific details are provided in the following detailed description to better illustrate the present application. Those skilled in the art will appreciate that the present application can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art are not described in detail in order to highlight the main purpose of the present application.

[0063] It can be understood that the cooking device includes an inner cavity, and the cooking device includes but is not limited to an oven, a microwave oven, an air fryer, a steamer or a stew pot, etc.

[0064] Specifically, the preset engraving graphic information can be obtained based on a local pattern library or a shared pattern library. The cooking device includes a data transmission module, which is used to communicate with the terminal. The data transmission module is a WiFi transmission module or a Bluetooth transmission module.

[0065] An embodiment of the present application provides a control method for a cooking device, which is applied to the cooking device. The cooking device includes an inner cavity, an image acquisition device arranged in the inner cavity, a laser emitting device, and a temperature acquisition device.

[0066] Specifically, the inner cavity is used to accommodate food and provide a closed processing environment. The image acquisition device is used to photograph the surface of the food, identify the engraving area, and monitor the engraving progress. The image acquisition device is set on the top wall or side wall of the cooking device. The temperature acquisition device is used to monitor the surface temperature of the food, prevent overheating, and optimize the laser operating power. The temperature acquisition device is set on the top wall or side wall of the cooking device.

[0067] Preferably, the image acquisition device and the laser emitting device are arranged on the top wall of the cooking device, and the inner wall of the cooking device is provided with a high-temperature resistant coating.

[0068] Preferably, the angle of the laser head of the laser emitting device is adjustable, and the laser operating power of the laser emitting device is adjustable.

[0069] See also Figure 1 , Figure 1This is a flowchart of a control method for a cooking device provided by an embodiment of the present application. The present application provides method operation steps as described in the embodiment or flowchart, but more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the order of many steps and does not represent the only execution order. When the actual system or server product is executed, it can be executed in sequence or in parallel according to the method shown in the embodiment or the accompanying drawings (for example, in a parallel processor or multi-threaded processing environment). Specifically, the following steps may be included:

[0070] S101, obtaining food images captured by an image capture device.

[0071] Specifically, in response to the carving instruction, the image acquisition device obtains the food image of the target food through an edge detection algorithm.

[0072] Optionally, the image acquisition device is an industrial camera, a 3D vision sensor or an infrared thermal imaging camera.

[0073] S102: Perform engraving area recognition on the food image to obtain target engraving area information.

[0074] Specifically, the food image is preprocessed first, and then based on the image processing algorithm, the Canny edge detection or Sobel operator is used to extract the contour information of the food surface, separate the food body and the background, extract the carving area from the food surface image, and then identify and calculate the target carving area to obtain the target carving area, and output the target carving area information, which includes the target carving area coordinates.

[0075] In one embodiment, if Figure 2 As shown, Figure 2 : is a flow chart of a method for identifying an engraving area provided in an embodiment of the present application, wherein step S102 includes:

[0076] S201, performing object recognition on the food image to obtain an image area of the food to be carved.

[0077] Specifically, a convolutional neural network (CNN) or a traditional image segmentation algorithm is used to segment the food image, identify the image of the food to be carved, and obtain the image area of the food to be carved.

[0078] S203: Obtaining outline information of a preset engraving graphic.

[0079] Specifically, the preset carving pattern represents the shape to be carved on the surface of the target food material, and the contour information obtained by edge detection or contour extraction of the preset carving pattern is a coordinate set of a closed path, which is used to represent the boundary of the preset carving pattern.

[0080] In one embodiment, the preset engraving pattern can be retrieved through the local pattern library of the cooking device. For example, a control panel is provided on the cooking device, and the control panel is used to display the preset engraving pattern. The user retrieves the engraving pattern in the local pattern library through a touch action or a sliding action. After the user completes the selection of the preset engraving pattern, the control panel is electrically connected to the controller, and the control panel is used to send the preset engraving pattern information to the controller.

[0081] In another embodiment, the preset engraving pattern is obtained through the user terminal, and the cooking device is communicatively connected to the user terminal. The user can select a preset pattern template on the terminal, such as geometric shapes, letters, symbols, etc. The user freely draws the pattern through the touch screen or hand-drawing function, and edits parameters such as lines, colors, sizes, and positions. The terminal App provides editing functions such as zooming, rotating, flipping, and stretching, so that the shape of the preset engraving pattern can be accurately adjusted. The format of the preset engraving graphics is SVG or PNG.

[0082] Specifically, users can not only create their own engraving patterns, but also view other users' engraving patterns through the App's sharing function and share their own engraving patterns with others to obtain a shared pattern library. For example, the terminal app provides a community function where each user can browse other users' engraving pattern designs. Based on the user's design history and interests, the terminal app can also automatically recommend similar creative engraving patterns.

