阅读说明：本技术 烹饪控制方法、计算机可读存储介质及烹饪系统 (Cooking control method, computer-readable storage medium and cooking system ) 是由 钱意 万晨 于 2020-12-16 设计创作，主要内容包括：本发明提出了一种烹饪系统的控制方法,包括步骤：主控制器获取与其通讯连接的智能锅的温度传感器检测的实际温度,根据获取的所述实际温度信息确定处于升温状态的智能锅,并将该智能锅作为所述当前烹饪锅；当到达备料时间时,主控制器将相应的备料信息数据包发送至辅料备料装置,备料时间为加辅料步骤的起始时间点之前第一预设时长的时间点；在执行加辅料步骤时,主控制器输出追踪曲线的火力控制信号。将处于升温状态的智能锅作为当前烹饪锅,提高了烹饪系统的工作效率且判断准确,在加辅料步骤追踪温度时间曲线作为主要发明点,精确的辅料量与精确的火力控制结合,实现加辅料步骤中大厨烹饪过程的精确复现,从而获得大厨水准的口感和味道。(The invention provides a control method of a cooking system, which comprises the following steps: the main controller acquires actual temperature detected by a temperature sensor of an intelligent pot in communication connection with the main controller, determines the intelligent pot in a temperature-rising state according to the acquired actual temperature information, and takes the intelligent pot as the current cooking pot; when the material preparation time is up, the main controller sends a corresponding material preparation information data packet to the auxiliary material preparation device, wherein the material preparation time is a time point which is a first preset time length before the starting time point of the auxiliary material adding step; when the supplementary material adding step is executed, the main controller outputs a fire control signal tracing the curve. The intelligent pot in the temperature rising state is used as the current cooking pot, the working efficiency of the cooking system is improved, the judgment is accurate, the temperature-time curve is tracked in the auxiliary material adding step to serve as the main invention point, the accurate auxiliary material amount is combined with the accurate firepower control, the accurate recurrence of the cooking process of the kitchen in the auxiliary material adding step is realized, and therefore the taste and the taste of the kitchen are obtained.)

1. The utility model provides a control method of culinary art system, its characterized in that, culinary art system includes main control unit, at least one intelligent pot, auxiliary material device and receiving device of prepareeing material, intelligent pot includes the pot body and temperature sensor, temperature sensor is used for detecting the temperature of the pot body, intelligent pot can with main control unit communication connection, control method includes the step:

s10, the main controller acquires a navigation menu, the data information of the navigation menu comprises a temperature-time curve and a plurality of cooking sub-steps, the temperature-time curve comprises a plurality of curve sections corresponding to the plurality of cooking sub-steps, the plurality of cooking sub-steps comprise at least one auxiliary material adding step, each auxiliary material adding step corresponds to one prepared material information data packet, and each prepared material information data packet comprises at least one auxiliary material type corresponding to the auxiliary material adding step and auxiliary material amount corresponding to each auxiliary material type;

s20, the main controller acquires actual temperature detected by a temperature sensor of an intelligent pot in communication connection with the main controller, determines the intelligent pot in a temperature rising state according to the acquired actual temperature information, and takes the intelligent pot as the current cooking pot;

s30, the main controller sequentially executes the plurality of cooking substeps according to the navigation menu data;

before the step of adding the auxiliary materials is executed, the main controller further controls the auxiliary material feeding device and the material receiving device to prepare materials, and the preparation process comprises the following steps:

s100, when the material preparation time is up, the main controller sends a corresponding material preparation information data packet to the auxiliary material preparation device, wherein the material preparation time is a time point which is a first preset time length before the starting time point of the auxiliary material adding step;

s200, the auxiliary material preparing device prepares materials according to the auxiliary material information data packet and controls the material receiving device to receive materials;

and when the auxiliary material adding step is executed, the main controller sends auxiliary material adding reminding information according to a corresponding material preparation information data packet and outputs a fire control signal for tracking a curve, wherein the fire control signal for tracking the curve is used for enabling a curve of the actual temperature of the current cooking pot along with the change of time to track a curve section corresponding to the current cooking sub-step.

2. The control method according to claim 1, wherein the step S200 is specifically that the auxiliary material preparation device generates feeding substeps corresponding to each type of auxiliary material according to the auxiliary material information data packet, and controls to sequentially execute each feeding substep;

the control process of the feeding substep comprises the following steps:

s210, the auxiliary material preparation device sends motor control data to the material receiving device, wherein the motor control data comprise the rotation direction and the step number of a material receiving motor of the material receiving device;

s220, the receiving device controls the receiving motor to act according to the received motor control data, so that a receiving cup of the receiving device moves to the position below a corresponding discharge hole in the auxiliary material preparing device from an initial position;

s230, the receiving device feeds back a signal that the receiving cup moves in place to the auxiliary material preparing device;

s240, the auxiliary material preparation device controls the corresponding discharge hole to discharge, and sends a signal to the material receiving device when the discharge is finished;

and S250, the receiving device controls the receiving motor to act so that the receiving cup of the receiving device returns to the initial position.

3. The method of controlling a cooking system according to claim 2, wherein the auxiliary material preparing apparatus includes a solid material preparing portion and a liquid material preparing portion arranged in a first direction, the receiving cup moves in a straight reciprocating motion, the initial position is a region where the solid material preparing portion and the liquid material preparing portion are adjacent in the first direction,

the material preparation information data packet further comprises auxiliary material forms corresponding to the auxiliary material types respectively, in the step S210, when the auxiliary material form corresponding to the current feeding sub-step is a solid state, the rotation direction of the material receiving motor is positive rotation, and when the auxiliary material form corresponding to the current feeding sub-step is a liquid state, the rotation direction of the material receiving motor is reverse rotation.

4. The control method of the cooking system according to claim 3, wherein in the step 240,

when the auxiliary material form corresponding to the current feeding sub-step is solid, the auxiliary material preparation device controls a solid material feeding motor corresponding to the type of the auxiliary material needing to be fed currently in the solid material preparation part to rotate for a preset number of turns;

when the auxiliary material form corresponding to the current feeding substep is liquid, the auxiliary material preparation device controls a liquid material feeding motor corresponding to the type of the auxiliary material to be fed currently in the liquid material preparation part to rotate for a second preset time;

and generating the preset number of turns and the second preset duration by an auxiliary material preparation device according to the auxiliary material form and the auxiliary material amount in the auxiliary material information data packet.

