A wok-based electronic tongue-based cooking taste closed-loop control method and system

Abstract

The present application relates to a kind of stir-fry taste closed loop control method and system based on electronic tongue of pot, it is related to the field of intelligent cooking, it includes: current order information is collected;Based on current order information to obtain demand dish;According to demand dish to determine reference seasoning parameter;Real-time taste parameter is collected;Compare real-time taste parameter and reference seasoning parameter to obtain taste difference value;When and only when taste difference value exceeds preset difference threshold, combine taste difference value and difference threshold to determine correction seasoning parameter;Based on correction seasoning parameter to correct seasoning demand dish.The present application has the effect of improving food dish quality.

Description

Technical Field

[0001] This invention relates to the field of intelligent cooking, and in particular to a closed-loop control method and system for stir-frying flavor based on an on-board electronic tongue. Background Technology

[0002] The onboard electronic tongue is a technology that integrates a taste sensor directly into the inside of the cookware, enabling real-time tasting and automatic adjustment of saltiness and heat during cooking, thus ensuring a stable and controllable flavor for everyday dishes.

[0003] Currently, the flavor control of automatic cooking machines on the market is all in open-loop control mode, that is, the system adds seasonings according to the preset recipe and the fixed weight of ingredients.

[0004] However, when seasonings are added according to a fixed weight, the taste may be unstable due to the inherent differences in the properties of the ingredients, which in turn reduces the quality of the food and needs to be improved. Summary of the Invention

[0005] To improve the quality of food preparation, this invention provides a closed-loop control method and system for stir-fry flavor based on an onboard electronic tongue.

[0006] In a first aspect, the present invention provides a closed-loop control method for stir-fry flavor based on an onboard electronic tongue, employing the following technical solution: A closed-loop control method for stir-fry flavor based on an onboard electronic tongue includes: Collect current order information; Based on the current order information, determine the required meal items to be prepared; Determine the baseline seasoning parameters based on the required food items; Collect real-time flavor parameters; Compare real-time flavor parameters with baseline seasoning parameters to obtain flavor difference values; The flavor difference value and the difference threshold are combined to determine the corrected flavoring parameters only if the flavor difference value exceeds the preset difference threshold. Adjusting seasoning parameters allows for the modification of seasoning for the required dishes.

[0007] By adopting the above technical solution, the real-time taste parameters obtained by the sensor are compared with the baseline seasoning parameters of the dish to determine the taste difference value between the two parameters. When the taste difference value exceeds the difference threshold, the taste difference value is used to determine the correct seasoning parameters, and then the dish to be served is corrected and seasoned, thereby improving the quality of the served food.

[0008] Optionally, it also includes personalized adjustment methods for modifying seasoning parameters: Identify user needs from current order information; Determine user taste parameters based on user needs; The user's seasoning parameters are obtained by adjusting the seasoning parameters based on the user's taste parameters; The dishes can be customized according to the user's seasoning parameters.

[0009] By adopting the above technical solution, the user's taste parameters are first extracted from the order information, and then the user's seasoning parameters are obtained based on the user's taste parameters. Then, the dishes are adjusted in a personalized way to adapt to the user's personalized taste needs and meet the taste preferences of different users.

[0010] Optionally, the detection method after seasoning can also be modified: Collect post-revision flavor parameters; Compare the revised flavor parameters with the real-time flavor parameters to determine the difference in revised flavor; When the difference in taste after correction is less than the preset correction threshold, collect the pot lid model information; Extract the current pot lid model from the pot lid model information; The electronic tongue installation mode is determined based on the current pot lid model; The abnormal handling method is determined based on the electronic tongue installation mode, and the abnormal handling method is used to handle the abnormality of the pot-mounted electronic tongue.

[0011] By adopting the above technical solution, the corrected flavor parameters are first collected, and then compared with the real-time flavor parameters to obtain the difference value of the corrected flavor. If the difference value of the corrected flavor is lower than the correction threshold, it means that the currently collected flavor parameters are abnormal. Then, by understanding the pot lid model information, the installation method of the electronic tongue on the pot of different models is known, and then different abnormal handling methods are determined. The abnormal handling of the electronic tongue on the pot is carried out in this way to complete the abnormal detection after correcting the seasoning and reduce the deviation rate of sensor sampling.

[0012] Optionally, the electronic tongue installation mode includes telescopic mechanical installation and fixed installation, and the abnormal handling method for the telescopic mechanical installation includes: A thermal image of the electronic tongue was collected. Coverage identification is performed on the thermal map of the electronic tongue to determine the coverage status of the electronic tongue; When the electronic tongue is covered, it controls the electronic tongue to rotate with preset rotation parameters to remove the surface covering. When the electronic tongue covers in a block-like manner, it controls the electronic tongue to extend into the food at a calculated angle to stir and remove the food.

[0013] By adopting the above technical solution, the electronic tongue thermal map is collected by the sensor and identified to determine the coverage of the electronic tongue. When the coverage is a wrapping coverage, the surface coverage is removed by spinning through rotation parameters. When the coverage is a block-type coverage, the electronic tongue is controlled to extend into the food for stirring and removal. This completes the abnormal handling for the telescopic mechanical installation method, corrects the abnormalities in sensor sampling under this installation method, and further improves the accuracy of sensor sampling.