[0083] S205 , extracting geometric features from the image area of the food to be carved to obtain spatial structural features of the food to be carved.

[0084] In one embodiment, the food image includes a depth image, and step S205 includes:

[0085] S2051: Extract geometric features from the image area of the food to be carved to obtain contour coordinate information.

[0086] Specifically, the contour coordinate information is used to represent the outer shape boundary of the target food, and the contour coordinate information is a coordinate set of the two-dimensional boundary of the food.

[0087] S2053: Extract feature points from the depth image to obtain feature point coordinate information.

[0088] Specifically, a depth sensor, such as a structured light sensor, is used to capture a depth image of the target food. The depth image contains depth information for each pixel, reflecting the distance of the food surface from the image capture device. Harris corner detection or SIFT methods are then used to extract feature points from the depth image. These feature points represent areas with significant changes on the target food surface. The coordinates of each feature point in the depth image are then extracted, i.e., the position (x, y) of each feature point in the depth image and its corresponding depth value (z).

[0089] S2055: Based on the mapping relationship between the feature point coordinate information and the contour coordinate information, a spatial structure feature is obtained, where the spatial structure feature is used to indicate the three-dimensional structure of the food to be carved.

[0090] Specifically, through perspective transformation or homonymous point matching, the two-dimensional contour coordinates of the contour coordinate information are aligned with the three-dimensional feature point coordinates of the feature point coordinate information, and a three-dimensional reconstruction algorithm is used to generate a three-dimensional model of the target food. The three-dimensional model of the target food can provide the three-dimensional spatial coordinates of each food point, and this information is used to describe the surface structure of the food.

[0091] By correcting possible deformation errors through mapping relationships, the laser emitting device can adapt to the surfaces of various foods, ensuring that the engraving pattern accurately corresponds to the preset design, avoiding engraving distortion caused by tilting or bending of foods, and improving engraving consistency and aesthetics.

[0092] By extracting the geometric features and spatial structure features of the target ingredients from two-dimensional images and depth images, accurate three-dimensional data support is provided for subsequent engraving path planning. It can also provide precise engraving for ingredients with complex shapes, further improving the engraving accuracy.

[0093] S207, performing spatial matching between the preset carving pattern and the food to be carved based on the contour information and the spatial structure characteristics, obtaining a target carving area mapped by the preset carving pattern on the food to be carved, and determining the position information of the target carving area as the target carving area information.

[0094] Specifically, the ICP algorithm is used to align the preset engraving pattern with the point cloud data shape of the surface of the food to be engraved. Through perspective transformation (Homography Transformation), the preset engraving pattern is projected onto the surface of the food to be engraved, and the pattern deformation caused by the curved surface of the food is corrected to ensure the uniform distribution of the engraving pattern on the actual surface. The actual engraving path coordinates of the projected pattern are calculated to obtain the position information of the target engraving area, which includes the engraving path coordinates and engraving depth.

[0095] By building a 3D model and using shape matching to adjust the preset engraving graphics, the preset engraving graphics can be accurately projected onto the surface of the food to be engraved, ensuring engraving accuracy and uniformity.

[0096] S103: Based on the target engraving area information, the laser emitting device is controlled to emit a laser beam to the target engraving area corresponding to the target engraving area information to engrave food.

[0097] In one embodiment, if Figure 3 As shown, Figure 3: is a flow chart of a food carving method provided in an embodiment of the present application, wherein step S103 further includes:

[0098] S301, obtaining preset engraving graphic information.

[0099] Specifically, the graphics in the local pattern library or the shared pattern library are called to obtain the preset engraving graphic information.

[0100] S303: Input the food image into a food recognition model to obtain food characteristic information, which includes the food type and laser absorption rate of the target food.

[0101] Specifically, the food images are input into the food recognition model to classify and identify the food. The food recognition model uses a large number of labeled food image data sets for training. The food image data sets include food type, texture, shape and other features, so that the food recognition model can accurately identify the type of food.

[0102] For example, an image of an ingredient is fed into the ingredient recognition model, which then identifies and outputs the ingredient type (e.g., chicken, beef, vegetables), as well as the laser absorptivity of each ingredient. Laser absorptivity refers to the ability of different ingredient surfaces to absorb a laser beam, with different types of ingredients absorbing laser light to varying degrees.

[0103] S305, based on the preset engraving pattern information and the food characteristic information, calculating the working parameters of the laser emitting device, the working parameters are positively correlated with the laser absorptivity, and the working parameters include the operating power and operating time of the laser emitting device.