5. The method of controlling a cooking system according to any one of claims 1 to 4, wherein if the fire control signal outputted from the main controller is a tracking curve control signal in the previous sub-cooking step of the step of adding the supplementary material, and the supplementary material to be added in the step of adding the supplementary material includes a liquid supplementary material, and the quantity of the supplementary material to be added in the liquid supplementary material is greater than a preset quantity of the supplementary material, the method further performs a temperature compensation step before entering the step of adding the supplementary material:

acquiring an end point temperature value of a curve segment corresponding to the previous cooking substep;

and outputting a fire control signal by taking the end point temperature value as a target temperature, and entering the auxiliary material adding step until the actual temperature is greater than or equal to the end point temperature value.

6. The control method of the cooking system according to any one of claims 1 to 4, wherein the trace-curve fire power control signal is used to control a current of an electromagnetic proportional valve on a gas delivery pipe, and the trace-curve fire power control signal is calculated by:

the method comprises the steps that a target temperature is used as input of a nonlinear tracking differentiator in an ADRC model at a corresponding moment, an actual temperature at the corresponding moment is used as a controlled object, the actual temperature is used as feedback input of an extended state observer in the ADRC model, a power value of an electromagnetic proportional valve is output by the ADRC model, the main controller calculates a current value according to the power value, and a fire control signal of a tracking curve is output according to the current value to adjust the opening of the electromagnetic proportional valve.

7. The method of controlling a cooking system according to any one of claims 1 to 4, wherein the first preset time period is determined according to the number of types of the supplementary materials in the step of adding supplementary materials to be entered.

8. A computer-readable storage medium storing a computer program, wherein the computer program is executed to implement the cooking control method according to any one of claims 1 to 7.

9. The cooking system is characterized by comprising a main controller, at least one intelligent pot, an auxiliary material preparing device and a material receiving device, wherein the intelligent pot comprises a pot body and a temperature sensor, the temperature sensor is used for detecting the temperature of the pot body, the intelligent pot can be in communication connection with the main controller, and the cooking system can realize the cooking control method as claimed in any one of claims 1 to 7.

10. The cooking system of claim 9, further comprising a gas cooker, wherein the gas cooker comprises at least one burner, the gas cooker is provided with an electromagnetic proportional valve in communication connection with the main controller, and the fire control signal output by the main controller and tracking a curve is used for adjusting the opening of the electromagnetic proportional valve so as to control the fire output by the burner.

Technical Field

The invention relates to the technical field of cooking, in particular to a cooking control method, a computer readable storage medium and a cooking system.

Background

People find a favorite dish accidentally made in the daily cooking process, the follow-up is difficult to reproduce, the method of a kitchen is hoped to be simulated sometimes, and the taste of the kitchen is difficult to make.

Although some automatic cooking methods are also proposed in the industry, the cooking step of adding auxiliary materials is usually specific fire control, the control mode is too rough, the cooking process of a kitchen is difficult to reproduce, the cooked dishes are difficult to reach the taste of the kitchen, in addition, in the existing intelligent cooking control process, identification information needs to be set in the communication information between the intelligent pot and the main controller, repeated pairing and confirmation operations are needed, the control process is complicated, and the response speed is slow.

Disclosure of Invention

Based on the above situation, the present invention is directed to a cooking control method, a computer-readable storage medium and a cooking system, so as to solve the problems in the prior art that cooked dishes are difficult to reach the taste of a kitchen and the control process is complicated.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the control method of the cooking system comprises a main controller, at least one intelligent pot, an auxiliary material preparing device and a material receiving device, wherein the intelligent pot comprises a pot body and a temperature sensor, the temperature sensor is used for detecting the temperature of the pot body, the intelligent pot can be in communication connection with the main controller, and the control method comprises the following steps:

s10, the main controller acquires a navigation menu, the data information of the navigation menu comprises a temperature-time curve and a plurality of cooking sub-steps, the temperature-time curve comprises a plurality of curve sections corresponding to the plurality of cooking sub-steps, the plurality of cooking sub-steps comprise at least one auxiliary material adding step, each auxiliary material adding step corresponds to one prepared material information data packet, and each prepared material information data packet comprises at least one auxiliary material type corresponding to the auxiliary material adding step and auxiliary material amount corresponding to each auxiliary material type;

s20, the main controller acquires actual temperature detected by a temperature sensor of an intelligent pot in communication connection with the main controller, determines the intelligent pot in a temperature rising state according to the acquired actual temperature information, and takes the intelligent pot as the current cooking pot;

s30, the main controller sequentially executes the plurality of cooking substeps according to the navigation menu data;

before the step of adding the auxiliary materials is executed, the main controller further controls the auxiliary material feeding device and the material receiving device to prepare materials, and the preparation process comprises the following steps:

s100, when the material preparation time is up, the main controller sends a corresponding material preparation information data packet to the auxiliary material preparation device, wherein the material preparation time is a time point which is a first preset time length before the starting time point of the auxiliary material adding step;

s200, the auxiliary material preparing device prepares materials according to the auxiliary material information data packet and controls the material receiving device to receive materials;

and when the auxiliary material adding step is executed, the main controller sends auxiliary material adding reminding information according to a corresponding material preparation information data packet and outputs a fire control signal for tracking a curve, wherein the fire control signal for tracking the curve is used for enabling a curve of the actual temperature of the current cooking pot along with the change of time to track a curve section corresponding to the current cooking sub-step.

Preferably, the step S200 is specifically that the auxiliary material preparing device generates feeding substeps corresponding to each auxiliary material type according to the auxiliary material information data packet, and controls to sequentially execute each feeding substep;

the control process of the feeding substep comprises the following steps:

s210, the auxiliary material preparation device sends motor control data to the material receiving device, wherein the motor control data comprise the rotation direction and the step number of a material receiving motor of the material receiving device;

s220, the receiving device controls the receiving motor to act according to the received motor control data, so that a receiving cup of the receiving device moves to the position below a corresponding discharge hole in the auxiliary material preparing device from an initial position;

s230, the receiving device feeds back a signal that the receiving cup moves in place to the auxiliary material preparing device;

s240, the auxiliary material preparation device controls the corresponding discharge hole to discharge, and sends a signal to the material receiving device when the discharge is finished;

and S250, the receiving device controls the receiving motor to act so that the receiving cup of the receiving device returns to the initial position.

