JP6989111B2 - Cooker - Google Patents

Description

The present invention relates to a cooker equipped with a gas burner.

Patent Document 1 discloses a cooking system in which a photographing / controlling device is provided above a stove. In this cooking system, when the area on the stove is imaged by the photographing / control device and the ignition inducement image area is present in the image captured image, the burner at the position corresponding to the position of the ignition inducement image area. The stove is controlled so that the heat generated by the stove is reduced.

Japanese Unexamined Patent Publication No. 2010-14342

Since the technique of Patent Document 1 can use only the captured images captured in one imaging direction, it can only grasp the positional relationship in the direction intersecting the imaging direction, and cannot grasp the positional relationship in the depth direction. There is a problem. Moreover, since the technique of Patent Document 1 captures an image of a gas stove by an infrared image sensor set downward, there is also a problem that the vertical positional relationship of an object existing in the vicinity of the gas stove cannot be recognized.

The present invention has been made to solve at least one of the above-mentioned problems, and can recognize the vertical positional relationship of an object existing in the region where a flame is emitted from a gas burner, and the object can be recognized. The purpose is to realize a cooking device that can recognize the shape of the above more concretely and more accurately.

In the heating cooker of the present invention, a gas burner, a setting operation unit used for an operation of setting the thermal power of the gas burner, a housing portion accommodating at least a part of the gas burner, and a cooking utensil on the upper side of the gas burner are provided. The mounting portion for mounting, the first imaging unit that images at least the region where the flame is emitted from the gas burner in a direction intersecting the vertical direction, and at least the region where the flame is emitted from the gas burner are described above. It has a second imaging unit that captures images in a direction different from that of the first imaging unit.

In this cooking device, since the first image pickup unit can image the region where the flame is emitted from the gas burner in a direction intersecting the vertical direction, the image captured by the first image pickup unit emits the flame from the gas burner. It is possible to recognize the vertical positional relationship of objects existing in the area. Further, since the first imaging unit and the second imaging unit can image the region where the flame is emitted from the gas burner in different directions, when an object exists in the region where the flame is emitted from the gas burner, the shape of the object is determined. Based on the captured images obtained by imaging in different directions, it becomes easier to recognize more concretely and more accurately.

It is a perspective view schematically showing the cooking apparatus of Example 1. FIG. It is explanatory drawing which conceptually shows the gas supply path to a gas burner in Example 1. FIG. It is a block diagram which illustrates the electric structure of the cooking apparatus of Example 1. FIG. It is a flowchart which illustrates the flow of control of the gas burner performed in the cooking apparatus of Example 1. FIG. It is a flowchart which illustrates the flow of the thermal power control in the control of a gas burner shown in FIG. It is explanatory drawing explaining the structure, the imaging range, etc. seen from the front of the cooking apparatus of FIG. It is explanatory drawing explaining the structure etc. and the image pickup range, etc. of the cooker of FIG. 1 seen from above. It is explanatory drawing explaining the structure etc. and the image pickup range, etc. of the cooker of FIG. 1 seen from the side. FIG. 9A is an explanatory diagram conceptually showing a captured image of the first monitoring range when the cooking utensil is not present, and FIG. 9B is an explanatory diagram of the first monitoring range when the cooking utensil is present. It is explanatory drawing which shows the captured image conceptually. FIG. 10A is an explanatory diagram conceptually showing a captured image of the second monitoring range when the cooking utensil is not present, and FIG. 10B is an explanatory diagram of the second monitoring range when the cooking utensil is present. It is explanatory drawing which shows the captured image conceptually. FIG. 11A is an explanatory diagram conceptually showing a captured image of the first monitoring range when a foreign substance other than the cooking utensil is not present, and FIG. 11B is an explanatory diagram when a foreign substance other than the cooking utensil is present. It is explanatory drawing which conceptually shows the captured image of the 1st monitoring range. FIG. 12A is an explanatory diagram conceptually showing a captured image of the second monitoring range when a foreign substance other than the cooking utensil is not present, and FIG. 12B is an explanatory diagram when a foreign substance other than the cooking utensil is present. It is explanatory drawing which conceptually shows the captured image of the 2nd monitoring range of. It is a top view which schematically illustrates the cooking apparatus of 2nd Example. It is a front view which schematically exemplifies the cooking apparatus of 2nd Example. (A) is an explanatory diagram conceptually exemplifying the first captured image generated by the first imaging unit, and (B) conceptually exemplifies the second captured image generated by the second imaging unit. It is an explanatory diagram to be done. It is a front view which schematically exemplifies the cooking apparatus of another Example. It is explanatory drawing explaining the imaging range, the monitoring range and the like in the case of the configuration of FIG. It is a front view which schematically illustrates the cooking apparatus of another example of another Example.