[0014] Optionally, it also includes specific methods for controlling the electronic tongue to extend into the food at a calculated angle for stirring and removal: Acquire infrared images of the inside of the pot; The thermal distribution of food inside the pot is detected from infrared images inside the pot to obtain high-density areas; Food pose is identified in high-density areas to obtain food pose information; The specific coverage area of ​​the block-based coverage is obtained based on the electronic tongue heat map; The spatial location of the specific coverage area is obtained by combining the specific coverage area with the preset electronic tongue installation location; The angle of the electronic tongue is calculated based on the food's position and the spatial location of the area. The electronic tongue is controlled to extend into the food at the specified angle, and the resistance value during insertion is collected. The stirring parameters are determined based on the penetration resistance value, and the food is stirred according to the stirring parameters to remove the blocky covering.

[0015] By adopting the above technical solution, the high-density areas of food are detected by the infrared image of the pot collected by the sensor, and the food pose is analyzed. The insertion angle of the electronic tongue is then calculated to control the electronic tongue to enter the food area. At the same time, the insertion resistance value is collected to obtain the stirring parameters, and then the food is stirred to remove blocky coverage and improve the accuracy of sensor sampling.

[0016] Optionally, the electronic tongue installation mode includes telescopic mechanical installation and fixed installation, and the abnormal handling method for the fixed installation includes: Collect food thermal distribution maps and food pressure distribution maps; Food distribution information is obtained based on food thermal distribution maps and food pressure distribution maps; The clamp tilt angle is determined based on food distribution information; The food tasting clamps, which are pre-set on the pot lid, extend at a tilt angle and toss the pot according to the preset tossing parameters. The clamp pressure value of the food tasting clamps is then collected. When the clamp pressure value exceeds the preset pressure threshold, the juice is tested using the preset juice sampling method.

[0017] By adopting the above technical solution, the heat distribution map and pressure distribution map of the food are collected by the sensor to obtain the food distribution information. Then, the tilt angle of the clamp is calculated. After the wok is tossed with the tossing parameters, the clamp pressure value is collected. When the clamp pressure value exceeds the pressure threshold, the food is pressed for juice detection. This completes the abnormal handling for the fixed installation method to improve the sampling accuracy of the electronic tongue.

[0018] Optionally, methods for optimizing the tossing parameters are also included: Identify the food with the highest heat content from the food heat distribution map, mark it as the sampled food, and then record the location of the sampled food; After performing the tossing action, if the clamp pressure value does not exceed the preset pressure threshold, the tossing trajectory of the sampled food and the position of the food after tossing are collected. Based on the tossing trajectory, tossing parameters, sampled food position, and post-tossing food position, the current tossing influence parameters are obtained. The corrected tossing parameters are calculated by combining the current tossing influence parameters, tossing parameters, clamp tilt angle, and preset clamp extension position. By modifying the tossing parameters to optimize the tossing trajectory, the sampled food is brought into the tasting clamp.

[0019] By adopting the above technical solution, the sampled food is first marked and its position is recorded. When the pressure value of the clamp is detected to be within the pressure threshold, the tossing trajectory of the sampled food and the position of the food after tossing are collected and the current tossing influence parameters are calculated. Then, combined with the clamp extension position, the corrected tossing parameters are obtained. The tossing trajectory is optimized by correcting the tossing parameters, thereby improving the accuracy of the tossing clamp for sampled food.

[0020] Optionally, the juice extraction method includes: The food sampling clamp is controlled to squeeze the sampled food with preset initial squeezing parameters, and the real-time squeezing parameters are collected. Determine the extrusion adjustment parameters based on real-time extrusion parameters; The sampled food was squeezed according to the squeezing adjustment parameters, and the surface humidity difference before and after squeezing was collected using the food tasting clamp. When the surface humidity difference exceeds the preset humidity difference threshold, the electronic tongue is controlled to collect seasoning information of the sampled food broth.

[0021] By adopting the above technical solution, the food sampling clamp is controlled to squeeze the sampled food with initial squeezing parameters, and real-time squeezing parameters are collected to determine the squeezing adjustment parameters. The food sampling is then squeezed and adjusted according to the squeezing adjustment parameters. At the same time, the surface humidity difference value before and after squeezing by the food sampling clamp is collected to know the juice release of the food. When the food releases juice, the electronic tongue is controlled to collect seasoning information of the broth of the sampled food to complete the juice sampling of the food and reduce the sampling deviation of the electronic tongue.

[0022] Optionally, a method for determining the extrusion adjustment parameters may also be included: Collect real-time extrusion resistance and circuit load values; The extrusion parameters are corrected by combining the real-time extrusion resistance value and the circuit load value. Extrusion adjustment parameters are obtained based on real-time extrusion parameters and corrected extrusion parameters.

[0023] By adopting the above technical solution, the real-time extrusion resistance value and circuit load value are first understood, and then the corrected extrusion parameters are obtained by combining the real-time extrusion parameters. In this way, the extrusion adjustment parameters are obtained, and the extrusion parameters of the food sampler are adjusted by the food tasting fixture, thereby improving the accuracy of this extrusion and juicing.

[0024] Secondly, this application provides a closed-loop control system for stir-fry flavor based on an onboard electronic tongue, employing the following technical solution: A closed-loop control system for stir-fry flavor based on an onboard electronic tongue, comprising: The data acquisition module is used to collect current order information and real-time flavor parameters; The memory is used to store the program for implementing a closed-loop control method for the flavor of stir-fried dishes based on an onboard electronic tongue. The processor is used to load and execute programs stored in memory.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. The real-time taste parameters obtained by the sensor are compared with the baseline seasoning parameters of the dish to determine the taste difference between the two parameters. When the taste difference exceeds the difference threshold, the taste difference is used to determine the correct seasoning parameters, and then the dish to be served is adjusted and seasoned to improve the quality of the food served. 2. The electronic tongue's thermal map is collected by a sensor and identified to determine the coverage status of the electronic tongue. When the coverage is a wrapping coverage, the surface coverage is removed by spinning through rotation parameters. When the coverage is a block-type coverage, the electronic tongue is controlled to extend into the food to stir and remove the food. This completes the abnormal handling for the telescopic mechanical installation method, corrects the abnormalities in sensor sampling under this installation method, and further improves the accuracy of sensor sampling. 3. First, the sensor collects the food thermal distribution map and food pressure distribution map to obtain food distribution information, and then calculates the clamp tilt angle. After tossing the food with the tossing parameters, the clamp pressure value is collected. When the clamp pressure value exceeds the pressure threshold, the food is pressed for juice detection. This completes the abnormal handling for the fixed installation method to improve the sampling accuracy of the electronic tongue. Attached Figure Description

