CN111627163A

CN111627163A - Frying control method, device and device

Info

Publication number: CN111627163A
Application number: CN202010407698.4A
Authority: CN
Inventors: 岑健昆; 黄新强; 饶橙俊; 陈国炫
Original assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Current assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Priority date: 2020-05-14
Filing date: 2020-05-14
Publication date: 2020-09-04

Abstract

The invention discloses a frying control method, equipment and a device, wherein the equipment comprises a control module, a first mechanical arm and a second mechanical arm, and the control module realizes the following steps: acquiring order information, and acquiring a plurality of dish information and task information corresponding to the dish information according to the order information; acquiring dishes to be processed according to the dish information, and controlling the first mechanical arm to fry the dishes to be processed on the frying furnace according to the task information; and/or controlling the second mechanical arm to fry the dishes to be processed on the frying furnace according to the task information. According to the invention, the two mechanical arms are automatically controlled to execute the frying cooking process or the frying cooking process according to the order information, so that fried food is obtained, manual cooking is not needed, the field fried food is automatically produced and sold, the intelligentization is improved, the labor cost is reduced, and the automatic control system can be widely applied to the field of automatic control.

Description

Frying control method, device and device

Technical Field

The invention relates to the field of automatic control, in particular to a frying control method, frying control equipment and a frying control device.

Background

Among the snacks, the foods fried on site are more delicious and popular with people than cooked foods such as roast, baked, steamed, and fried. The traditional fried food and fried food are operated completely by manpower, the working intensity is high, the temperature is not well controlled, and the condition of oil splashing can occur, so the fried food and fried food are unsafe. With the development of technology, single-function frying devices are widely used, such as semi-automatic frying devices, but such semi-automatic frying devices still need manual participation in cooking and selling, and cannot automatically produce and sell field-fried food.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a frying control method, equipment and a device, which control two mechanical arms to fry two different cooking processes respectively according to order information, realize the automatic production and sale of fried food on site, improve the intelligence and reduce the labor cost.

According to an embodiment of the first aspect of the present invention, a frying control method is applied to a control module of a frying cooking device, the frying cooking device further includes at least one frying oven, a first mechanical arm and a second mechanical arm, the control module is respectively electrically connected with the first mechanical arm and the second mechanical arm, and the control module implements the following steps:

acquiring order information, and acquiring a plurality of dish information and task information corresponding to the dish information according to the order information;

acquiring dishes to be processed according to the dish information, and controlling the first mechanical arm to fry the dishes to be processed on the frying furnace according to the task information; and/or the presence of a gas in the gas,

and controlling the second mechanical arm to fry the dishes to be processed on the frying oven according to the task information.

According to the frying control method, at least the following beneficial effects are achieved: after the customer places an order, the two mechanical arms are automatically controlled to execute a frying cooking process or a frying cooking process according to order information, so that fried food is obtained, manual cooking is not needed, automatic production and selling of the field fried food are achieved, intelligence is improved, and labor cost is reduced.

According to some embodiments of the invention, the task information includes frying task information and frying task information, and the controlling the first mechanical arm to fry the dish to be processed on the frying oven according to the task information includes:

when the task information is detected to be the frying task information, first control information is obtained according to the frying task information;

controlling the first mechanical arm to send the dish to be processed into the frying furnace, and controlling the temperature and the frying time of the frying furnace according to the first control information;

and determining that the frying time reaches the preset time, and controlling the first mechanical arm to take out the fried dish.

The order information comprises one or more dishes information, each dish information corresponds to one task information, and when the task information is detected to be frying task information, the first mechanical arm is controlled to fry the dishes to be processed; when the task information is detected to be frying task information, controlling a second mechanical arm to fry the dishes to be processed; and the mechanical arms are respectively controlled to execute different cooking processes through the task information, so that the control mode is simplified, and the control and management are convenient. And determining that the detected frying time reaches the preset time, and controlling the first mechanical arm to take out the fried dish. Different dishes correspond to different control information, and the control information comprises temperature information of equipment, frying time information, regular turning or pressing of the dishes to be processed and the like. According to the control information, the temperature and the frying time of the frying oven can be accurately controlled, and food can be cooked at the standardized temperature and time, so that the taste and the flavor of the food are guaranteed.