Preferably, the auxiliary material preparing device comprises a solid material preparing part and a liquid material preparing part which are arranged along a first direction, the receiving cup moves in a linear reciprocating manner, the initial position is an area where the solid material preparing part and the liquid material preparing part are adjacent to each other in the first direction,

the material preparation information data packet further comprises auxiliary material forms corresponding to the auxiliary material types respectively, in the step S210, when the auxiliary material form corresponding to the current feeding sub-step is a solid state, the rotation direction of the material receiving motor is positive rotation, and when the auxiliary material form corresponding to the current feeding sub-step is a liquid state, the rotation direction of the material receiving motor is reverse rotation.

Preferably, in the step 240, the step of,

when the auxiliary material form corresponding to the current feeding sub-step is solid, the auxiliary material preparation device controls a solid material feeding motor corresponding to the type of the auxiliary material needing to be fed currently in the solid material preparation part to rotate for a preset number of turns;

when the auxiliary material form corresponding to the current feeding substep is liquid, the auxiliary material preparation device controls a liquid material feeding motor corresponding to the type of the auxiliary material to be fed currently in the liquid material preparation part to rotate for a second preset time;

and generating the preset number of turns and the second preset duration by an auxiliary material preparation device according to the auxiliary material form and the auxiliary material amount in the auxiliary material information data packet.

Preferably, if in the previous cooking substep of the step of adding the auxiliary materials, the fire control signal output by the main controller is a tracking curve control signal, and that is, in the step of adding the auxiliary materials to be added, the auxiliary materials to be added include liquid auxiliary materials, and the amount of the auxiliary materials of the liquid auxiliary materials is greater than the preset amount of the auxiliary materials, the step of temperature compensation is further performed before the step of adding the auxiliary materials is performed:

acquiring an end point temperature value of a curve segment corresponding to the previous cooking substep;

and outputting a fire control signal by taking the end point temperature value as a target temperature, and entering the auxiliary material adding step until the actual temperature is greater than or equal to the end point temperature value.

Preferably, the flame control signal of the tracking curve is used for controlling the current of an electromagnetic proportional valve on a gas delivery pipeline, and the calculation method of the flame control signal of the tracking curve is as follows:

the method comprises the steps that a target temperature is used as input of a nonlinear tracking differentiator in an ADRC model at a corresponding moment, an actual temperature at the corresponding moment is used as a controlled object, the actual temperature is used as feedback input of an extended state observer in the ADRC model, a power value of an electromagnetic proportional valve is output by the ADRC model, the main controller calculates a current value according to the power value, and a fire control signal of a tracking curve is output according to the current value to adjust the opening of the electromagnetic proportional valve.

Preferably, the first preset time period is determined according to the number of types of auxiliary materials in the step of adding the auxiliary materials to be entered.

A computer-readable storage medium storing a computer program which, when executed, implements a cooking control method as described above.

The utility model provides a cooking system, cooking system includes main control unit, at least one intelligent pot, auxiliary material device and receiving device of prepareeing material, intelligent pot is including the pot body and temperature sensor, temperature sensor is used for detecting the temperature of the pot body, intelligent pot can with main control unit communication is connected, cooking system can realize as above culinary art control method.

Preferably, the cooking system further comprises a gas stove, the gas stove comprises at least one cooking range, the gas stove is provided with an electromagnetic proportional valve in communication connection with the main controller, and a firepower control signal output by the main controller and used for tracking a curve is used for adjusting the opening of the electromagnetic proportional valve so as to control firepower output by the cooking range.

According to the control method of the cooking system, before each cooking sub-step is executed, which is the current cooking pot is determined according to the temperature rise state of each intelligent pot, identification information does not need to be set in communication information between the intelligent pot and the main controller, repeated pairing and confirmation operations are not needed, the working efficiency of the cooking system is improved, and the judgment is accurate. The main controller sends the control instruction of preparing the material to the auxiliary material preparing device at the time point of the first preset time length before the auxiliary material adding step is executed, so that the auxiliary material preparing device can prepare the auxiliary material before the auxiliary material adding step, the condition that the auxiliary material adding time is influenced because the auxiliary material is not prepared in the auxiliary material adding step is avoided, the accurate control of the auxiliary material adding time is realized, and the taste of a kitchen is perfectly reproduced. Adopt the mode control firepower of pursuing the temperature time curve, thereby greatly reduced and influenced the heating degree of food by factors such as ambient temperature, gas pressure fluctuation, the actual temperature of messenger's food is along with the change relation of time follows the temperature time curve, thereby imitate the firepower control process in big kitchen as far as possible, realize the recurrence of each moment firepower, through accurate firepower control, obtain the taste and the taste of big kitchen level, through accurate temperature control, make auxiliary material and edible material combine under suitable temperature, thereby make the better integration of the taste of auxiliary material and edible material. Therefore, the accurate auxiliary material amount is combined with the accurate firepower control, and the accurate reproduction of the cooking process of the kitchen in the auxiliary material adding step is realized, so that the taste and the taste of the kitchen are obtained.

Other advantages of the present invention will be described in the detailed description, and those skilled in the art will understand the technical features and technical solutions presented in the description.

Drawings

Preferred embodiments according to the present invention will be described below with reference to the accompanying drawings. In the figure:

fig. 1 is a system block diagram of a cooking system according to an embodiment of the present invention;

fig. 2 is a system block diagram of another cooking system according to an embodiment of the present invention;

fig. 3 is a flowchart of a control method of a cooking system according to an embodiment of the present invention;

fig. 4 is a flowchart illustrating a material preparation process in a control method of a cooking system according to an embodiment of the present invention;

FIG. 5 is a flow chart illustrating the material feeding substep of the control method of the cooking system according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a structure of a cooking system in which a solid material preparation part and a liquid material preparation part are matched according to an embodiment of the present invention;

fig. 7 is a schematic diagram of an ADRC model in a control method of a cooking system according to an embodiment of the present invention;

fig. 8 is a graph of the temperature-time curve segment and the actual feeding time variation provided by the embodiment of the invention.