[0026] Figure 1 This is a flowchart of a method for closed-loop control of stir-fry flavor based on an onboard electronic tongue; Figure 2 This is a control diagram of a closed-loop control method for stir-fry flavor based on an onboard electronic tongue. Figure 3 This is a flowchart illustrating the specific method of controlling an electronic tongue to extend into food at a calculated angle for stirring and removal.

[0027] The parts referred to by the numbers in the above attached diagrams are as follows: 1. Electronic tongue; 2. Food tasting clamp. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0029] Reference Figure 1 and Figure 2 This application discloses a closed-loop control method for stir-fry flavor based on an onboard electronic tongue, comprising the following steps: S10: Collect current order information.

[0030] Current order information refers to order information that includes the dishes and flavors specified by the customer.

[0031] The current order information is retrieved and collected through the customer ordering terminal, which records each customer's order.

[0032] S11: Obtain the required meal items based on the current order information.

[0033] The food items requested by the customer in the order information refer to the specific food items requested by the customer.

[0034] The required meal items are retrieved from the current order information, which includes the required meal items.

[0035] S12: Determine the baseline seasoning parameters based on the required food items.

[0036] The baseline seasoning parameters refer to the acidity, sweetness, saltiness, and spiciness required when seasoning a dish.

[0037] The preset seasoning parameter table allows you to look up the baseline seasoning parameters corresponding to the dishes that require serving. The table records different baseline seasoning parameters corresponding to different dishes that require serving. The seasoning parameter table was obtained by those skilled in the art through prior testing of the seasoning parameters of different dishes.

[0038] S13: Collect real-time taste parameters.

[0039] Real-time flavor parameters refer to the seasoning parameters of the current dish during preparation.

[0040] Real-time taste parameters are acquired by the taste sensor on the electronic tongue 1.

[0041] The pot-mounted electronic tongue 1 is mainly realized through taste sensor array technology. It integrates multiple sensors sensitive to different taste components, such as ion-selective electrodes, on the inner wall of the pot or on a retractable mechanical probe, which directly contact the soup and collect electrical signals of taste indicators such as sour, sweet, salty, and spicy in real time. After being identified by the system, it outputs digital taste parameters.

[0042] The system converts the sensor's response data into standardized flavor parameters, such as sweetness value as sucrose equivalent concentration; acidity value as acetic acid equivalent concentration; spiciness value as Scoville heat units; and saltiness value as sodium chloride concentration, etc.

[0043] S14: Compare real-time flavor parameters with baseline seasoning parameters to obtain flavor difference values.

[0044] The flavor difference value refers to the numerical difference in flavor between real-time flavor parameters and baseline flavor parameters.

[0045] The flavor difference value is obtained by calculating the difference between the corresponding values ​​of the real-time flavor parameters and the baseline seasoning parameters. The corresponding values ​​are the acidity, sweetness, saltiness and spiciness mentioned in S12 above.

[0046] S15: If and only if the flavor difference value exceeds the preset difference threshold, combine the flavor difference value and the difference threshold to determine the corrected seasoning parameters.

[0047] The difference threshold refers to the upper limit of the allowable error value for each flavor parameter under normal conditions. The difference threshold is set in advance by those skilled in the art.

[0048] The flavor correction parameter refers to the parameter used to correct the flavor of real-time flavor parameters that exceed the difference threshold.

[0049] The desired seasoning value is obtained by calculating the difference between the flavor difference value and the difference threshold, which is the seasoning parameter adjustment.

[0050] If the taste difference value exceeds the difference threshold, it indicates that the taste of the dish is somewhat different from the preset taste, and the seasoning parameters need to be determined first for subsequent steps.

[0051] S16: Adjust the seasoning of the required dishes based on the adjusted seasoning parameters.

[0052] The obtained modified seasoning parameters are used to adjust the seasoning parameters of the dishes to be served, so as to approximate the baseline flavor parameters.

[0053] It also includes personalized adjustment methods for refining seasoning parameters: S20: Identify user needs from current order information.

[0054] User demand refers to the personalized needs and characteristics of users regarding the seasoning of the food served.

[0055] User needs are obtained by retrieving current order information, which contains user requirements.

[0056] S21: Determine user taste parameters based on user needs.

[0057] User taste parameters refer to the personalized seasoning parameters that users require for the food.

[0058] By parsing user requests using a pre-defined large language model, the system obtains the corresponding taste parameters. For example, if a user requests less salt and the standard saltiness coefficient is 1, the user's desired saltiness is determined to be 0.9; if the user requests very little salt, the user's desired saltiness is determined to be 0.8; and if the user requests very little salt, the user's desired saltiness is determined to be 0.7.

[0059] Based on the textual annotations of various taste preferences, those skilled in the art have pre-configured corresponding parameter mapping models for the large language model.

[0060] S22: Obtain the user's seasoning parameters based on the user's taste parameters and the adjusted seasoning parameters.

[0061] User seasoning parameters refer to parameters used to personalize seasoning by adjusting seasoning parameters based on user taste parameters.