According to some embodiments of the invention, the frying cooking apparatus further comprises a preheating device; the method also comprises the step of carrying out preheating treatment on the dishes to be treated, and specifically comprises the following steps:

and before the dish to be processed is sent into the frying furnace, the dish to be processed is sent to the preheating device for preheating, and the preheated dish to be processed is obtained.

Considering that some dishes (such as meat) need to be refrigerated, the dishes need to be preheated before frying, so that the dishes are uniformly heated in the frying process, the condition that the surface of the dishes is well cooked and the inside of the dishes is not cooked is avoided, and the frying quality is improved.

According to some embodiments of the present invention, the number of the frying furnaces is at least two, and the controlling the first mechanical arm to feed the dish to be processed into the frying furnaces includes:

determining that at least two frying furnaces are idle, and controlling a first mechanical arm to send dishes to be processed into the idle frying furnaces.

Through a plurality of frying stoves of set, can realize frying in shallow oil a plurality of dishes of treating in the same time, greatly improve the efficiency of frying in shallow oil. Before the dishes to be processed are fed into the frying furnaces, sequentially detecting whether each frying furnace is an idle frying furnace (namely, the frying furnace for frying the dishes to be processed is not available at present) or not, and if the frying furnace is an idle frying furnace, controlling a first mechanical arm to feed the dishes to be processed into the idle frying furnace; otherwise, detecting the next frying furnace until detecting the idle frying furnace. If all frying furnaces are detected and no idle frying furnace exists, suspending the frying task, and executing the frying task after the idle frying furnace exists.

According to some embodiments of the invention, said controlling said second arm to fry said dish to be processed on said fryer in accordance with said task information comprises:

when the task information is detected to be frying task information, second control information is obtained according to the frying task information;

controlling the second mechanical arm to send the dishes to be processed into the frying oven, and controlling the temperature and frying time of the frying oven according to the second control information;

and determining that the frying time reaches preset time, and controlling the second mechanical arm to take out the fried dishes.

According to the control information, the temperature and the frying time of the frying oven can be accurately controlled, and the food can be cooked at the standardized temperature and time, so that the taste and the flavor of the food are guaranteed.

According to some embodiments of the invention, the number of fryers is at least two, and the controlling the second robot arm to feed the dish to be processed into the fryers includes:

and determining that at least two frying ovens have idle frying ovens, and controlling a second mechanical arm to convey dishes to be processed into the idle frying ovens.

By integrating a plurality of frying furnaces, a plurality of dishes to be processed can be fried at the same time, and the frying efficiency is greatly improved. Before the dishes to be processed are sent into the frying furnaces, sequentially detecting whether each frying furnace is an idle frying furnace (namely, the frying furnace for frying the dishes to be processed is not arranged currently), and if the frying furnace is an idle frying furnace, controlling the first mechanical arm to send the dishes to be processed into the idle frying furnace; otherwise, the next fryer is detected until a free fryer is detected. And if all the frying furnaces are detected and no idle frying furnace is stored, suspending the frying task, and executing the frying task after waiting for the idle frying furnace.

According to some embodiments of the invention, the fryer comprises a plurality of fryer baskets and a lifting device for lifting the fryer baskets, the determination detects that the frying time reaches the preset time, and the second mechanical arm is controlled to take out fried dishes, comprising:

and determining that the frying time reaches preset time, controlling a lifting device to lift the frying basket above the frying furnace, and controlling the second mechanical arm to pour out fried dishes from the frying basket.

A frying basket and a lifting device are arranged in the frying furnace, and the lifting device is used for controlling the frying basket to sink into oil (contained in the frying furnace) or controlling the basket bottom of the frying basket to rise to the oil surface, so that the frying of the dishes to be treated is realized. The frying of dishes is controlled by the lifting of the lifting device, the control mode is simple and easy to realize; in addition, the frying basket is used for loading the vegetables, so that the vegetables are prevented from falling into the oil bottom and being fried to cause influence on oil quality in the frying process.