Preferred embodiments of the present invention are illustrated below.
In the present invention, for example, even if the foreign matter is detected by the first captured image, the foreign matter is not detected by the second captured image, or the foreign matter is in the imaging direction of the first imaging unit. If the foreign matter deviates from the predetermined monitoring range, processing related to the foreign matter (for example, detailed analysis of the image of the foreign matter or protection operation based on foreign matter detection) may be omitted. By doing so, the processing load can be reduced by simplifying or omitting the less necessary processing, and the time for various operations can be shortened. Even if the processing load is reduced in this way, it is unlikely that a foreign matter will affect the monitoring range.
When the foreign matter is detected by the second captured image, the foreign matter is not detected by the first captured image, or the foreign matter deviates from the predetermined monitoring range in the imaging direction of the second imaging unit. In some cases, similar effects can be obtained by omitting processing related to the foreign matter (for example, detailed analysis of the image of the foreign matter or protection operation based on foreign matter detection).
Further, in such a configuration, a foreign substance exists in the first monitoring range (for example, the range near the trivet) in the first captured image generated by the first imaging unit, and is generated by the second imaging unit. When a foreign substance is present in the second monitoring range (for example, the range near the trivet) in the second captured image, the protective operation (for example, when the thermal power specified by the setting operation unit is larger than the minimum thermal power). It is also possible to perform a protective operation) to make the thermal power lower than the thermal power instructed by the setting operation unit. Then, when the foreign matter does not exist in the first monitoring range in the first captured image and the foreign matter does not exist in the second monitoring range in the second captured image, the protection operation is released. You may. In this example, it is possible to prevent the protection operation from being performed when a foreign object deviates from the monitoring range in either the image pickup direction of the first image pickup unit or the image pickup direction of the second image pickup unit, and the necessity is low. It is possible to optimize the operation by omitting the protection operation in.

In the cooking cooker, the first image pickup unit and the second image pickup unit may be directly or indirectly attached to the housing portion via another member. Since this heating cooker can be integrally configured with the housing portion in both the first imaging unit and the second imaging unit, the configuration can be made compact, and a complicated configuration or a large-scale configuration can be achieved. It becomes easy to electrically link each image pickup unit and the device in the housing without using.

In the cooking cooker, the first image pickup unit may be configured to take an image from one side in the front-rear direction to the other side in the front-rear direction of the cooking cooker. The second image pickup unit may be configured to take an image from one side in the left-right direction to the other side in the left-right direction of the cooking cooker. When an object is present in the region where the flame is emitted from the gas burner, this heating cooker can recognize the positional relationship of the object in the left-right direction by the first image captured by the first image pickup unit. The positional relationship in the front-rear direction of the object can be recognized by the second captured image generated by the second imaging unit.

In the cooking cooker, the first image pickup unit may be configured to take an image from the front side to the rear side of the cooking cooker. In this cooking device, an object existing on the front side of the cooking device (specifically, on the front side of the first imaging unit) does not enter the first captured image generated by the first imaging unit. Based on the first captured image in which the influence of such an object is excluded, it becomes easier to more accurately recognize the object existing in the region where the flame is emitted from the gas burner.

The cooking cooker may have a protective operation unit that performs a predetermined protection operation when a foreign matter mixed image including an image of a foreign substance is obtained by either the first image pickup unit or the second image pickup unit. This cooking cooker can determine whether or not the image is a foreign matter mixed image based on the first image captured by the first image pickup unit and the second image captured by the second image pickup unit. That is, since it is possible to determine whether or not the image is a foreign matter mixed image by two types of captured images captured in different directions, the accuracy of the determination is compared with the method of determining based on one type of captured image. Will increase. Then, when a foreign matter mixed image is obtained, a predetermined protective operation can be performed by the protective operation unit.