[0104] Specifically, the laser's operating parameters are calculated based on the laser absorptivity and the preset engraving pattern. These parameters include the laser's operating power (P), which controls the intensity of the laser beam, and the operating time (T), which controls the duration of the laser beam's irradiation. The operating power (P) is positively correlated with the laser's absorptivity and the complexity of the preset engraving pattern. Similarly, the operating time (T) is positively correlated with the laser's absorptivity and the complexity of the preset engraving pattern.

[0105] S307: Control the laser emitting device to emit a laser beam to the target engraving area corresponding to the target engraving area information based on the working parameters to engrave the food.

[0106] Specifically, the laser emitting device performs engraving along the target engraving area according to the target engraving area information. During the engraving process, the laser emitting device adjusts the laser focal length based on the target engraving area information to ensure the uniformity of the engraving.

[0107] Dynamically adjust the laser power and time according to the laser absorption rate of the food to ensure the appropriate engraving depth, avoid over-engraving or unclear engraving, improve the clarity and contrast of engraving details, and make the pattern more beautiful.

[0108] S104, during the food engraving process, obtaining unengraved area information, where the unengraved area information is used to indicate an area in the target engraving area that is not irradiated by the laser.

[0109] Specifically, computer vision technology is used to scan and compare the target engraving area. By comparing the current engraving state with the preset engraving pattern, the unengraved area, that is, the part that is not currently receiving laser irradiation, is identified, and the unengraved area is marked to obtain the unengraved area information, which includes coordinate information and the shape of the area.

[0110] S105 , obtaining temperature distribution information of the unengraved area corresponding to the unengraved area information, wherein the temperature distribution information is generated based on the temperature collected by the temperature collection device.

[0111] Specifically, the temperature collection device is arranged in the inner cavity of the cooking device. The temperature collection device is used to collect the temperature of the target food and / or the inner cavity temperature. The temperature collection device obtains the temperature distribution data of the uncarved area. The temperature distribution data can be presented in the form of a thermal map to show the temperature gradient of different areas.

[0112] Specifically, the temperature acquisition device is an infrared thermal imager or a temperature sensor.

[0113] S106 , determining the next irradiation position of the laser beam of the laser emitting device in the uncarved area based on the temperature distribution information of the uncarved area.

[0114] Specifically, the laser emitting device can adjust the power and irradiation time of the laser beam according to the temperature distribution information of the unengraved area, and use the path planning algorithm to generate a laser irradiation path from low temperature to high temperature. The laser irradiation path ensures that the laser beam covers all unengraved areas.

[0115] Adjusting the laser irradiation position through temperature distribution information helps to precisely control the engraving process, improve the engraving effect of the target food, and increase the fun of the cooking equipment.

[0116] Specifically, the controller includes a motion control component that can control the laser head to accurately position, rotate to the next irradiation position and emit the laser beam. The motion control component can use CNC control or robotic arm control to achieve high-precision positioning of the laser head.

[0117] In one embodiment, the temperature distribution information includes current temperature values of a plurality of positions to be irradiated distributed on the unengraved area, and step S106 includes:

[0118] The current temperature values are sorted from low to high, and the next irradiation position is determined from at least one position to be irradiated that is ranked high.

[0119] Specifically, a sorting algorithm is used to sort the current temperature values from low to high to obtain a first sorting result. The first sorting result is a position list in which the temperature values are arranged from low to high. In the sorted position list, the top position is the position to be engraved with the lowest temperature, and the first position in the list is selected as the next irradiation position.

[0120] By prioritizing areas with lower temperatures for laser irradiation, continuous heating of the same location is avoided, carbonization of food or deterioration of taste caused by overheating is reduced, and the temperature is sorted from low to high so that the laser energy is evenly distributed in the target area, reducing the thermal stress caused by excessive temperature gradients and improving engraving accuracy.

[0121] In another embodiment, step S106 includes:

[0122] The current temperature gradients are sorted from low to high, and the next irradiation position is determined from at least one position to be irradiated that is ranked high.

[0123] Specifically, the unengraved area is divided into multiple unengraved sub-areas, and the temperature gradient between each unengraved sub-area is obtained. The temperature gradient is the ratio of the temperature difference between adjacent unengraved sub-areas. A sorting algorithm is used to sort all multiple unengraved sub-areas according to the temperature gradient value to obtain a second sorting result. The second sorting result is a position list with a temperature gradient arranged from low to high. In the sorted position list, the top position is the position to be engraved with the lowest temperature gradient, and the first position in the list is selected as the next irradiation position.