[0062] The required seasoning value is obtained by calculating the difference between the corresponding parameters between the user's taste parameters and the corrected seasoning parameters. Then, the required seasoning value and its corresponding weight are calculated to obtain the specific value of each flavor after correction, i.e., the user's seasoning parameter.

[0063] S23: Personalize the preparation of meals according to the user's seasoning parameters.

[0064] Personalized adjustment refers to adjusting the flavor parameters of the prepared food according to the user's seasoning parameters.

[0065] The obtained user seasoning parameters are used to personalize the seasoning of the dishes to approximate the user's taste parameters.

[0066] It also includes revised testing methods after seasoning: S30: Collect the revised flavor parameters.

[0067] The adjusted flavor parameters refer to the flavor parameters of the dish after the flavor parameters of the dish have been adjusted.

[0068] The modified taste parameters are obtained by the taste sensor on the electronic tongue 1.

[0069] S31: Compare the revised flavor parameters with the real-time flavor parameters to determine the revised flavor difference value.

[0070] The post-adjustment flavor difference value refers to the difference between the corresponding values ​​of the adjusted flavor parameters and the original flavor parameters of the food.

[0071] The difference in taste after correction is determined by calculating the difference between the corresponding parameters of the corrected taste parameters and the real-time taste parameters.

[0072] S32: When the difference in taste after correction is less than the preset correction threshold, collect the pot lid model information.

[0073] The correction threshold refers to the minimum difference that the corresponding values ​​of the flavor parameters of a dish must reach before and after adjustment under normal circumstances.

[0074] The correction threshold is set in advance by those skilled in the art.

[0075] The pot lid model information refers to information that includes the specific model number of the current pot lid.

[0076] After scanning the barcode on the pot lid with a preset barcode scanner, the information obtained contains the specific model information of the pot lid, thus obtaining the pot lid model information.

[0077] When the post-correction taste difference value is less than the correction threshold, it indicates that the taste sensor on the electronic tongue 1 is abnormally affected and the pot lid model information needs to be collected.

[0078] S33: Extract the current pot lid model from the pot lid model information.

[0079] The current pot lid model refers to the specific model of the current pot lid. You can find the current pot lid model from the pot lid model information, which contains the current pot lid model.

[0080] S34: Obtain the electronic tongue installation mode based on the current pot lid model.

[0081] The electronic tongue installation mode refers to the specific way the electronic tongue 1 is installed on the pot lid, which includes two methods: telescopic mechanical installation and fixed installation.

[0082] Telescopic mechanical installation involves mounting the electronic tongue 1 onto the telescopic mechanical arm.

[0083] Fixed installation refers to fixing the electronic tongue 1 to the pot lid.

[0084] The electronic tongue installation mode corresponding to the current pot lid model can be found by using the preset pot lid model table. The table records the different electronic tongue installation modes corresponding to different pot lid models. The pot lid model table is obtained in advance by those skilled in the art by recording the different electronic tongue installation modes corresponding to different pot lid models.

[0085] S35: Determine the abnormal handling method based on the electronic tongue installation mode, and perform abnormal handling on the pot-mounted electronic tongue 1 according to the abnormal handling method.

[0086] Anomaly handling methods refer to the ways to deal with potential problems caused by inaccurate sampling of the electronic tongue 1.

[0087] The pre-set electronic tongue installation mode table can be used to find the corresponding fault handling method for the current electronic tongue installation mode. The table records the different fault handling methods corresponding to different electronic tongue installation modes. The electronic tongue installation mode table was obtained by those skilled in the art through prior testing of the different fault handling methods corresponding to different electronic tongue installation modes.

[0088] The electronic tongue installation modes include telescopic mechanical installation and fixed installation. The abnormal handling methods for the telescopic mechanical installation include: S40: Collect the thermal map of electronic tongue 1.

[0089] The electronic tongue thermal map refers to the thermal distribution map of the surface of the electronic tongue 1 obtained by the infrared thermal imaging sensor.

[0090] The thermal map of the electronic tongue is obtained by identifying the thermal distribution on the surface of the electronic tongue 1 using an infrared thermal imaging sensor.

[0091] S41: Perform coverage identification on the electronic tongue heatmap to determine the coverage status of the electronic tongue.

[0092] The coverage of the electronic tongue refers to the distribution of foreign objects covering the surface of the electronic tongue 1.

[0093] The coverage of the electronic tongue can be determined by image analysis technology to perform image recognition on the thermal map of the electronic tongue. The coverage of the electronic tongue includes two types: complete coverage and block coverage. Complete coverage refers to the situation where the surface of electronic tongue 1 is completely covered by foreign objects, and the coverage rate of foreign objects exceeds 30% of the surface area of ​​electronic tongue 1.

[0094] Block-type coverage refers to the situation where a portion of the surface of the electronic tongue 1 is covered, with the foreign object coverage rate being less than 30% of the surface area of ​​the electronic tongue 1.

[0095] In this embodiment, the foreign object is a viscous soup or sticky food adhering to the surface of the electronic tongue 1.

[0096] S42: When the electronic tongue is covered, control the electronic tongue 1 to rotate with preset rotation parameters to remove the surface covering.

[0097] Rotation parameters refer to data such as motor torque, speed, and direction when the electronic tongue 1 starts to rotate.

[0098] The rotation parameters are set in advance by those skilled in the art.

[0099] When the electronic tongue is covered by a package, the electronic tongue 1 needs to be controlled to rotate with rotation parameters to remove the surface package.

[0100] S43: When the electronic tongue covers in a block-like manner, control the electronic tongue 1 to extend into the food at a calculated angle to stir and remove it.