According to some embodiments of the present invention, the frying cooking device further comprises a meal ordering and number calling screen; the method further comprises the following steps:

and detecting a trigger signal from the ordering and number calling screen, and outputting the fried dishes and/or the fried dishes according to the trigger signal.

After the dishes are processed, the processed dishes can be directly output, or the processed dishes can not be output at first, and when a client inputs a trigger signal, the dishes are output; so, the customer need not to wait by frying cooking equipment after ordering, when the customer need take out the dish, only needs input trigger signal, can output the dish, so, still can avoid the condition that the customer took wrong dish, improves customer's operation experience. Optionally, the customer inputs the trigger signal by clicking a trigger button on the ordering and number calling screen. Optionally, the ordering and number calling screen is provided with an image acquisition device, a client presents a two-dimensional code generated after ordering, and the image acquisition device generates a trigger signal after acquiring the two-dimensional code.

A frying cooking apparatus according to an embodiment of a second aspect of the present invention includes a control module, at least one fryer, a first robot arm, and a second robot arm, the control module being electrically connected to the first robot arm and the second robot arm, respectively, the control module implementing the steps of:

According to the frying control system, at least the following beneficial effects are achieved: after the customer places an order, the two mechanical arms are automatically controlled to execute a frying cooking process or a frying cooking process according to order information, so that fried food is obtained, manual cooking is not needed, automatic production and selling of the field fried food are achieved, intelligence is improved, and labor cost is reduced.

A frying control apparatus according to an embodiment of a third aspect of the present invention includes:

at least one processor;

at least one memory for storing at least one program;

when executed by the at least one processor, cause the at least one processor to implement the method as described above.

According to the frying control device, at least the following beneficial effects are achieved: after a customer places an order, the two mechanical arms of the double-arm machine are automatically controlled to execute a frying cooking process or a frying cooking process according to order information, so that fried food is obtained, manual cooking is not needed, automatic production and selling of the field fried food are achieved, intelligence is improved, and labor cost is reduced.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural view of a frying cooking apparatus according to the embodiment of the present embodiment;

FIG. 2 is a flow chart illustrating the steps of a frying control method according to an embodiment of the present invention;

FIG. 3 is a flowchart illustrating the steps of controlling the first robot to perform frying in accordance with an embodiment of the present invention;

FIG. 4 is a flowchart illustrating the steps of controlling the second robot to fry in accordance with an embodiment of the method of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

First, a frying cooking apparatus according to the present embodiment will be explained. As shown in fig. 1, the frying and cooking device of the embodiment of the present invention mainly includes a control module, a two-arm robot, a frying platform 1, a control electric cabinet 13, and a screen for ordering and calling numbers. The control module comprises an upper computer and two Programmable Logic Controllers (PLC), and the two PLCs are used for controlling the first mechanical arm 5 and the second mechanical arm 11 respectively so as to realize the frying process and the cooking frying process respectively. The double-arm robot comprises a first mechanical arm 5 and a second mechanical arm 11, wherein the first mechanical arm 5 and the second mechanical arm 11 can be six-axis mechanical arms, five-axis mechanical arms or other mechanical arms. The tail end of the mechanical arm is provided with an end effector, and the end effector 4 of the first mechanical arm 5 can be a clamp or a shovel and the like; the end effector 12 of the second mechanical arm 11 may be a gripper, a colander, or the like. The frying platform 1 comprises a refrigerator 6, a preheating module 3, at least one frying oven 2 and at least one frying oven 8. Fry in shallow oil and be equipped with first heater, first temperature sensor and first temperature controller on the stove 2, control module is connected with first temperature sensor and first temperature controller respectively. The frying furnace 2 can be provided with a partition fence, one frying furnace 2 is divided into a plurality of frying areas, and each frying area can be used for frying one dish, so that the space is effectively and fully utilized. And a second heater, a second temperature sensor and a second temperature controller are arranged on the fryer 8, and the control module is respectively connected with the second temperature sensor and the second temperature controller. Also mounted on fryer 8 are one or more fry baskets 10, and a lift for controlling the raising and lowering of fry baskets 10. Each fry basket 10 may be used to contain a dish for frying. The preheating module 3 comprises a third heater, a third temperature sensor and a third temperature controller, and the control module is connected with the third temperature sensor and the third temperature controller respectively. The control electric cabinet 13 is used for installing electric lamps, power supply modules and the like. The ordering and number calling screen is connected with the control module and used for collecting input information of a user, such as parameter information of a robot input and set by a manager or order information input by a client.