[0124] In one embodiment, the control method further includes:

[0125] During the food engraving process, the steps of obtaining the unengraved area information, obtaining the temperature distribution information and determining the next irradiation position are repeated until the laser irradiation operation of the target engraving area is completed, that is, the above steps S104-S106 are repeated.

[0126] Specifically, after determining the next irradiation position, the area of the unengraved area is obtained. If the area of the unengraved area is less than or equal to the preset area threshold, it indicates that the laser irradiation operation of the target engraving area is completed; if the area of the unengraved area is greater than the preset area threshold, it indicates that the laser irradiation operation of the target engraving area is not completed, and the loop is continued until the area of the unengraved area is less than or equal to the preset area threshold.

[0127] By detecting the area of the unengraved area, it ensures that all target engraving areas have been laser irradiated, avoiding missed engraving or incomplete patterns, and improving the engraving effect.

[0128] In one embodiment, the control method further includes:

[0129] S401: Acquire an inner wall image of an inner wall of a cooking device when the working time corresponding to the laser emitting device meets a first preset condition.

[0130] Understandably, during the cooking or carving process, some target ingredients will splash onto the inner wall of the cooking equipment, forming carbonized dirt. For example, carbonized sweet potato syrup splashed onto the oven wall will cause the stains to be difficult to clean.

[0131] Specifically, when the working time corresponding to the laser emitting device is greater than or equal to the preset working time threshold, exemplarily, the preset working time threshold is greater than or equal to the engraving completion time plus the safety buffer time, at this time, the image acquisition device captures the inner wall image of the cooking equipment, the inner wall image includes the side wall image, and the image acquisition device processes the inner wall image and inputs it into the controller.

[0132] In some embodiments, the acquired inner wall image is preprocessed, and the preprocessing operations include denoising, contrast enhancement, geometric correction, etc.

[0133] S403, based on the image difference between the inner wall image and the reference inner wall image, identifying the image area to be cleaned from the inner wall image, where the image area to be cleaned is used to indicate the dirt on the inner wall of the cooking device, and the reference inner wall image is an image of the inner wall of the cooking device that meets the cleaning conditions.

[0134] Specifically, the reference inner wall image is a pre-stored standard image of the inner wall in a clean state. The inner wall image and the reference inner wall image are compared to obtain the image area to be cleaned, and the image area to be cleaned is marked as RGN[1]~RGN[N], and the coordinates corresponding to the image area to be cleaned are recorded.

[0135] In one embodiment, the inner wall image and the reference inner wall image are compared through color deviation analysis, such as RGB and HSV color space differences; in another embodiment, the inner wall image and the reference inner wall image are compared through texture detection, such as using edge detection and filters to identify dirt areas; in another embodiment, the inner wall image and the reference inner wall image are compared through deep learning recognition, such as training a dirt detection model based on CNN to obtain the image difference between the inner wall image and the reference inner wall image.

[0136] S405: Control the laser emitting device to emit a laser beam to the area to be cleaned corresponding to the image area to be cleaned on the inner wall of the cooking device.

[0137] Specifically, the cleaning parameters of the laser beam emitted by the laser emitting device are calculated based on the dirt characteristics, and the laser head is controlled to be positioned at RGN[i] for irradiation cleaning, and all dirt areas of RGN[1] to RGN[N] are cleaned in turn.

[0138] Specifically, the dirt identification process is repeated until the current dirt area N is less than or equal to 1, indicating that the cleaning is completed. If the current dirt area N is less than or equal to 1, the cleaning process is repeated until the completion condition is met.

[0139] Through image recognition, dirty areas are accurately located and the cleaning parameters of the laser emission device are matched according to the type of dirt. Manual cleaning of cooking equipment is no longer required, which improves the automated cleaning effect. The laser can also remove stubborn stains in tiny pores and uneven surfaces that are difficult to handle with traditional methods.

[0140] In one embodiment, the control method further includes:

[0141] S501, during the food carving process, based on the image difference between the food area image corresponding to the carved area information and the preset carving pattern, determine the area information to be carved again in the carved area, and the area information to be carved again is used to indicate the area in the carved area where the difference between the carved pattern and the preset carving pattern meets the preset difference condition.

[0142] Specifically, an image acquisition device acquires image information of the engraved area. The preset engraving pattern can be a vector image or a dot matrix image. A feature matching algorithm is used to perform image registration between the food area image and the preset engraving pattern, aligning the engraved area with the preset pattern. An image difference method is then used to detect the difference between the engraved area and the preset engraving pattern. The area and depth of the engraving error are calculated, and areas with engraving errors greater than a preset error threshold are selected as areas to be re-engraved. The center coordinates, error depth, and error area of each area to be re-engraved are recorded to obtain updated engraving path information.