[0101] The calculated angle refers to the angle formed when the electronic tongue 1 is inserted into the food.

[0102] The specific calculation method for the angle will be explained in detail in subsequent sections S50 to S57, and will not be repeated here.

[0103] When the electronic tongue is detected to cover in a block-like manner, the electronic tongue 1 is controlled to extend into the food at a calculated angle to stir and remove the food.

[0104] Reference Figure 2 and Figure 3 It also includes a specific method for controlling the electronic tongue 1 to extend into the food at a calculated angle for stirring and removal: S50: Acquires infrared images of the inside of the pot.

[0105] An infrared image inside a pot refers to an image of the thermal distribution of food inside a pot, acquired by an infrared thermal imaging sensor.

[0106] S51: Detect the thermal distribution of food inside the pot from the infrared image inside the pot to obtain high-density areas.

[0107] High-density areas refer to the regions in the thermal distribution where the food has the highest thermal value.

[0108] By comparing the thermal distribution values ​​of the food inside the pot, the area with the highest thermal distribution value is identified as the high-density area.

[0109] S52: Identify the food pose in high-density areas to obtain the food pose information.

[0110] Food placement refers to the real-time placement of food in a high-density area.

[0111] By identifying the food pose in high-density areas, the food pose information is obtained.

[0112] S53: Based on the electronic tongue heat map, the specific coverage area of ​​the block-style coverage is obtained.

[0113] The specific coverage area refers to the specific location on the surface of the electronic tongue 1 where the foreign object is covered.

[0114] Image recognition technology is used to identify the specific coverage area of ​​the electronic tongue heat map to obtain the block-based coverage.

[0115] S54: Combine the specific coverage area with the preset electronic tongue installation position to obtain the spatial location of the specific coverage area.

[0116] The installation position of the electronic tongue refers to the specific spatial location where the electronic tongue 1 is installed on the pot lid.

[0117] The installation position of the electronic tongue is predetermined by those skilled in the art.

[0118] The spatial location of a region refers to the specific spatial location of the foreign object within the specific area covered by the electronic tongue 1.

[0119] By understanding the specific coverage area, we can determine the location of the foreign object covering the electronic tongue 1. Combined with the installation location of the electronic tongue, we can obtain the spatial location of the specific coverage area.

[0120] S55: Calculate the insertion angle of the electronic tongue based on the food's position and the spatial location of the area.

[0121] The electronic tongue insertion angle refers to the angle at which the electronic tongue 1 is inserted into the food for stirring.

[0122] By observing the food's position, we can determine its current position and angle. By combining this with the spatial location of the area, we can calculate the angle between the two, and thus obtain the angle at which the electronic tongue extends.

[0123] S56: Control the electronic tongue 1 to insert into the food at the electronic tongue insertion angle and collect the insertion resistance value.

[0124] The insertion resistance value refers to the resistance encountered when the electronic tongue 1 is inserted into the food.

[0125] The resistance value is obtained by the resistance sensor on the electronic tongue 1.

[0126] When controlling the electronic tongue 1 to insert into the food at the specified angle, the insertion resistance value needs to be collected simultaneously for subsequent steps.

[0127] S57: Determine mixing parameters based on the penetration resistance value, and mix the food according to the mixing parameters to remove blocky coverings.

[0128] The stirring parameters refer to the speed, torque coefficient, direction, and other related parameters of the electronic tongue 1 when it is inserted into the food.

[0129] A pre-set stirring reference table allows users to look up the stirring parameters corresponding to different insertion resistance values. This table records the different stirring parameters for different insertion resistance values. For example, when the insertion resistance is 0-10N, the torque coefficient remains constant, and the stirring speed is 1; when the insertion resistance is 11-20N, the torque coefficient remains constant, and the stirring speed is 2. The stirring reference table was obtained in advance by those skilled in the art through testing the different stirring parameters corresponding to different insertion resistance values. The higher the insertion resistance value, the higher the stirring parameters should be.

[0130] The electronic tongue installation modes include telescopic mechanical installation and fixed installation. The abnormal handling methods for the fixed installation include: S60: Collect food thermal distribution maps and food pressure distribution maps.

[0131] A food pressure distribution map is a diagram showing the pressure distribution of food at various locations within a pot.

[0132] The food pressure distribution map is obtained by collecting and integrating data from pressure sensors deployed inside the pot.

[0133] A food heat distribution map is a detailed diagram showing the distribution of heat in the food inside the pot.

[0134] The food thermal distribution map is obtained by collecting and integrating data from infrared thermal imaging sensors deployed inside the pot.

[0135] S61: Obtain food distribution information based on food thermal distribution map and food pressure distribution map.

[0136] Food distribution information refers to the specific location of the food within the pot.

[0137] By analyzing the thermal distribution map of the food inside the pot, we can obtain the specific distribution area of ​​the food inside the pot. Then, by analyzing the pressure distribution map of the food inside the pot, we can obtain the specific pressure distribution area of ​​the food inside the pot. By combining and analyzing the intersection of the two, we can obtain the specific distribution location of the food inside the pot.

[0138] S62: Determine the clamp tilt angle based on food distribution information.

[0139] The clamp tilt angle refers to the angle between the food tasting clamp 2 and the horizontal plane when the clamp is extended.

[0140] The tilt angle of the clamp is determined by extracting the coordinates of the area with the highest food distribution density from the food distribution information and calculating the angle between these coordinates and the location of the food tasting clamp 2.

[0141] The food sampling clamp 2 refers to a mechanical clamp used to extract juice from food samples.

[0142] S63: Control the food tasting clamp 2, which is preset on the pot lid, to extend at the clamp tilt angle and toss the pot with preset tossing parameters, and then collect the clamp pressure value of the food tasting clamp 2.