The refrigerator 6 is used for storing dishes to be processed and plays a role in keeping the dishes to be processed fresh. The refrigerator 6 is divided into a fried dish storage section and a fried dish storage section. 3 automatic material taking shelves are arranged in the fried dish storage part, each shelf is independent, each shelf has 4 layers, and each layer can contain 6 parts of products, namely each shelf can contain 24 parts of dishes. 3 racks can be used for containing the same cooking dishes, and can also be used for containing any 3 different dishes, such as chips, popcorn chicken, chicken nuggets and the like. The pretreated dishes on the automatic material taking rack can be conveyed to a preset position through the lifting mechanism, and the second mechanical arm 11 clamps (or loads) the pretreated dishes from the preset position. Inside the portion for storing the dishes to be served, a cartridge device is installed, which can place 18 × 6 tortillas, that is, 18 servings, each of which comprises 6 tortillas of the same size, such as meat patties, vegetable patties, etc. Wherein the cake is transported to a preset position by the cartridge-clamping device, and the first mechanical arm 5 clamps the cake from the preset position. The lifting mechanism and the cartridge clip device can be realized by a servo motor or a stepping motor.

Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of a frying cooking apparatus, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.

Based on the above-described configuration of fig. 1, various embodiments of the frying control scheme of the present application are proposed.

Referring to fig. 2, fig. 2 is a flowchart of the steps of a frying control method according to an embodiment of the present application, including but not limited to the following steps:

s100, obtaining order information, and obtaining a plurality of dish information and task information corresponding to the dish information according to the order information.

The order information is generated according to information input by a customer on the intelligent terminal or the ordering and number calling screen and is sent to the upper computer of the control module, and the order information can be input in various modes.

In some embodiments, the customer may download the corresponding APP through which orders are placed. For example, after the customer selects the dish number on the APP, the customer clicks to place an order, and the APP background server generates order information according to the dish number selected by the customer and sends the order information to the upper computer of the control module.

In some embodiments, the customer may scan orders through a third party platform, such as a WeChat, Payment, etc. The following combinations are detailed with the WeChat platform. And the customer scans the two-dimensional code through the WeChat platform to obtain a corresponding link interface, relevant information of the dish number is displayed on the interface, and the customer clicks to place an order after selecting the dish number. And the background server generates order information according to the dish number selected by the client and sends the order information to the upper computer of the control module.

In some embodiments, the customer may place an order through a meal ordering screen. Relevant information of dish numbers is displayed on an interface of the ordering and number calling screen, and after the customers select the dish numbers, the customers click to place orders. And generating order information according to the number of the dishes selected by the customer and sending the order information to the upper computer.

The dish information is the dish ID selected by ordering, for example, a customer selects potato chips (corresponding to dish ID1), chicken chips (corresponding to dish ID3) and pancakes (corresponding to dish ID8) through a mobile phone, and the corresponding dish to be processed can be obtained according to the dish information. The task information is a task ID corresponding to a dish cooking process, such as a task ID1 corresponding to potato chips and a task ID3 corresponding to chicken chips, when the upper computer obtains the task ID1 or the task ID3, the fact that a frying process needs to be executed can be known, and information is sent to a corresponding editable logic controller, so that the second mechanical arm is controlled to execute a frying step.