[0143] S503: Based on the temperature distribution information of the area to be engraved corresponding to the information of the area to be engraved, the irradiation path and working parameters of the laser beam are indicated to control the laser emitting device to repeatedly engrave the area to be engraved.

[0144] Specifically, a temperature acquisition device collects thermal imaging data from the engraving area, constructs a temperature distribution map, and obtains temperature information about the area to be re-engraved. Laser engraving parameters are then calculated, and a shortest path optimization algorithm, such as the A* algorithm, is used to plan the engraving path. This reduces repetitive engraving and improves engraving efficiency. The laser emitting device is then controlled to perform engraving compensation according to the laser re-engraving parameters, engraving the low-temperature area first, followed by the high-temperature area, to avoid burning the food.

[0145] By re-carving the engraved area, high-precision engraving error correction can be achieved to ensure that the engraved pattern is consistent with the preset engraving pattern, while avoiding excessive temperature damage to the food, thereby improving engraving quality and efficiency.

[0146] The embodiment of the present application further provides a cooking device, the cooking device comprising an inner cavity, an image acquisition device disposed in the inner cavity, a laser emitting device, a temperature acquisition device, and a controller;

[0147] The image acquisition device is configured to: acquire an image of food;

[0148] The temperature acquisition device is configured to: acquire temperature distribution information of the uncarved area corresponding to the uncarved area information;

[0149] The controller is configured to: identify the engraving area of the food image to obtain target engraving area information; control the laser emitting device to emit a laser beam to the target engraving area corresponding to the target engraving area information based on the target engraving area information to engrave the food; obtain unengraved area information during the food engraving process, the unengraved area information is used to indicate the area in the target engraving area that does not receive laser irradiation; obtain temperature distribution information of the unengraved area corresponding to the unengraved area information, the temperature distribution information is generated based on the temperature collected by the temperature acquisition device; determine the next irradiation position where the laser beam of the laser emitting device in the unengraved area needs to act based on the temperature distribution information of the unengraved area.

[0150] It should be noted that the image acquisition device, temperature acquisition device, and controller provided in the above embodiments are merely illustrated by the division of the above functional modules when implementing their functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the image acquisition device, temperature acquisition device, and controller provided in the above embodiments are based on the same concept as the method embodiment. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0151] The following describes a specific process of a method for controlling a cooking device in a specific embodiment.

[0152] S1, obtaining food images captured by an image acquisition device, transmitting the captured food images to a controller for processing, and outputting original image data of the food;

[0153] S2, analyzing the original image data of the food using the food recognition model to determine the image area information of the food to be carved;

[0154] S3, the user sets the engraving pattern through the App or selects the pattern from the shared library to obtain the preset engraving pattern information;

[0155] S4, storing and converting the preset engraving graphic information into contour data suitable for engraving, and outputting the contour information of the preset engraving graphic.

[0156] S5, extracting the outline coordinates of the image area of the food to be carved, obtaining the shape data of the food, extracting the geometric features of the food to be carved, processing the depth image, and extracting the coordinates of the feature points;

[0157] S6, combining the contour coordinates and the feature point coordinates to establish a three-dimensional spatial model and output the spatial structural features of the food to be carved;

[0158] S7, using a projection mapping algorithm to adapt the two-dimensional engraving pattern to the three-dimensional food surface, calculate the deformation of the preset engraving pattern on the surface of the food to be engraved, adjust the position, and obtain target engraving area information;

[0159] S8, adjusting the laser power and operating time according to the target engraving area information and the laser absorption rate of the food;

[0160] S9, controlling the laser beam to irradiate the target engraving area in sequence according to the preset engraving path;

[0161] S10, obtaining the current engraving progress of the target engraving area, detecting the position of the unengraved area through an image acquisition device, and obtaining information of the unengraved area;

[0162] S11, acquiring data detected by a temperature acquisition device, calculating the temperature distribution of the uncarved area, analyzing the temperature difference of each point, and obtaining the temperature distribution information of the uncarved area;

[0163] S12, sorting the current temperature values of each point from low to high, selecting the low temperature area as the priority irradiation point, and obtaining the next irradiation position.

[0164] S13, if the area of the uncarved region is larger than the set threshold, continue to execute steps S10-S12; if the area of the uncarved region is smaller than or equal to the set threshold, terminate the engraving operation.

[0165] S14, the engraving effect conforms to the preset engraving pattern, the engraving is completed, the engraving data is recorded, and stored or uploaded to the terminal App.