The heating cooker may have a bottom area estimation unit that estimates the bottom area of the cooking utensil based on a plurality of captured images obtained by the first image pickup unit and the second image pickup unit. This cooking utensil can more accurately estimate the bottom area of the cooking utensil by two kinds of captured images taken in different directions.

The cooking cooker includes an infrared illuminating unit that irradiates infrared illumination light toward a region where a flame is emitted from a gas burner when the illuminance at a predetermined position in the vicinity of the cooking cooker becomes a predetermined decrease. May be good. This cooker can irradiate infrared illumination light when the illuminance in the vicinity of the cooker decreases, and suppress or prevent blurring of an image in the vicinity of a region where a flame is emitted from a gas burner.

In the heating cooker, the first imaging unit captures images from one side to the other in a predetermined direction, and the second imaging unit captures images from one side to the other in a predetermined direction in a direction different from that of the first imaging unit. It may be configured to calculate the distance from a predetermined reference position in a predetermined direction to an object imaged by the first image pickup unit and the second image pickup unit. For example, the first imaging unit performs imaging from the front side to the rear side, and the second imaging unit performs imaging from the front side to the rear side in a direction different from that of the first imaging unit, and a predetermined position in the front-rear direction. It may be configured to calculate the distance from the reference position to the object imaged by the first imaging unit and the second imaging unit. Alternatively, the first imaging unit performs imaging from the upper side to the lower side, and the second imaging unit performs imaging from the upper side to the lower side in a direction different from that of the first imaging unit, and a predetermined position in the vertical direction. It may be configured to calculate the distance from the first image pickup unit to the object imaged by the second image pickup unit. In either case, the first image pickup unit 90A and the second image pickup unit 90B are used as stereo cameras, and the first image pickup image generated by the first image pickup unit 90A and the second image pickup image generated by the second image pickup unit 90B are used. Based on the above, the distance from the predetermined reference position to the object imaged by the first imaging unit and the second imaging unit may be measured by a known measurement method using stereo parallax.

<Example 1>
(Basic configuration)
Hereinafter, the first embodiment will be described with reference to the drawings.
First, the basic configuration of the cooking device 1 will be described with reference to FIGS. 1 to 4 and the like.
The heating cooker 1 shown in FIG. 1 is configured as a built-in stove, and has a box-shaped housing portion 2 having an open upper end portion and a top plate 5 (top plate) fixed to the upper end portion of the housing portion 2. A right stove portion 4A, a left stove portion 4B, and a small stove portion 4C are provided so as to be exposed from the top plate 5. The housing portion 2 has a configuration for accommodating a right stove portion 4A, a left stove portion 4B, a small stove portion 4C, a grill storage 3, and the like, and front panels 7A and 7B are arranged on the front side. Gas burners 51, 52, 53, 54 shown in FIG. 3 are provided in each of the right stove portion 4A, the left stove portion 4B, the small stove portion 4C, and the grill storage 3, and these gas burners 51, 52, 53, Each of the 54 is provided in a form in which a part or the whole thereof is housed in the housing portion 2. On the top plate 5, trivets 9A, 9B, and 9C are provided around the gas burners 51, 52, and 53, respectively. The trivets 9A, 9B, and 9C correspond to an example of the mounting portion, and are used for mounting the cooking utensil on the upper side of the gas burners 51, 52, and 53. In each of the trivets 9A, 9B, and 9C, a plurality of supports for supporting the cooking utensil are arranged in a ring shape at intervals, and the upper end of each of the plurality of supports is located above the adjacent gas burner. It is configured to be arranged so that when the cooking utensil is placed on a plurality of support portions, the cooking utensil is arranged on the upper side of the gas burner.