S101, acquiring a dish to be processed according to the dish information, and controlling the first mechanical arm to fry the dish to be processed on the frying furnace according to the task information; and/or the presence of a gas in the gas,

After the upper computer obtains the plurality of task information, the upper computer firstly judges whether each task information is frying task information or frying task information, sends the task information to the corresponding PLC for execution, and sends the task information to the PLC corresponding to the first mechanical arm if the task information is the frying task information, and executes the following steps S101A-S103A with reference to FIG. 3:

S101A, when the task information is detected to be the frying task information, acquiring first control information according to the frying task information;

S102A, controlling the first mechanical arm to feed the dish to be processed into the frying furnace, and controlling the temperature and the frying time of the frying furnace according to the first control information;

S103A, determining that the frying time reaches the preset time, and controlling the first mechanical arm to take out the fried dishes.

The first control information is parameter information for controlling the robot to fry the dish, such as frying temperature, frying time, the number of times of turning the dish to be processed in the frying process, the time period of two adjacent turning times, the number of times of pressing the dish to be processed, the time period of two adjacent pressing times and the like. Due to different control modes in the cooking process of different dishes to be processed, such as different frying temperatures or different frying time, if the temperature is not controlled well or the frying time is too long, the frying quality of the dishes is affected. In the embodiment, the temperature sensor and the temperature controller are used for regulating and controlling the real-time temperature of the frying furnace, so that the high-precision control of the temperature is realized, and the frying quality of dishes is improved. In addition, the PLC monitors the frying time of the dishes in real time and the turning or pressing time of the dishes to be processed in the frying process; and when the frying time reaches the preset time, controlling the first mechanical arm to take out the fried dish. And pouring the taken dishes into a packing box or putting the dishes into a preset heat preservation device.

In some embodiments, since the number of the frying furnaces is at least two, before the dish to be processed is fed into the frying furnaces, the method further includes a step of detecting the frying furnaces, specifically as follows:

According to a preset sequence (such as a preset sequence of a program), the ID of each frying furnace and the working state of the frying furnace of the ID are sequentially detected, whether the frying furnace is an idle frying furnace or not is judged, if the frying furnace is an idle frying furnace, the first mechanical arm is controlled according to the ID of the frying furnace to feed dishes to be processed into the frying furnace, and meanwhile, the working state of the frying furnace recorded with the ID is modified (modified into the frying state).

In some embodiments, the dish to be processed may be placed in a freezer for refrigeration, and when the dish to be processed is taken out from the freezer, the dish may be in a frozen or semi-frozen state, and if the dish is directly used for a frying cooking process, the frying quality of the dish may be affected, so the embodiment performs a preheating process on the dish to be processed taken out from the freezer, specifically as follows:

The preheating module is adopted to preheat the dishes to be processed, so that the dishes to be processed are fully unfrozen, and then frying processing is carried out, so that the frying control is more accurate, and the frying quality is improved.

If the task information is frying task information, the task information is sent to the PLC corresponding to the second mechanical arm, and referring to FIG. 4, the following steps S101B-S103B are executed:

S101B, when the task information is detected to be frying task information, acquiring second control information according to the frying task information;

S102B, controlling the second mechanical arm to convey the dish to be processed into the frying oven, and controlling the temperature and frying time of the frying oven according to the second control information;

S103B, determining that the frying time reaches the preset time, and controlling the second mechanical arm to take out fried dishes.

The second control information is parameter information for controlling the robot to fry the dishes, such as the temperature of a frying oven, the frying time and the like. Due to different control modes in the frying and cooking processes of different dishes to be processed, such as different oil temperatures or different frying time, if the oil temperature is too low or the frying time is too long, the frying quality of the dishes is affected. In the embodiment, the real-time temperature of the frying oven is regulated and controlled through the temperature sensor and the temperature controller, so that high-precision control of the temperature is realized, and the frying quality of dishes is improved. In addition, the PLC monitors the frying time of the dishes in real time, and controls the second mechanical arm to take out the fried dishes after the frying time reaches the preset time. And pouring the taken dishes into a packing box or putting the dishes into a preset heat preservation device.