In the figure:

100. a main controller; 200. an intelligent pot; 210. a pan body; 220. a temperature sensor; 300. an auxiliary material preparing device; 310. an auxiliary material preparation controller; 320. a solid feeding mechanism; 321. a solid material feeding motor; 330. a liquid feeding mechanism; 331. a liquid material feeding motor; 400. a material receiving device; 410. a material receiving controller; 420. a material receiving motor; 430. a receiving cup; 500. an electromagnetic proportional valve.

Detailed Description

The present invention will be described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth in order to avoid obscuring the nature of the present invention, well-known methods, procedures, and components have not been described in detail.

Further, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.

Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, what is meant is "including, but not limited to".

In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

The applicant researches and discovers that a pot cover is opened frequently in the process of cooking dishes by using a gas stove, the temperature of food materials in the cooking process is greatly influenced by the environment, the initial temperature of the food materials can influence the subsequent cooking process, in addition, the firepower is actually determined by the opening degree of an electromagnetic proportional valve, different firepower can be actually generated by the same electromagnetic proportional valve under the condition that the pressure of a gas pipe is unstable, and in conclusion, the specific firepower control is difficult to reproduce the cooking process of a cook.

Based on this, the present application provides a cooking system and a control method thereof, as shown in fig. 1, the cooking system includes a main controller 100, at least one intelligent pot 200, an auxiliary material preparation device 300 and a material receiving device 400, wherein the intelligent pot 200 includes a pot body 210 and a temperature sensor 220, the temperature sensor 220 is used for detecting the temperature of the pot body 210, and the intelligent pot 200 can be in communication connection with the main controller 100, so as to transmit the temperature of the pot body 210 detected by the temperature sensor 220 to the main controller 100. The auxiliary material preparing device 300 includes an auxiliary material preparing controller 310 and a preparing part, and the auxiliary material preparing controller 310 is used for controlling the preparing part to perform the preparing action of the corresponding auxiliary material. Because the auxiliary material usually divide into solid-state material and liquid material, solid-state material includes white sugar, salt, starch, monosodium glutamate etc. for example, liquid material includes soy sauce, vinegar, oyster oil etc. therefore preferably, the portion of prepareeing material includes solid-state material portion of prepareeing material and liquid material portion of prepareeing material, solid-state material portion of prepareeing material is used for throwing in solid-state auxiliary material, liquid material portion of prepareeing material is used for throwing in liquid auxiliary material, auxiliary material controller 310 is connected with main control 100 communication, auxiliary material controller 310 receives the information that main control 100 sent, and analyze the information received, carry out corresponding control to solid-state material portion of prepareeing material and liquid material portion of prepareeing material according to the analysis result, so that solid-state material, liquid material flow. Generally, the types of the solid material and the liquid material are multiple, and each solid material and each liquid material correspond to one discharge port. The receiving device 400 includes a receiving controller 410 and a receiving portion, the receiving portion is controlled by a receiving motor 420 to move, and under the driving of the receiving motor 420, a receiving cup 430 of the receiving portion moves to a position below a discharging port where discharging is to be performed, so as to receive a required solid material or liquid material. The material receiving controller 410 is in communication connection with the auxiliary material preparation controller 310, the auxiliary material preparation controller 310 further sends corresponding motor control data to the material receiving controller 410 according to the analysis result, and the material receiving controller 410 only needs to control the material receiving motor 420 to act according to the motor control data. Therefore, the actions of the solid material feeding part, the liquid material feeding part and the material receiving part are coordinated through the auxiliary material preparation controller 310, the motion conflict among all the parts is avoided, the control is simpler, and the smooth feeding of the auxiliary materials is ensured.

Specifically, as shown in fig. 3, the control method includes the steps of:

s10, the main controller 100 acquires a navigation menu, the data information of the navigation menu comprises a temperature-time curve and a plurality of cooking sub-steps, the temperature-time curve comprises a plurality of curve sections corresponding to the plurality of cooking sub-steps, the plurality of cooking sub-steps comprise at least one auxiliary material adding step, each auxiliary material adding step corresponds to one material preparation information data packet, and each material preparation information data packet comprises at least one auxiliary material type corresponding to the auxiliary material adding step and auxiliary material amount corresponding to each auxiliary material type;

s20, the main controller 100 acquires the actual temperature detected by the temperature sensor 220 of the intelligent pot 200 in communication connection with the main controller, determines the intelligent pot 200 in a temperature-rising state according to the acquired actual temperature information, and takes the intelligent pot 200 as the current cooking pot;

s30, the main controller 100 sequentially executes a plurality of cooking sub-steps according to the navigation recipe data.

In step S10, the navigation menu may be stored in the main controller 100, or the main controller 100 may be connected to a server or a mobile terminal in a communication manner, and the main controller 100 downloads the navigation menu from the server or the mobile terminal. The plurality of cooking sub-steps may include a hot oil step, a stir-frying step, a boiling step, an auxiliary material adding step, and the like, according to the kind of the navigation recipe.

In step S20, which one of the intelligent pots 200 is the current cooking pot is determined according to the temperature rise state of the intelligent pot, and there is no need to set identification information in the communication information between the intelligent pot 200 and the main controller 100 and no need to perform repeated pairing and confirmation operations, thereby improving the working efficiency of the cooking system and making the determination accurate.

Especially when being provided with a plurality of kitchen ranges, all placed intelligent pot 200 on if each kitchen range, perhaps though only one kitchen range, configured a plurality of intelligent pots 200, at this moment, in order to prevent at the culinary art in-process, the temperature information of other intelligent pots probably causes the influence to the actual temperature that wants in the culinary art in-process, causes the erroneous judgement, consequently, confirm in advance which intelligent pot 200 that uses on the kitchen range that will start, it is very important, can reduce the probability of culinary art failure.