In the housing portion 2, as shown in FIG. 2, as gas pipes, a common supply path 60, which is a common gas flow path, and a plurality of branch supply paths 61, which are gas flow paths branched from the common supply path 60, 62, 63, 64 are provided so that the gas flowing through the common supply path 60 is guided to each gas burner 51, 52, 53, 54 through each branch supply path 61, 62, 63, 64. It has become. The common supply path 60 is provided with a main solenoid valve N1 that opens and closes the common supply path 60. The branch supply path 61 is provided with a solenoid valve (safety valve) 51G that can open and close the branch supply path 61, a shutoff valve 51F, and a thermal power control valve 51E that can adjust the amount of gas supplied to the gas burner 51. The branch supply path 62 is provided with a solenoid valve (safety valve) 52G that can open and close the branch supply path 62, a shutoff valve 52F, and a thermal power control valve 52E that can adjust the amount of gas supplied to the gas burner 52. The branch supply path 63 is provided with a solenoid valve (safety valve) 53G and a shutoff valve 53F that can open and close the branch supply path 63, and a thermal power control valve 53E that can adjust the amount of gas supplied to the gas burner 53. The gas burner 54 includes an upper grill burner 54A arranged at a predetermined position on the upper side in the grill storage 3, and a lower grill burner 54B arranged below the upper grill burner 54A in the grill storage 3. The branch supply path 64, which is a gas flow path branched from the common supply path 60, includes a first supply path 65A, which is a gas flow path that branches from the branch supply path 64 and guides gas to the upper grill burner 54A, and a branch supply path 64. A second supply path 65B, which is a gas flow path for guiding gas to the lower grill burner 54B, is connected to the lower grill burner 54B. The branch supply path 64 is provided with a solenoid valve (safety valve) 54G capable of opening and closing the branch supply path 64 and a shutoff valve 54F, and the first supply path 65A is provided with a plurality of solenoid valves 54H capable of opening and closing the first supply path 65A. , 54J are provided, and the second supply path 65B is provided with a solenoid valve 54K capable of opening and closing the second supply path 65B. The first supply path 65A is provided with a bypass path 66A in parallel with the solenoid valve 54J, and the second supply path 65B is provided with a bypass path 66B in parallel with the solenoid valve 54K.

As shown in FIG. 1, in the vicinity of the front portion of the heating cooker 1, there are four rotation operation units corresponding to the right stove portion 4A, the left stove portion 4B, the small stove portion 4C, and the grill storage 3, respectively. 6A, 6B, 6C, and 6D are provided, respectively. The first rotation operation unit 6A and the fourth rotation operation unit 6D are provided so as to be exposed from the right front panel 7A forming a part of the front surface portion of the housing portion 2, and the second rotation operation unit 6B is provided. The third rotation operation unit 6C is provided so as to be exposed from the left front panel 7B which constitutes a part of the front surface portion of the housing portion 2. The first rotation operation unit 6A is for igniting, extinguishing, and adjusting the thermal power of the gas burner 51 constituting the right corner portion 4A, and the second rotation operation unit 6B is a gas burner constituting the left corner portion 4B. The second rotation operation unit 6C performs ignition, fire extinguishing, and thermal power adjustment of the gas burner 53 constituting the small corner portion 4C. The fourth rotation operation unit 6D ignites, extinguishes, and adjusts the thermal power of the gas burner 54 (grill burner). In the example of FIG. 1, all of the rotation operation units 6A, 6B, 6C, and 6D are switched between the retracted position and the protruding position each time the user presses them.

Next, the electric configuration of the cooking device 1 will be described with reference to FIG. 3 and the like.
In FIG. 3, the control circuit 10 is configured as, for example, a microcomputer, includes a CPU 10A, a ROM 10B, a RAM 10C, and the like, and further includes a timer (not shown), an I / O interface, and the like. Although not shown, a non-volatile memory may be provided inside or outside the control circuit 10. The power supply circuit 57 has a function of receiving power supply from two dry batteries 56 housed in a battery box and generating a predetermined power supply voltage, and the power supply voltage generated by the power supply circuit 57 passes through a path (not shown). It is supplied to various electric parts.