[0166] The present application also provides a control system for a cooking device, such as Figure 4 As shown, the control system is applied to cooking equipment; the control system includes:

[0167] A first acquisition module 401 is used to acquire food images captured by an image acquisition device;

[0168] Identification module 402, for identifying the engraving area of the food image and obtaining target engraving area information;

[0169] The food engraving module 403 is used to control the laser emitting device to emit a laser beam to the target engraving area corresponding to the engraving area information to perform food engraving based on the target engraving area information;

[0170] The second acquisition module 404 is used to obtain uncarved area information during the food engraving process, where the uncarved area information indicates an area in the target engraving area that is not irradiated by the laser;

[0171] The third acquisition module 405 is used to acquire temperature distribution information of the uncarved area corresponding to the uncarved area information, where the temperature distribution information is generated based on the temperature collected by the temperature collection device;

[0172] The path planning module 406 is configured to determine the next irradiation position where the laser beam of the laser emitting device in the uncarved area needs to act based on the temperature distribution information of the uncarved area.

[0173] Specifically, the identification module 402 in the above embodiment includes:

[0174] An object recognition unit, configured to perform object recognition on the food image to obtain an image area of the food to be carved;

[0175] A contour acquisition unit, used to acquire contour information of a preset engraving pattern;

[0176] a feature extraction unit, configured to extract geometric features from the image region of the food to be carved, and obtain spatial structural features of the food to be carved;

[0177] The engraving area determination unit is used to perform spatial matching between the preset engraving pattern and the food to be engraved based on the contour information and the spatial structure characteristics, obtain a target engraving area mapped by the preset engraving pattern on the food to be engraved, and determine the position information of the target engraving area as the target engraving area information.

[0178] Specifically, the feature extraction unit in the above embodiment includes:

[0179] A contour extraction subunit, configured to extract geometric features from the image region of the food to be carved to obtain contour coordinate information;

[0180] A feature point extraction subunit, configured to extract feature points from the depth image to obtain feature point coordinate information;

[0181] The spatial structure determination subunit is configured to obtain the spatial structure feature based on a mapping relationship between the feature point coordinate information and the contour coordinate information, wherein the spatial structure feature is used to indicate the three-dimensional structure of the food to be carved.

[0182] Specifically, the path planning module 406 in the above embodiment includes:

[0183] The sorting unit is used to sort the current temperature values from low to high, and determine the next irradiation position from at least one of the to-be-irradiated positions with a higher sorting level.

[0184] Specifically, the control system in the above embodiment includes:

[0185] The repetitive execution module is used to repeatedly execute the steps of obtaining the uncarved area information, obtaining the temperature distribution information and determining the next irradiation position during the food engraving process until the laser irradiation operation of the target engraving area is completed.

[0186] Specifically, the food carving module 403 in the above embodiment includes:

[0187] A graphics acquisition unit, used to acquire preset engraving graphics information;

[0188] An input unit, configured to input the food image into a food recognition model to obtain food characteristic information, wherein the food characteristic information includes the food type and laser absorptivity of the target food;

[0189] a calculation unit, configured to calculate operating parameters of the laser emitting device based on the preset engraving pattern information and the food characteristic information, wherein the operating parameters are positively correlated with the laser absorptivity and include an operating power and an operating time of the laser emitting device;

[0190] The control unit is used to control the laser emitting device to emit a laser beam to the target engraving area corresponding to the target engraving area information based on the working parameters to engrave the food.

[0191] Specifically, the control system in the above embodiment further includes:

[0192] an inner wall image acquisition module, configured to acquire an inner wall image of the inner wall of the cooking device when the working time corresponding to the laser emitting device satisfies a first preset condition;

[0193] a difference comparison module, configured to identify, from the inner wall image, an image region to be cleaned, based on an image difference between the inner wall image and a reference inner wall image, the image region to be cleaned being used to indicate dirt present on the inner wall of the cooking device, the reference inner wall image being an image captured when the inner wall of the cooking device satisfies a cleaning condition;

[0194] The cleaning module is used to control the laser emitting device to emit a laser beam to the area to be cleaned corresponding to the image area to be cleaned on the inner wall of the cooking device.

[0195] Specifically, the control system in the above embodiment further includes:

[0196] a supplementary carving module, configured to determine, during the food carving process, information of an area to be supplemented in the engraved area based on an image difference between an image of the food area corresponding to the engraved area information and a preset engraving pattern, wherein the information of the area to be supplemented in the engraved area indicates an area in the engraved area where the difference between the engraved pattern and the preset engraving pattern satisfies a preset difference condition;

[0197] The secondary engraving module is used to indicate the irradiation path and working parameters of the laser beam based on the temperature distribution information of the area to be engraved corresponding to the information of the area to be engraved, so as to control the laser emitting device to repeatedly engrave the area to be engraved.