[0143] The parameters for tossing the wok refer to data such as the force and frequency of the automatic wok tossing action.

[0144] The parameters for tossing the wok are set in advance by those skilled in the art.

[0145] The clamp pressure value refers to the pressure value exerted on the surface of the food clamp 2.

[0146] The clamp pressure value is obtained through a pressure sensor.

[0147] After extending the food tasting clamp 2 by tilting the clamp at an angle, the wok is tossed according to preset tossing parameters, and then the pressure value of the clamp is collected by the pressure sensor.

[0148] S64: When the clamp pressure value exceeds the preset pressure threshold, the juice is tested using the preset juice sampling method.

[0149] The pressure threshold refers to the maximum pressure that the food tasting clamp 2 can withstand when there is no object on its surface.

[0150] The pressure threshold is set by a person skilled in the art after prior testing.

[0151] Juice extraction sampling refers to a method of extracting juice from food by squeezing it from the surface of a clamp.

[0152] The specific method for juice extraction will be explained in detail in subsequent sections S80 to S83, and will not be repeated here.

[0153] When the clamp pressure value exceeds the pressure threshold, it indicates that the juice sampling test should be performed using the juice sampling method.

[0154] It also includes methods for optimizing the parameters of the wok tossing action: S70: Identify the food with the highest heat from the food thermal distribution map, mark it as the sampled food, and then record the location of the sampled food.

[0155] The sampled food refers to the food that was marked for this juice extraction.

[0156] The sampling location refers to the location where the sampled food is located.

[0157] Image analysis techniques are used to identify the food with the highest heat intensity in the heat distribution map as the sampled food, and the coordinates of the sampled food are located to record its position.

[0158] S71: After performing the tossing action, if the clamp pressure value does not exceed the preset pressure threshold, collect the tossing trajectory of the sampled food and the position of the food after tossing.

[0159] The wok-tossing trajectory refers to the movement trajectory of the sampled food during the wok-tossing process.

[0160] The location of the food after being tossed refers to the position of the sampled food after it has been tossed in the pan.

[0161] By using image tracking technology to track the movement trajectory of the sampled food during the tossing process in real time, the tossing trajectory can be obtained. Then, by marking the coordinates of the sampled food after tossing, the position of the food after tossing can be obtained. If the pressure value of the clamp does not exceed the pressure threshold after the tossing action is performed, it means that the sampled food has not entered the food tasting clamp 2. It is necessary to first collect the tossing trajectory and the position of the food after tossing for subsequent steps.

[0162] S72: Based on the tossing trajectory, tossing parameters, sampled food position, and post-tossing food position, the current tossing influence parameters are obtained.

[0163] The current tossing influence parameters refer to the set of factors that reflect the actual movement effect of the current tossing operation on the sampled food, specifically including the tossing displacement deviation and the tossing direction deviation angle.

[0164] The displacement deviation of the tossing pan refers to the difference between the actual displacement of the sampled food from its sampling position to its position after tossing and the expected displacement that the tossing pan parameters should theoretically produce.

[0165] The displacement deviation is obtained by subtracting the sampled food position coordinates from the food position coordinates after tossing to get the actual displacement vector, and then subtracting the expected displacement vector. The expected displacement vector is calculated from the tossing force and direction parameters in the tossing parameters.

[0166] The desired displacement vector is calculated by dividing the tossing force in the tossing parameters by the estimated mass of the sampled food to obtain the tossing acceleration.

[0167] The estimated mass of the sampled food is obtained as follows: the food ingredient type is identified from the food thermal distribution map; the ingredient type is determined using a pre-defined ingredient image classification model; based on the ingredient type, the mass per unit volume of the ingredient is retrieved from a pre-defined ingredient density table; this mass is then combined with the estimated food volume from the infrared image inside the pot; and the estimated mass per unit volume is multiplied by the food volume to obtain the estimated mass of the sampled food. The ingredient density table is pre-determined by those skilled in the art based on the densities of common ingredients and stored in the controller. The food volume is approximated by extracting the outline dimensions of the sampled food from the infrared image inside the pot through image analysis. The ingredient image classification model is pre-trained by those skilled in the art.

[0168] Multiplying the tossing acceleration by the duration of a single tossing motion in the tossing parameters yields the initial tossing velocity. Multiplying the initial tossing velocity by the duration of a single tossing motion yields the desired displacement magnitude. Using the tossing direction in the tossing parameters as the desired displacement direction, the desired displacement magnitude is decomposed into longitudinal and transverse components along the desired displacement direction to obtain the desired displacement vector. The duration of a single tossing motion is preset by those skilled in the art based on the response speed of the pot body drive mechanism.

[0169] The tossing direction deviation angle refers to the angle between the actual movement direction of the sampled food and the desired movement direction. The tossing direction deviation angle is obtained by calculating the difference between the direction angle of the actual displacement vector and the direction angle of the desired displacement vector.

[0170] S73: Calculate the corrected tossing parameters by combining the current tossing influence parameters, tossing parameters, clamp tilt angle, and preset clamp extension position.

[0171] The extended position of the clamps refers to the position where the food tasting clamps 2 are after they extend out from inside the pot lid.

[0172] The position of the clamp extension is set in advance by those skilled in the art.

[0173] Correcting the tossing parameters refers to the corrected tossing parameters.

[0174] By understanding the current tossing parameters, we can understand the displacement and angular impact on the sampled food when tossing the food using the current tossing parameters. We can combine the tossing parameters, displacement and angular impact, clamp tilt angle, and clamp extension position, and look up the corresponding corrected tossing parameters for this combination from a preset parameter lookup table. This table records the different corrected tossing parameters corresponding to different combinations.