The switches 30A, 30B, 30C, and 30D are provided so as to correspond to the rotation operation units 6A, 6B, 6C, and 6D shown in FIG. 1, and correspond to the switches 30A, 30B, 30C, and 30D, respectively, as shown in FIG. Ignition signal input circuits 40A, 40B, 40C, and 40D are provided so as to do so. The switches 30A, 30B, 30C, and 30D all function as ignition switches, and in any of the rotation operation units 6A, 6B, 6C, and 6D, the corresponding switch is turned off when the rotation operation unit is in the retracted position (fire extinguishing position). The state is set, and an off signal is given to the control circuit 10 from the ignition signal input circuit corresponding to this switch. Further, when the rotation operation unit is in the protruding position (ignition position), the corresponding switch is turned on, and the on signal is given to the control circuit 10 from the ignition signal input circuit corresponding to this switch. For example, when the rotation operation unit 6A is in the retracted position as in the solid line position shown in FIG. 1, the switch 30A shown in FIG. 3 is in the off state, and at this time, the ignition signal input circuit 40A is in the off state with respect to the control circuit 10. Input a signal (off signal) indicating. Further, when the rotation operation unit 6A is in the protruding position as in the two-dot chain line 6A'in FIG. 1, the switch 30A shown in FIG. 3 is in the ON state, and at this time, the ignition signal input circuit 40A is in the ON state in the control circuit 10. The signal (on signal) indicating the above is input.

The displacement detection units 32A, 32B, 32C, 32D are provided so as to correspond to the rotation operation units 6A, 6B, 6C, 6D shown in FIG. 1, respectively, and as shown in FIG. 3, the displacement detection units 32A, 32B, 32C, Thermal power signal input circuits 42A, 42B, 42C, and 42D are provided so as to correspond to 32D, respectively. In any of the rotation operation units 6A, 6B, 6C, and 6D, the displacement detection unit (rotation angle sensor such as an encoder) detects the displacement (rotation position) of the rotation operation unit, and corresponds to this displacement detection unit. A signal corresponding to the displacement (rotational position) detected by the displacement detection unit from the thermal power signal input circuit is given to the control circuit 10. For example, the displacement detection unit 32A provided corresponding to the rotation operation unit 6A can detect the displacement (rotation position) of the rotation operation unit 6A, and the thermal power signal input corresponding to the displacement detection unit 32A. A signal corresponding to the displacement detected by the displacement detection unit 32A (that is, the rotation position of the rotation operation unit 6A) is given to the control circuit 10 from the circuit 42A. The rotation operation units 6A, 6B, and 6C correspond to an example of the setting operation unit, and are used for the operation of setting the thermal power of the gas burners 51, 52, and 53 as described above.

As shown in FIG. 2, thermocouples 51C, 52C, 53C, 54C and 54D are provided adjacent to each of the gas burners 51, 52, 53, 54A and 54B, respectively, and as shown in FIG. 3, thermocouples 51C and 52C are provided. , 53C, 54C, 54D are provided with temperature signal input circuits 44A, 44B, 44C, 44D, 44E, respectively. Further, as shown in FIG. 3, an igniter circuit 46 and an igniter 28 are provided, and the igniter 28 is provided with an igniter terminal (not shown) adjacent to each of the gas burners 51, 52, 53, 54.

The drive circuit 48A shown in FIG. 3 is configured to drive the thermal power adjusting valve 51E to an opening degree according to the control amount in response to the instruction of the control amount from the control circuit 10. The drive circuit 48B is configured to drive the thermal power adjusting valve 52E to an opening degree according to the control amount in response to the instruction of the control amount from the control circuit 10. The drive circuit 48C is configured to drive the thermal power adjusting valve 53E to an opening degree according to the control amount in response to the instruction of the control amount from the control circuit 10. The drive circuit 49A is a circuit that switches the solenoid valves 51F and 51G to a state according to an instruction from the control circuit 10, and the drive circuit 49B switches the solenoid valves 52F and 52G to a state according to an instruction from the control circuit 10. The drive circuit 49C is a circuit that switches the solenoid valves 53F and 53G to a state according to an instruction from the control circuit 10, and the drive circuit 49D controls the solenoid valves 54F, 54G, 54H, 54J and 54K. It is a circuit that switches to a state according to the instruction from 10. The drive circuit 50 is a circuit that switches the original solenoid valve N1 to a state according to an instruction from the control circuit 10. Although not shown, for example, a buzzer device having a known configuration such as a piezoelectric buzzer device, a publicly known audio device (speaker, etc.) that emits a sound such as a melody or a message, and a publicly known LED or liquid crystal display device are known. The display device and the like of the configuration are also configured to be controlled by the control circuit 10.