For the matching of the current cooking range of the cooking navigation menu and the current cooking pot, one cooking range can be directly selected for ignition, the temperature information of each intelligent pot 200 is obtained, then, the temperature information of which intelligent pot 200 meets the expected temperature change is judged, and the intelligent pot 200 meeting the expected temperature change is determined to be the pot for cooking the current navigation menu. This kind of mode, it is more convenient when only having a kitchen range, but when having a plurality of kitchen ranges, the kitchen range of selecting the ignition has not necessarily placed intelligent pot 200, but has placed intelligent pot 200 on other kitchen ranges, can cause the culinary art to go on inefficiently. In a preferred embodiment of the present invention, the step S20 includes:

s21: one of the cooking ranges is used as a possible cooking range;

s22: controlling the input current of the electromagnetic proportional valve 500 of the possible cooking range to be a preset current, lasting for a third preset time, and acquiring the actual temperature of each intelligent pot 200;

s23: judging which intelligent pot 200 meets the expected temperature change according to the actual temperature information of each intelligent pot 200, determining the intelligent pot 200 meeting the expected temperature change as a cooking pot for cooking the current navigation menu and determining a possible cooking range as the current range, and executing S30; if none of the expected temperature changes are met, executing S24;

s24: judging whether the possible cooking range is the last range or not, if not, taking the next range as the possible range, and returning to the step S22; if yes, outputting a pot error signal;

the preset current is the maximum current, 70% of the maximum current and 50% of the maximum current, and the preset current is selected in a circulating mode in step S22.

If only one cooking range is arranged, the cooking range can be directly controlled to be ignited, then the temperature information of each intelligent pot 200 is obtained, then which intelligent pot 200 meets the expected temperature change is judged, and the intelligent pot 200 meeting the expected temperature change is determined to be a pot for cooking the current navigation menu, namely the current cooking pot, and the cooking range is the current cooking range; if the expected temperature change is not met, outputting the error information of the cookware.

Similarly, when a plurality of cooking ranges are arranged, taking two cooking ranges and two intelligent pots 200 as examples, the two cooking ranges are respectively marked as a first cooking range and a second cooking range, the two intelligent pots 200 are respectively marked as a first pot and a second pot, the first cooking range is firstly set as a possible cooking range, the input current of the electromagnetic proportional valve 500 of the first cooking range is controlled to be the maximum current, ignition is carried out, then the pot which reaches the expected temperature change is judged according to the actual temperature information of the first pot and the second pot, if the first pot reaches, the first pot is placed on the first cooking range, namely the first cooking range is the current cooking range, the first pot is the current cooking pot, and the step of S20 is finished; if neither pot reaches the temperature change of the second pot, the second cooking range is set as a possible cooking range, the input current of the electromagnetic proportional valve 500 of the second cooking range is controlled to be 70% of the maximum current, ignition is carried out, then the pot which reaches the expected temperature change is judged according to the actual temperature information of the first pot and the second pot, if the first pot reaches the first pot, the first pot is placed on the first cooking range, namely the second cooking range is the current cooking range for cooking, the first pot is the current cooking pot, the step of S20 is ended, and if neither pot reaches the second pot, the pot error information is output.

Obviously, the judgment method can be applied to more cooking ranges and more pots, so that the universality of the cooking method is improved.

In step S30, when the auxiliary material adding step is executed, the main controller 100 sends a reminder of the type and amount of the auxiliary material according to the stock information data packet corresponding to the auxiliary material adding step. In the daily culinary art process of people, the auxiliary material volume of adding salt, soy sauce etc. all relies on the experience usually, few someone can take the measuring tool to measure the auxiliary material volume of adding, the volume that leads to each auxiliary material of adding every time culinary art is all different, the addition of auxiliary material is an important factor that influences final dish taste, consequently, lead to the taste to be difficult to unify, in this application, add the information of the kind of auxiliary material and auxiliary material volume to the navigation menu, and utilize auxiliary material feed preparation device and receiving device's cooperation control to obtain accurate auxiliary material volume, thereby can guarantee the taste of the dish of preparing.

Specifically, before the step of adding the auxiliary materials is performed, the main controller 100 controls the auxiliary material preparing device 300 and the receiving device 400 to perform a material preparing process, as shown in fig. 4, the material preparing process includes the following steps:

s100, when the material preparation time is up, the main controller 100 sends a corresponding material preparation information data packet to the auxiliary material preparation controller 310, wherein the material preparation time is a time point which is a first preset time length before the starting time point of the auxiliary material adding step;

s200, the auxiliary material preparation controller 310 prepares materials according to the auxiliary material information data packet and controls the material receiving device 400 to receive the materials.

In the auxiliary material adding step, after the auxiliary material adding reminding information is sent, a subsequent stir-frying action is required, the fire control at the moment is very concerned with the formation of the taste and the final taste of the food materials. The specific control is as follows: a curve segment corresponding to the current cooking sub-step is acquired, and the main controller 100 outputs a fire power control signal, for example, a signal for adjusting the opening of the electromagnetic proportional valve 500, such that the curve of the change over time of the actual temperature detected by the temperature sensor 220 of the current cooking pot tracks the corresponding curve segment, with the temperature at each time in the corresponding curve segment as a target temperature. Adopt the mode control firepower of pursuing the temperature time curve, thereby greatly reduced and influenced the heating degree of food by factors such as ambient temperature, gas pressure fluctuation, the actual temperature of messenger's food is along with the change relation of time follows the temperature time curve, thereby imitate the firepower control process in big kitchen as far as possible, realize the recurrence of each moment firepower, through accurate firepower control, obtain the taste and the taste of big kitchen level, through accurate temperature control, make auxiliary material and edible material combine under suitable temperature, thereby make the better integration of the taste of auxiliary material and edible material. Therefore, the accurate auxiliary material amount is combined with the accurate firepower control, and the accurate reproduction of the cooking process of the kitchen in the auxiliary material adding step is realized, so that the taste and the taste of the kitchen are obtained.

The main controller 100 may be an independent device, such as a device integrating functions of display, control, voice, etc., and may be installed on a wall or the like by a user, or may be integrated on a circuit board inside a handle of an intelligent pot, or may be integrated in the auxiliary material preparation controller 310.