In some embodiments, since the number of the frying ovens is at least two, before the dishes to be processed are fed into the frying ovens, the method further comprises the following steps:

And sequentially detecting the ID of each frying oven and the working state of the frying oven with the ID according to a preset sequence (such as a preset sequence of a program), judging whether the frying oven is an idle frying oven or not, controlling a second mechanical arm to feed the dishes to be processed into the frying oven according to the ID of the frying oven if the frying oven is an idle frying oven, and simultaneously modifying the working state (modifying into the frying state) of the frying oven recording the ID.

In some embodiments, the method further comprises the step of outputting the processed dish, specifically:

After the cooked (fried or fried) dishes are sent into a preset packing box, the final dishes are obtained and the customer is informed to get the dishes. Wherein, the customer can take the corresponding packing box according to the order number by the voice prompt (order number prompt). The dish frying information can be sent to an intelligent terminal of a customer, the customer inputs a trigger signal to an upper computer by clicking a trigger button on a dish ordering and number calling screen, or inputs the trigger signal by scanning a code. The upper computer controls to open the meal outlet door and automatically transmits the dishes to the meal outlet. Be equipped with safe grating on the door of having a dinner, detect the customer and get meal the completion after, close the door of having a dinner, prevent that the door of having a dinner from pressing from both sides the hand, it is safer. Wherein, the dish can be transmitted to the meal outlet by the conveyer belt.

In some embodiments, the flow of control steps for frying dishes to be processed is as follows:

step one, discharging the semi-finished product (namely the dish to be processed). When a customer places an order at the WeChat terminal, the upper computer automatically judges the order content of the customer and then sends the information to the programmable controller, and the controller controls the corresponding lifting mechanism to take the material; the lifting mechanism can detect whether a semi-finished product exists on each layer of the material rack through a corresponding sensor, and if the semi-finished product exists, the semi-finished product on the layer is conveyed to a discharge hole through the clutch cylinder; waiting for the manipulator to grab.

And step two, frying the semi-finished product. When the manipulator grabs the semi-finished product and pours the semi-finished product into the frying basket, the lifting cylinder lowers the frying basket filled with food into the oil furnace for frying, and the programmable controller automatically starts to time, and when the frying time reaches the preset time, the lifting cylinder can lift the frying basket to be far away from the oil level; after the action is finished, the programmable controller informs the mechanical arm to grab the frying basket to carry out oil draining action, the six-axis mechanical arm simulates the action of the arm of a person, redundant oil in the frying basket is reduced by shaking the frying basket, and fried finished products are taken and poured into the packaging box.

And step three, taking the finished product (namely the fried dish) out. When pouring the finished product into the packing carton, conveying motor will drive the conveyer belt and rotate, carry the packing carton to the mouth of having a dinner, and the door will be opened when the customer is with believe a little and scanning the sign indicating number on sweeping the sign indicating number rifle, and the customer can stretch out the hand and get the meal. When the sensor on the conveyor belt detects that the customer has finished taking the meal, the door will close. The food taking door is also provided with the safety grating, so that the door is prevented from clamping hands, and the food taking door is safer.

In some embodiments, the flow of the control steps for frying the dish to be processed is as follows:

step one, discharging the semi-finished product (namely the dish to be processed). When a customer places an order at the WeChat client, the upper computer automatically judges the order content of the customer and then sends the information to the programmable controller, and the programmable controller controls the corresponding cartridge clip mechanism to take the material; the cartridge clip mechanism can detect whether each cartridge clip has a semi-finished product or not through a corresponding sensor, and if the semi-finished product is detected, the semi-finished product on the layer is conveyed to a discharge hole through the three suction nozzles; when three suction nozzles reach the discharge gate, the door cylinder in the discharge gate can rise the door, and the suction nozzle is put the material at the discharge gate and is waited for the manipulator to snatch.