[0198] It should be noted that the systems provided in the above embodiments are merely illustrated by the division of the above functional modules when implementing their functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the systems and method embodiments provided in the above embodiments are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0199] An embodiment of the present application provides a computer device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement a control method for a cooking device as provided in the above-mentioned method embodiment.

[0200] Figure 5 The hardware structure diagram of a device for implementing a temperature control method provided in an embodiment of the present application is shown. The device may participate in or include the apparatus or system provided in an embodiment of the present application. Figure 5As shown, the device 5 may include one or more (502a, 502b, ..., 502n are shown in the figure) processors 502 (the processor 502 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 504 for storing data, and a transmission device 506 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a power supply and / or a camera. It will be understood by those skilled in the art that Figure 5 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 5 More or fewer components than shown, or with Figure 5 Different configurations shown.

[0201] It should be noted that the one or more processors 502 and / or other data processing circuits described above may generally be referred to herein as "data processing circuitry". The data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuitry may be a single independent processing module, or may be incorporated in whole or in part into any of the other components of the device 5 (or mobile device). As described in the embodiments of the present application, the data processing circuitry serves as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0202] The memory 504 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the method in the embodiments of the present application. The processor 502 executes the software programs and modules stored in the memory 504 to perform various functional applications and data processing, thereby implementing the above-mentioned cooking device control method. The memory 504 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 504 may further include memory remotely located relative to the processor 502, and these remote memories may be connected to the device 5 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0203] Transmission device 506 is used to receive or send data via a network. Specific examples of the aforementioned network may include a wireless network provided by the communications provider of device 5. In one embodiment, transmission device 506 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, transmission device 506 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0204] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the device 5 (or mobile device).

[0205] An embodiment of the present application also provides a computer-readable storage medium, which can be set in a server to store at least one instruction or at least one program related to a control method for a cooking device in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement a control method for a cooking device provided in the above method embodiment.

[0206] Optionally, in this embodiment, the storage medium may be located in at least one of a plurality of network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0207] An embodiment of the present invention further provides a computer program product or computer program, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform a cooking device control method provided in any of the aforementioned optional embodiments.

[0208] It should be noted that the order of the embodiments of the present application described above is for descriptive purposes only and does not represent the superiority or inferiority of the embodiments. The above description is of specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0209] The various embodiments in this application are described in a progressive manner. Similar portions between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device, equipment, and storage medium embodiments are generally similar to the method embodiments, so their descriptions are relatively simple. For relevant portions, refer to the descriptions of the method embodiments.

[0210] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0211] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A method for controlling a cooking device, characterized in that: Applied to a cooking device, the cooking device includes an inner cavity, an image acquisition device, a laser emitting device, and a temperature acquisition device arranged in the inner cavity; the method includes: Acquiring food images captured by the image acquisition device; Performing engraving area recognition on the food image to obtain target engraving area information; Based on the target engraving area information, the laser emitting device is controlled to emit a laser beam to the target engraving area corresponding to the target engraving area information to engrave food; During the food engraving process, obtaining unengraved area information, wherein the unengraved area information is used to indicate an area in the target engraving area that does not receive laser irradiation; Acquiring temperature distribution information of the unengraved area corresponding to the unengraved area information, wherein the temperature distribution information is generated based on the temperature collected by the temperature collection device; The next irradiation position of the laser beam of the laser emitting device in the unengraved area to be applied is determined based on the temperature distribution information of the unengraved area.

2. The control method according to claim 1, characterized in that: The performing engraving area recognition on the food image to obtain target engraving area information includes: Performing object recognition on the food image to obtain an image area of the food to be engraved; Get the outline information of the preset engraving graphic; Extracting geometric features from the image area of the food to be carved to obtain spatial structural features of the food to be carved; Based on the contour information and the spatial structure characteristics, spatial matching is performed between the preset engraving pattern and the food to be engraved to obtain a target engraving area mapped by the preset engraving pattern on the food to be engraved, and position information of the target engraving area is determined as the target engraving area information.

3. The control method according to claim 2, characterized in that: The food image includes a depth image, and the geometric feature extraction is performed on the image area of the food to be carved to obtain the spatial structural features of the food to be carved; comprising: Extracting geometric features of the image area of the food to be carved to obtain contour coordinate information; Extracting feature points from the depth image to obtain feature point coordinate information; Based on the mapping relationship between the feature point coordinate information and the contour coordinate information, the spatial structure feature is obtained, and the spatial structure feature is used to indicate the three-dimensional structure of the food to be carved.