[0175] The parameter comparison table was obtained by those skilled in the art through tossing tests on food under different tossing parameters, with the clamp tilt angle and clamp extension position fixed.

[0176] S74: Based on the correction of the tossing parameters to optimize the tossing trajectory, the sampled food enters the food tasting clamp 2.

[0177] The tossing trajectory is optimized by adjusting the tossing parameters to ensure that the sampled food can enter the food tasting clamp 2 through tossing. If it still does not enter, the steps S70 to S74 are repeated.

[0178] The juice extraction method includes: S80: Control the food sampling clamp 2 to squeeze the sampled food with preset initial squeezing parameters and collect real-time squeezing parameters.

[0179] The initial compression parameters refer to the compression parameters when the food sampler clamp 2 compresses the sampled food.

[0180] The initial extrusion parameters are set in advance by those skilled in the art.

[0181] Real-time extrusion parameters refer to the real-time extrusion displacement when the sampled food is extruded.

[0182] Real-time extrusion parameters are obtained by collecting the displacement of the sampled food during the extrusion process of the food clamp 2 using a displacement sensor.

[0183] The food sampler clamp 2 is controlled to squeeze the sampled food with initial squeezing parameters, while real-time squeezing parameters are collected for subsequent steps.

[0184] S81: Determine the extrusion adjustment parameters based on real-time extrusion parameters.

[0185] The extrusion adjustment parameters refer to the parameters after adjusting the real-time extrusion parameters.

[0186] The method for determining the extrusion adjustment parameters will be explained in detail in subsequent sections S90 to S93, and will not be repeated here.

[0187] S82: Based on the compression adjustment parameters, the sampled food is compressed and adjusted, and the surface humidity difference before and after compression by the food clamp 2 is collected.

[0188] The surface humidity difference refers to the difference in humidity value on the surface of the food tasting clamp 2 before and after compression.

[0189] The surface humidity difference is obtained by collecting humidity values ​​before and after extrusion using a humidity sensor and calculating the difference.

[0190] The food sampling clamp 2 is controlled to squeeze and adjust the sampled food using the squeezing adjustment parameters, and the surface humidity difference before and after squeezing is collected for subsequent steps.

[0191] S83: When the surface humidity difference is greater than the preset humidity difference threshold, control the electronic tongue 1 to collect seasoning information of the sampled food broth.

[0192] The humidity difference threshold refers to the detection threshold used to detect whether the food sampler clamp 2 squeezes out juice from the sampled food.

[0193] The humidity difference threshold is set in advance by those skilled in the art.

[0194] When the surface humidity difference is greater than the humidity difference threshold, it indicates that the food sampling clamp 2 has squeezed out juice from the sampled food. At this time, the electronic tongue 1 can be controlled to collect seasoning information of the broth of the sampled food.

[0195] It also includes methods for determining the extrusion adjustment parameters: S90: Collects real-time extrusion resistance and circuit load values.

[0196] The real-time extrusion resistance value refers to the resistance value experienced by the food tasting clamp 2 during the real-time extrusion process.

[0197] The real-time extrusion resistance value is obtained through a pressure sensor.

[0198] The circuit load value refers to the current value of the circuit during the process of the food sampling clamp 2 squeezing the sampled food.

[0199] The circuit load value is obtained through a current sensor.

[0200] S91: Combines real-time extrusion resistance value and circuit load value to obtain corrected extrusion parameters.

[0201] Corrected extrusion parameters refer to parameters used to adjust real-time extrusion parameters.

[0202] The corrected extrusion parameters corresponding to the combination of real-time extrusion resistance value and circuit load value can be found by using a preset extrusion comparison table. The table records different corrected extrusion parameters corresponding to different combinations of real-time extrusion resistance value and circuit load value. The extrusion comparison table is obtained by those skilled in the art by comparing and recording the different corrected extrusion parameters corresponding to different real-time extrusion resistance values ​​and circuit load values ​​in advance.

[0203] S92: Based on real-time extrusion parameters and corrected extrusion parameters, extrusion adjustment parameters are obtained.

[0204] The extrusion adjustment parameters are obtained by calculating the difference and sum of the corresponding values ​​of the real-time extrusion parameters and the corrected extrusion parameters.

[0205] If the corrected extrusion parameter is positive, the difference between the real-time extrusion parameter and the corrected extrusion parameter needs to be calculated; if the corrected extrusion parameter is negative, the sum between the real-time extrusion parameter and the corrected extrusion parameter needs to be calculated.

[0206] Based on the same inventive concept, embodiments of the present invention provide a closed-loop control system for stir-fry flavor based on an onboard electronic tongue, comprising: The data acquisition module is used to collect current order information, real-time flavor parameters, post-repair flavor parameters, pot lid model information, electronic tongue thermogram, infrared image inside the pot, insertion resistance value, food heat distribution map, food pressure distribution map, clamp pressure value, food position after tilting, real-time extrusion parameters, surface humidity difference value, real-time extrusion resistance value, and circuit load value. The memory is used to store the program for implementing a closed-loop control method for the flavor of stir-fried dishes based on an onboard electronic tongue. The processor is used to load and execute programs stored in memory.

[0207] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical 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. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0208] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A closed-loop control method for stir-fry flavor based on an onboard electronic tongue, characterized in that, include: Collect current order information; Based on the current order information, determine the required meal items to be prepared; Determine the baseline seasoning parameters based on the required food items; Collect real-time flavor parameters; Compare real-time flavor parameters with baseline seasoning parameters to obtain flavor difference values; The flavor difference value and the difference threshold are combined to determine the corrected flavoring parameters only if the flavor difference value exceeds the preset difference threshold. Adjusting seasoning parameters allows for the modification of seasoning for the required dishes.