Further, as shown in fig. 2, in another embodiment, the cooking system provided by the present invention may further include a gas stove, the gas stove includes at least one burner, the gas stove has an electromagnetic proportional valve 500 communicatively connected to the main controller 100, and the fire control signal output by the main controller 100 and tracking the curve is used to adjust an opening of the electromagnetic proportional valve 500 to control the fire output by the burner. The main controller 100 may also be provided in the gas range, for example, below a middle transparent panel of the gas range.

The opening degree of the proportional solenoid valve 500 can be controlled by a current applied to the control terminal thereof, and if a maximum current is input to the control terminal of the proportional solenoid valve 500, the opening degree is the maximum opening degree, and a minimum current is input to the control terminal, the opening degree is the minimum, and a corresponding current can be applied according to the other opening degrees. When the main controller 100 performs the tracking curve Control on the electromagnetic proportional valve 500, it may specifically use a PID model and a fuzzy Control algorithm, and in a preferred embodiment of the present invention, an ADRC (Active Disturbance Rejection Control) model is used to adjust the electromagnetic proportional valve 500, specifically, the method includes:

extracting the temperature of each moment in the temperature-time curve as a target temperature, taking the target temperature as the input of a nonlinear tracking differentiator in the ADRC model at the corresponding moment, taking the actual temperature of the corresponding moment as a controlled object, taking the actual temperature as the feedback input of an extended state observer in the ADRC model, and outputting the power value of the electromagnetic proportional valve 500 by using the ADRC model;

the main controller 100 calculates a current value according to the power value output by the ADRC model, and adjusts the input current of the electromagnetic proportional valve 500 according to the current value to control the opening of the electromagnetic proportional valve 500, thereby realizing fire control and enabling the change of the actual temperature along with time to follow the temperature-time curve.

The ADRC model in the invention is shown in FIG. 7 and comprises a nonlinear tracking differentiator TD, a nonlinear state error feedback control law NLSEF and an extended state observer ESO. The target temperature v (t) is used as an input signal of the whole model and is input into a nonlinear tracking differentiator TD; the difference en between the output Z1n of the nonlinear tracking differentiator TD and the feedback Z2n of the extended state observer ESO is used as the input of a nonlinear state error feedback control law NLSEF; the difference value between the output u0(t) of the nonlinear state error feedback control law NLSEF and the feedback of the extended state observer ESO is recorded as an output difference value, the quotient of the output difference value and the gain b and the change rate d (t) of the controlled object jointly act on the controlled object, and the output y (t) is obtained; the product of the output difference and the gain b and the controlled object jointly act on the extended state observer ESO. In the present invention, the target temperature is used as the input signal v (t), the controlled object is the actual temperature of the cooking pot, and the output y (t) is the power of the electromagnetic proportional valve 120. Therefore, firstly, the nonlinear tracking differentiator TD is used for realizing the fast overshoot-free tracking of the system target temperature and giving a good differential signal; secondly, the ADRC model takes the uncertainty of the system as the internal disturbance of the system, the uncertainty and the external disturbance of the system are regarded as the disturbance of the whole system together, the comprehensive action of the internal disturbance and the external disturbance is directly monitored without distinguishing, namely the total disturbance of the system, the state and the disturbance of the system are respectively estimated through an Extended State Observer (ESO), and the Extended State Observer (ESO) converts a nonlinear uncertain object with unknown external disturbance (such as external environment temperature and air flow) into an integrator series type by using a nonlinear state error feedback control law (NLSEF), so that the ADRC model is a structure for realizing feedback linearization on the nonlinear uncertain object; and finally, the ADRC utilizes a nonlinear state error feedback control law NLSEF to obtain the compensation effect of the disturbance component and obtain the output of the whole model.

In step S200, the auxiliary material preparing device 300 prepares materials according to the auxiliary material information data packet, when only one auxiliary material is to be added in the step of adding the auxiliary material, it is only necessary to directly control the receiving cup 430 in the receiving device 400 to move to the lower side of the discharge port of the corresponding auxiliary material preparing device 300 for receiving the material, and when there are multiple auxiliary materials to be added in the step of adding the auxiliary material, it may be that the receiving sequence of each auxiliary material is determined according to the priority of the auxiliary material, the receiving cup 430 in the receiving device 400 is first controlled to move to the lower side of one discharge port of the auxiliary material preparing device 300 for receiving the material in sequence, then the receiving cup 430 in the receiving device 400 is controlled to move to the lower side of the next discharge port of the auxiliary material preparing device 300 for receiving the material, and so on until all the auxiliary materials are received. Because the material receiving motor 420 is adopted to control the movement, certain movement errors can be caused by the motor movement, the material receiving mode of the one-by-one discharge port can cause error accumulation, the error accumulation is larger and larger due to long-term use, the discharge port can not be aligned with the discharge port finally, the discharge leakage is caused, and great inconvenience is brought to the use of a user. Based on this, in the preferred embodiment of the control method provided by the present invention, step S200 is specifically that the auxiliary material preparing apparatus 300 generates feeding substeps corresponding to each type of auxiliary material according to the auxiliary material information data packet, and controls to sequentially execute each feeding substep;

as shown in fig. 5, the control process of the feeding sub-step includes the steps of:

s210, the auxiliary material preparation device 300 sends motor control data to the material receiving device 400, wherein the motor control data comprise the rotation direction and the step number of a material receiving motor 420 of the material receiving device 400;

s220, the receiving device 400 controls the receiving motor 420 to act according to the received motor control data, so that the receiving cup 430 of the receiving device 400 moves from the initial position to the position below the corresponding discharge hole in the auxiliary material preparing device 300;

s230, the receiving device 400 feeds back a signal that the receiving cup 430 moves in place to the auxiliary material preparing device 300;

s240, the auxiliary material preparation device 300 controls the corresponding discharge hole to discharge, and sends a signal to the material receiving device 400 when the discharge is finished;

s250, the receiving device 400 controls the receiving motor 420 to move, so that the receiving cup 430 of the receiving device 400 returns to the initial position.