4. The control method according to any one of claims 1 to 3, characterized in that: The temperature distribution information includes current temperature values of a plurality of positions to be irradiated distributed on the uncarved area, and determining the next irradiation position in the uncarved area where the laser beam of the laser emitting device is required to act based on the temperature distribution information of the uncarved area includes: The current temperature values are sorted from low to high, and the next irradiation position is determined from at least one of the to-be-irradiated positions with a higher sorting level.

5. The control method according to any one of claims 1 to 3, characterized in that: The method further comprises: During the food engraving process, the steps of acquiring the unengraved area information, acquiring the temperature distribution information, and determining the next irradiation position are repeatedly performed until the laser irradiation operation of the target engraving area is completed.

6. The control method according to any one of claims 1 to 3, characterized in that: The controlling the laser emitting device to emit a laser beam to the target engraving area corresponding to the target engraving area information to engrave food based on the target engraving area information includes: Get preset engraving graphic information; Inputting the food image into a food recognition model to obtain food characteristic information, wherein the food characteristic information includes the food type and laser absorptivity of the target food; Calculating operating parameters of the laser emitting device based on the preset engraving pattern information and the food characteristic information, wherein the operating parameters are positively correlated with the laser absorptivity, and the operating parameters include operating power and operating time of the laser emitting device; The laser emitting device is controlled to emit a laser beam to a target engraving area corresponding to the target engraving area information based on working parameters to engrave food.

7. The control method according to any one of claims 1 to 3, characterized in that: The method further comprises: When the working time corresponding to the laser emitting device meets the first preset condition, acquiring an inner wall image of the inner wall of the cooking device; identifying an image area to be cleaned from the inner wall image based on an image difference between the inner wall image and a reference inner wall image, wherein the image area to be cleaned is used to indicate dirt present on the inner wall of the cooking device, and the reference inner wall image is an image captured when the inner wall of the cooking device meets a cleaning condition; The laser emitting device is controlled to emit a laser beam to the area to be cleaned corresponding to the image area to be cleaned on the inner wall of the cooking device.

8. The control method according to any one of claims 1 to 3, characterized in that: The method further comprises: During the food engraving process, based on the image difference between the food area image corresponding to the engraved area information and the preset engraving pattern, determining the area information to be engraved in the engraved area, wherein the area information to be engraved is used to indicate the area in the engraved area where the difference between the engraved pattern and the preset engraving pattern meets the preset difference condition; The irradiation path and working parameters of the laser beam are indicated based on the temperature distribution information of the area to be re-engraved corresponding to the information of the area to be re-engraved, so as to control the laser emitting device to repeatedly engrave the area to be re-engraved.

9. A control system for a cooking device, characterized in that: Applicable to a cooking device, the cooking device comprising an inner cavity, an image acquisition device, a laser emission device, and a temperature acquisition device arranged in the inner cavity; the control system comprising: A first acquisition module, configured to acquire the food image captured by the image acquisition device; an identification module, configured to identify a carving area on the food image and obtain target carving area information; A food engraving module, configured to control the laser emitting device to emit a laser beam to a target engraving area corresponding to the engraving area information to perform food engraving based on the target engraving area information; a second acquisition module, configured to acquire unengraved area information during the food engraving process, wherein the unengraved area information indicates an area in the target engraving area that is not irradiated by the laser; a third acquisition module, configured to acquire temperature distribution information of the unengraved area corresponding to the unengraved area information, wherein the temperature distribution information is generated based on the temperature acquired by the temperature acquisition device; The path planning module determines, based on the temperature distribution information of the uncarved area, the next irradiation position where the laser beam of the laser emitting device in the uncarved area needs to act.

10. A cooking device, characterized in that: The cooking device includes an inner cavity, an image acquisition device, a laser emitting device, a temperature acquisition device and a controller arranged in the inner cavity; The image acquisition device is configured to: acquire food images; The temperature acquisition device is configured to: acquire temperature distribution information of the unengraved area corresponding to the unengraved area information, wherein the temperature distribution information is generated based on the temperature acquired by the temperature acquisition device; The controller is configured to: acquire the food image captured by the image acquisition device; perform engraving area recognition on the food image to obtain target engraving area information; Based on the target engraving area information, the laser emitting device is controlled to emit a laser beam to the target engraving area corresponding to the target engraving area information to engrave the food; during the engraving process, unengraved area information is obtained, where the unengraved area information is used to indicate an area in the target engraving area that does not receive laser irradiation; Acquire temperature distribution information of the uncarved area corresponding to the uncarved area information; and determine a next irradiation position of the laser beam of the laser emitting device in the uncarved area based on the temperature distribution information of the uncarved area.

Images