2. The method for closed-loop control of stir-fry flavor based on an onboard electronic tongue according to claim 1, characterized in that, It also includes personalized adjustment methods for refining seasoning parameters: Identify user needs from current order information; Determine user taste parameters based on user needs; The user's seasoning parameters are obtained by adjusting the seasoning parameters based on the user's taste parameters; The dishes can be customized according to the user's seasoning parameters.

3. The method for closed-loop control of stir-fry flavor based on an onboard electronic tongue according to claim 1, characterized in that, It also includes modifications to the testing methods after seasoning: Collect post-revision flavor parameters; Compare the revised flavor parameters with the real-time flavor parameters to determine the difference in revised flavor; When the difference in taste after correction is less than the preset correction threshold, collect the pot lid model information; Extract the current pot lid model from the pot lid model information; The electronic tongue installation mode is determined based on the current pot lid model; Based on the installation mode of the electronic tongue, an abnormal handling method is determined, and the abnormal handling method is used to handle the abnormality of the pot-mounted electronic tongue (1).

4. The method for closed-loop control of stir-fry flavor based on an onboard electronic tongue according to claim 3, characterized in that, The electronic tongue installation modes include telescopic mechanical installation and fixed installation. The abnormal handling methods for the telescopic mechanical installation include: Collect the electronic tongue thermogram of the electronic tongue (1); Coverage identification is performed on the thermal map of the electronic tongue to determine the coverage status of the electronic tongue; When the electronic tongue is covered, the electronic tongue (1) is controlled to rotate with preset rotation parameters to remove the surface covering. When the electronic tongue covers in a block-like manner, the electronic tongue (1) is controlled to extend into the food at a calculated angle to stir and remove it.

5. The method for closed-loop control of stir-fry flavor based on an onboard electronic tongue according to claim 4, characterized in that, It also includes specific methods for controlling the electronic tongue (1) to extend into the food at a calculated angle for stirring and removal: Acquire infrared images of the inside of the pot; The thermal distribution of food inside the pot is detected from infrared images inside the pot to obtain high-density areas; Food pose is identified in high-density areas to obtain food pose information; The specific coverage area of ​​the block-based coverage is obtained based on the electronic tongue heat map; The spatial location of the specific coverage area is obtained by combining the specific coverage area with the preset electronic tongue installation location; The angle of the electronic tongue is calculated based on the food's position and the spatial location of the area. The electronic tongue (1) is controlled to extend into the food at the angle of insertion and the insertion resistance value is collected; The stirring parameters are determined based on the penetration resistance value, and the food is stirred according to the stirring parameters to remove the blocky covering.

6. The method for closed-loop control of stir-fry flavor based on an onboard electronic tongue according to claim 3, characterized in that, The electronic tongue installation modes include telescopic mechanical installation and fixed installation. The abnormal handling methods for the fixed installation include: Collect food thermal distribution maps and food pressure distribution maps; Food distribution information is obtained based on food thermal distribution maps and food pressure distribution maps; The clamp tilt angle is determined based on food distribution information; Control the food tasting clamp (2) preset on the pot lid to extend at the clamp tilt angle, and toss the pot with preset tossing parameters, and then collect the clamp pressure value of the food tasting clamp (2); When the clamp pressure value exceeds the preset pressure threshold, the juice is tested using the preset juice sampling method.

7. The method for closed-loop control of stir-fry flavor based on an onboard electronic tongue according to claim 6, characterized in that, It also includes methods for optimizing the parameters of the wok tossing action: Identify the food with the highest heat content from the food heat distribution map, mark it as the sampled food, and then record the location of the sampled food; After performing the tossing action, if the clamp pressure value does not exceed the preset pressure threshold, the tossing trajectory of the sampled food and the position of the food after tossing are collected. Based on the tossing trajectory, tossing parameters, sampled food position, and post-tossing food position, the current tossing influence parameters are obtained. The corrected tossing parameters are calculated by combining the current tossing influence parameters, tossing parameters, clamp tilt angle, and preset clamp extension position. Based on the correction of the tossing parameters to optimize the tossing trajectory, the sampled food is brought into the food tasting clamp (2).

8. A closed-loop control method for stir-fry flavor based on an onboard electronic tongue according to claim 6, characterized in that, The juice extraction method includes: The food sampling clamp (2) is controlled to squeeze the sampled food with preset initial squeezing parameters and collect real-time squeezing parameters; Determine the extrusion adjustment parameters based on real-time extrusion parameters; The sampled food was squeezed and adjusted according to the squeezing adjustment parameters, and the surface humidity difference of the food sampler before and after squeezing was collected (2). When the surface humidity difference is greater than the preset humidity difference threshold, the electronic tongue (1) is controlled to collect seasoning information of the sampled food broth.

9. A closed-loop control method for stir-fry flavor based on an onboard electronic tongue according to claim 8, characterized in that, It also includes methods for determining the extrusion adjustment parameters: Collect real-time extrusion resistance and circuit load values; The extrusion parameters are corrected by combining the real-time extrusion resistance value and the circuit load value. Extrusion adjustment parameters are obtained based on real-time extrusion parameters and corrected extrusion parameters.

10. A closed-loop control system for stir-fry flavor based on an onboard electronic tongue, characterized in that, include: The data acquisition module is used to collect current order information and real-time flavor parameters; A memory for storing a program that implements a closed-loop control method for stir-fry flavor based on an onboard electronic tongue as described in any one of claims 1 to 9; The processor is used to load and execute programs stored in memory.

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