Therefore, each time the material receiving is finished, the reset action is carried out, and the problem that the position of the material receiving cup 430 is deviated due to the accumulation of stroke errors is avoided. In addition, the priority of the auxiliary materials is not required to be set, and only the rotation direction and the step number of the motor are received by the material receiving device 400, so that the requirement on the hardware performance is reduced, and the production cost is saved.

In step S210, since the discharge ports corresponding to the auxiliary materials are fixed, and the receiving cup 430 is to be reset, the initial position thereof is also determined, that is, each time a specific type of auxiliary material is received, the actions of the receiving motor 420 are specific, so that a corresponding relationship data packet of each auxiliary material and the rotation direction and the number of steps of the motor can be stored in the auxiliary material preparing device 300, and when a feeding sub-step is generated, the rotation direction and the number of steps of the receiving motor 420 corresponding to the corresponding auxiliary material can be obtained by directly reading the corresponding relationship data packet.

In consideration of the compactness of the overall structure, the solid material stock preparation portion and the liquid material stock preparation portion are arranged in the first direction, and, specifically, as shown in fig. 6, the auxiliary material preparing apparatus 300 includes an auxiliary material seat, the solid material preparing portion and the liquid material preparing portion are both installed on the auxiliary material seat, the solid material preparing portion includes a plurality of solid feeding mechanisms 320, each solid feeding mechanism 320 has a solid housing, a discharge port disposed on the solid housing, a solid material feeding motor 321 and a solid conveying assembly, the solid material feeding motor 321 drives the solid conveying assembly to work to convey the solid auxiliary material to the discharge port for discharging, specifically, the solid conveying assembly includes a spiral push rod installed in the solid housing, the spiral push rod extends from the solid material feeding motor 321 to one side of the discharge port, and each solid feeding mechanism 320 contains different solid auxiliary materials for feeding different solid auxiliary materials. Liquid material portion of prepareeing material includes a plurality of liquid and throws material mechanism 330, each liquid throws material mechanism 330 and all has a liquid casing, set up in the discharge gate of liquid casing, liquid material throws material motor 331 and liquid conveying subassembly, liquid material throws material motor 331 and drives liquid conveying subassembly work, carry liquid auxiliary material to the discharge gate and carry out the unloading, it is specific, liquid conveying subassembly is including installing in the extrusion unit of liquid casing, the unloading pipe that communicates with the discharge gate, liquid material throws material motor 331, the extrusion unit is including rotating a plurality of extrusion running rollers of connecting in liquid casing around a central radial setting, liquid material throws material motor 331 and drives these extrusion running rollers and rotate around this center, every certain angle of rotation of these extrusion running rollers, once extrude the unloading pipe, thereby carry liquid auxiliary material to the discharge gate and carry out the unloading. Wherein, each liquid feeding mechanism 330 contains different liquid auxiliary materials for feeding different liquid auxiliary materials. It should be noted that the discharge ports actually include a discharge port disposed on the liquid feeding mechanism 330 and a discharge port disposed on the solid feeding mechanism 320, and the discharge ports are arranged at intervals along the first direction. The initial position can be the one end that is located the array orientation of each discharge gate for when connecing the material at every turn, the rotation direction of receiving material motor 420 all is the same, be convenient for control, but this kind of arrangement can increase the motion stroke that connects material cup 430, because in the embodiment that all resets after connecing the material at every turn, when the ejection of compact of the discharge gate of getting more far away from the initial position, can greatly increased connects the motion stroke of material cup 430, the material time of connecing of extension on the one hand, on the other hand has also aggravated the load that connects the material motor, influence its life. Therefore, in a preferred embodiment of the present application, as shown in fig. 6, the initial position is a region where the solid material preparation portion and the liquid material preparation portion are adjacent to each other in the first direction, the material preparation information data packet further includes auxiliary material forms corresponding to each auxiliary material type, in step S210, when the auxiliary material form corresponding to the current feeding sub-step is a solid state, the rotation direction of the material receiving motor 420 is forward rotation, and when the auxiliary material form corresponding to the current feeding sub-step is a liquid state, the rotation direction of the material receiving motor 420 is reverse rotation. The arrangement can shorten the stroke of the receiving cup 430 on the whole, further reduce the load of the receiving motor 420 and prolong the service life of the receiving motor.

The first preset time in step S100 may be a determined value, and considering that the types of the auxiliary materials to be added in different auxiliary material adding steps are different, and sometimes the difference is large, some auxiliary material adding steps may only need to add one auxiliary material, and some auxiliary material adding steps may need to add four, five or even more auxiliary materials, so the time required for material preparation is also different, if a determined value is set, in order to adapt to the situation that a plurality of auxiliary materials need to be added, the first preset time may be set to be long, and may possibly intersect with the previous material preparation process, thereby affecting the normal operation of the material preparation process, based on this, preferably, the first preset time may be determined according to the total stroke of the receiving cup 430 in the immediately entering auxiliary material adding step, and the longer the total stroke, the longer the corresponding first preset time is, in the embodiment shown in fig. 6, because the initial position set by the receiving cup 430 is located between the solid material preparation part and the liquid material preparation part, therefore, the stroke of the receiving cup 430 corresponding to each auxiliary material is not greatly different, and therefore, in this embodiment, the first preset time period is preferably determined by the number of the types of the auxiliary materials in the step of adding the auxiliary materials to be entered. For example, when the number of types of auxiliary materials is 1, the first preset time period is t, and the number of types of auxiliary materials is 2, the first preset time period is 2t, so that the calculation amount of the auxiliary material preparation controller 310 is reduced.

Further, in step 240, when the form of the auxiliary material corresponding to the previous feeding substep is solid, the auxiliary material preparation device 300 controls the solid material feeding motor 321 corresponding to the type of the auxiliary material to be fed currently in the solid material preparation part to rotate for a preset number of turns; when the auxiliary material form corresponding to the current feeding substep is liquid, the auxiliary material preparation device 300 controls the liquid material feeding motor 331 corresponding to the type of the auxiliary material to be fed currently in the liquid material preparation part to rotate for a second preset time; the preset number of turns and the second preset duration are generated by the auxiliary material preparing device 300 according to the auxiliary material form and the auxiliary material amount in the auxiliary material information data packet.