Step two, decocting the semi-finished product. When the manipulator grabs the semi-finished product and puts in the preheating stage, the preheating stage carries out preheating treatment with the semi-finished product, and the manipulator will reach the other end of preheating simultaneously, snatchs the product after preheating. The programmable controller processes data internally, detects the working state of each frying platform, spreads a layer of oil film on the frying platform by the manipulator on the frying platform in an idle state, places the grabbed product on the idle frying platform to fry food, and automatically times according to the grabbed product. During the process of frying food on the frying table, the manipulator can continuously press and turn the food according to the formula. When the time arrives, the manipulator can shovel the fried food out of the frying table and pour the food into the packaging box.

And step three, taking the finished product (namely the fried dish) out. When food is poured into the packing carton through the manipulator, conveying motor will drive the conveyer belt and rotate, carry the packing carton to the mouth of having a dinner, sweep the sign indicating number on sweeping the sign indicating number rifle when the customer is with believe a little, the door of having a dinner will be opened, and the customer can stretch out the hand and get the meal. When the sensor on the conveyor belt detects that the customer has finished taking the meal, the door will close. The food taking door is also provided with the safety grating, so that the door is prevented from clamping hands, and the food taking door is safer.

As shown in fig. 1, an embodiment of the present invention further provides a frying control apparatus, including a control module, at least one frying oven, a first robot arm, and a second robot arm, where the control module is electrically connected to the first robot arm and the second robot arm, respectively, and the control module implements the following steps:

The frying control device of the embodiment can execute the frying control method provided by the method embodiment of the invention, can execute any combination of the implementation steps of the method embodiment, and has corresponding functions and beneficial effects of the method.

The embodiment of the invention also provides a frying control device, which comprises:

at least one processor;

at least one memory for storing at least one program;

The frying control device of this embodiment can execute the frying control method provided by the method embodiments of the present invention, can execute any combination of the implementation steps of the method embodiments, and has the corresponding functions and advantages of the method.

Embodiments of the present invention also provide a storage medium having stored therein processor-executable instructions, which when executed by a processor, are configured to perform the method as described above.

The storage medium of this embodiment can execute the frying control method provided by the method embodiments of the present invention, can execute any combination of the method embodiments to implement steps, and has the corresponding functions and advantages of the method.

It will be understood that all or some of the steps, systems of methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims

1. A frying control method is characterized in that the method is applied to a control module of a frying cooking device, the frying cooking device further comprises at least one frying furnace, a first mechanical arm and a second mechanical arm, and the control module is electrically connected with the first mechanical arm and the second mechanical arm respectively; the method comprises the following steps:

2. The frying control method of claim 1, wherein the task information includes frying task information and frying task information, and the controlling the first mechanical arm to fry the dish to be processed on the frying pan according to the task information comprises:

3. A frying control method in accordance with claim 2, wherein said frying cooking apparatus further comprises a preheating device; the method also comprises the step of carrying out preheating treatment on the dishes to be treated, and specifically comprises the following steps:

4. The frying control method of claim 2, wherein the number of the frying pans is at least two, and the controlling the first mechanical arm to feed the dish to be processed into the frying pans includes:

5. The frying control method of claim 2, wherein said controlling the second arm to fry the dishes to be processed in the frying oven according to the task information comprises:

6. The fry control method of claim 5, wherein the number of the fryers is at least two, and the controlling the second robot arm to feed the dishes to be processed into the fryers includes:

7. The frying control method as claimed in claim 5, wherein the frying oven includes a plurality of frying baskets and a lifting device for lifting the frying baskets, and the determining detects that the frying time reaches a preset time and the controlling the second robot arm to take out the fried dishes comprises:

8. A frying control method in accordance with any one of claims 1 to 7, wherein the frying cooking apparatus further comprises a screen for ordering and calling; the method further comprises the following steps:

9. A frying cooking device is characterized by comprising a control module, at least one frying oven, a first mechanical arm and a second mechanical arm, wherein the control module is electrically connected with the first mechanical arm and the second mechanical arm respectively, and the control module realizes the following steps:

10. A frying control apparatus, comprising:

at least one processor;

at least one memory for storing at least one program;

when executed by the at least one processor, cause the at least one processor to implement a fry control method of any one of claims 1 to 8.