That is, in the present invention, although the driving mechanisms of the solid material preparation portion and the liquid material preparation portion are both rotating motors, and each rotating motor has a rotating number of turns and working time, different control parameters are selected when the solid material preparation portion and the liquid material preparation portion are fed, that is, the solid material preparation portion controls the amount of the fed solid auxiliary material according to the number of turns of the solid material feeding motor 321, and the liquid material preparation portion controls the amount of the fed liquid auxiliary material by using the running time of the liquid material feeding motor 331. In the invention, considering that the flowability difference of the solid auxiliary material and the liquid auxiliary material is large and the conveying principle and the structure of the solid auxiliary material and the liquid auxiliary material are different, in order to realize respective accurate control, different parameters are respectively adopted for controlling the driving motors of the solid auxiliary material and the liquid auxiliary material. In some embodiments, the solid material preparation section and the liquid material preparation section may also select the same motor parameter to control the amount of the auxiliary material.

When the trace curve control is performed on the electromagnetic proportional valve 500, if the previous cooking sub-step of the auxiliary material adding step is also the trace curve control, there is a delay inevitably due to the fact that the temperature information of the temperature sensor 220 is received by the main controller 100 from the acquisition, and therefore, the actual temperature at the time point corresponding to the auxiliary material adding action does not reach the target temperature in the temperature-time curve corresponding to the time point, at this time, the auxiliary material feeding action may be performed to cause the actual temperature in the pan to be insufficient (it is particularly obvious when the amount of the auxiliary material to be fed is large), and it is difficult to track the temperature-time curve at the subsequent actual temperature, for example, in the embodiment shown in fig. 8, the solid line ABCD represents the temperature-time curve, the dotted line represents an ideal actual temperature-time curve, the two-dot chain line represents a possible actual temperature-time curve, the main feeding is set at the point B, and the, the actual temperature at the corresponding moment of the point B may be B1, if the auxiliary material is added at this time, the target temperature in the subsequent temperature-time curve BC will suddenly drop, and the actual temperature in the pan does not reach the target temperature B, and because of the addition of the auxiliary material, the actual temperature will be lower, but the firepower will be reduced at this time according to the temperature-time curve, so that the temperature of the BC section will be excessively reduced, and the temperature rise in the subsequent CD section is weak. In order to solve the problem, when the firepower is adjusted according to the temperature-time curve, the auxiliary material feeding action is executed according to the target temperature, namely when the auxiliary material is fed, the auxiliary material feeding action is combined with the corresponding relation between the action and the target temperature, namely the auxiliary material feeding action is executed only when the actual temperature reaches the target temperature, so that the problem that the temperature in the pot is continuously increased along with the corresponding relation of the temperature and the time to cause temperature weakness and the influence on the heating degree of food materials at each moment due to the fact that the auxiliary material is fed when the temperature in the pot does not reach the target temperature can be avoided. And directly switching to the next cooking sub-step with independent time when the previous cooking sub-step is completed, that is, as shown in fig. 8, after the auxiliary material is put in at the point B, refreshing the BCD section, namely, the time of the BCD section does not continue the time of the section AB, but the moment after the auxiliary material is put in is taken as the starting point of the time, so that the temperature at the point B can be ensured to reach a certain value, the fire power of the subsequent BCD section is not influenced to be adjusted according to the temperature-time curve, the actual temperature is enabled to be better close to the ideal actual temperature-time curve, and the food taste is improved.

Because the influence of solid auxiliary material or a small amount of liquid auxiliary material to the temperature is less, consequently, specifically, can only carry out temperature compensation when the auxiliary material that drops into includes liquid auxiliary material and the volume of liquid auxiliary material is great, specifically, if in the preceding culinary art substep that adds the auxiliary material step, the firepower control signal of main controller 100 output is for tracing curve control signal, and in the auxiliary material step that will get into, the auxiliary material that needs to add includes liquid auxiliary material, the auxiliary material volume of liquid auxiliary material is greater than preset auxiliary material volume, then still carries out temperature compensation step before getting into the auxiliary material step:

acquiring an end point temperature value of a curve segment corresponding to the previous cooking substep;

and outputting a firepower control signal by taking the end temperature value as the target temperature until the actual temperature is greater than or equal to the end temperature value, and then entering the step of adding the auxiliary material.

Since there is a control lag only when the trace curve control is executed, it is first determined whether the previous cooking substep executes the trace curve control on the electromagnetic proportional valve 500, and when the previous cooking substep executes the trace curve control, the actual temperature is first raised to the end temperature value of the curve segment corresponding to the previous cooking substep, and then the action reminding signal for dispensing the auxiliary ingredients is executed. Certainly, in some cases, the actual temperature may also be equal to or higher than the end point temperature value of the curve segment corresponding to the previous cooking substep, and at this time, subsequent control is not actually required, the step of adding the auxiliary material may be directly performed, in order to avoid unnecessary control, it may be first determined whether the actual temperature detected by the temperature sensor is greater than or equal to the end point temperature value, if so, the step of adding the auxiliary material is directly performed, otherwise, the end point temperature value is used as the target temperature to output the fire control signal, and the step of adding the auxiliary material is performed until the actual temperature is greater than or equal to the end point. Therefore, if the actual temperature detected by the temperature sensor is lower than the end point temperature value of the curve segment corresponding to the previous cooking substep, the temperature rise control is executed, and if the actual temperature meets the requirement, the auxiliary material adding step can be directly executed.

It will be appreciated that the temperature-time curves described herein are directed to abstract temperature-time relationships, rather than a true existing curve. In practical applications, the corresponding relationship between temperature and time may be expressed in the form of a real curve, a table, or a function, where the real curve is a curve formed by the temperature changing with time, the real table is a table formed by each time and the corresponding temperature, and the real function is a function of the temperature changing with time. Of course, the temperature-time correspondence may also take other forms.

The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed, implements a control method as described above. Note that the computer readable storage medium described in the embodiments of the present disclosure may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

It will be appreciated by those skilled in the art that the above-described preferred embodiments may be freely combined, superimposed, without conflict. The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

It will be understood that the embodiments described above are illustrative only and not restrictive, and that various obvious and equivalent modifications and substitutions for details described herein may be made by those skilled in the art without departing from the basic principles of the invention.