As shown in FIG. 3, the heating cooker 1 further includes a first image pickup unit 90A and a second image pickup unit 90B. Both the first image pickup unit 90A and the second image pickup unit 90B are image pickup devices having a known configuration such as a CCD camera, a CMOS camera, and an infrared camera, which can receive visible light or infrared rays from the image pickup range and generate an image in the image pickup range. Each of them has a configuration fixed to a predetermined predetermined position (position on the top plate 5 in the example of FIG. 1). In the example of FIG. 1, both the first image pickup unit 90A and the second image pickup unit 90B are indirectly assembled to the housing portion 2 via the top plate 5, and flames are at least from the gas burners 51, 52, 53. The region where is emitted is configured to be imaged in a direction intersecting the vertical direction (specifically, a direction along the horizontal direction which is a direction orthogonal to the vertical direction). The first image pickup unit 90A is an image pickup unit that captures an image from one side in the front-rear direction to the other side in the front-rear direction of the cooking device 1, and specifically, is fixed at a position near the front end portion of the top plate 5 and is a cooking device. The image is taken from the front side to the rear side of 1. In the example of the stove configuration shown in FIGS. 1 and 6, for example, when no cooking utensil is placed on any of the trivets 9A, 9B, and 9C, all the upper ends of the gas burners 51, 52, and 53 are The imaging range of the first imaging unit 90A is set so that the upper end portions of all the upper ends of the trivets 9A, 9B, and 9C can be imaged. In the first imaging unit 90A, for example, when the gas burners 51, 52, and 53 are set to the maximum thermal power in a state where no cooking utensil is placed on any of the trivets 9A, 9B, and 9C, the gas burners 51, 52, and 53 The imaging range may be such that all of each flame can be imaged, and a part of each flame of the gas burners 51, 52, 53 (at least the upper edge (upper boundary) and both left and right edges (left and right boundaries) of each flame). It may be an imaging range in which a portion including)) can be imaged. In the present specification, the thickness direction of the top plate 5 is the vertical direction, the longitudinal direction when the top plate 5 is viewed in a plan view is the left-right direction (horizontal direction), and the lateral direction is the front-back direction. The vertical direction and the horizontal direction are orthogonal to each other, and the front-back direction is orthogonal to the vertical direction and the horizontal direction. The vertical direction is, for example, a vertical direction. The second image pickup unit 90B takes an image in a direction different from that of the first image pickup unit 90A (specifically, a direction along the horizontal direction and different from the image pickup direction of the first image pickup unit 90A). In the stowage configuration shown in FIGS. 1, 6, 7, and the like, the heating cooker 1 is configured to take an image from one side in the left-right direction to the other side in the left-right direction. In the example shown in FIG. 1 and the like, the second image pickup unit 90 is fixed at a position closer to the left end portion (closer to the left end portion when viewed from the front side) on the top plate 5, and is from the left end side to the right end side of the cooking cooker 1. The image is taken on the right end side when viewed from the front side). The second image pickup unit 90B is at least the upper edge of the flame of the gas burner 51 when only the gas burner 51 is burned to the maximum thermal power in a state where no cooking utensil is placed on any of the trivets 9A, 9B, and 9C. The imaging range is such that the upper edge (upper boundary) and both left and right edges (left and right boundaries) can be imaged, and at least the upper edge of the flame of the gas burner 52 (upper side) when only the gas burner 52 is burned to the maximum thermal power. The imaging range is such that the boundary) and both the left and right edges (left and right boundaries) can be imaged, and at least the upper edge (upper boundary) of the flame of the gas burner 53 when only the gas burner 53 is burned to the maximum thermal power. The imaging range is such that both the left and right edges (left and right boundaries) can be imaged.

(Control of gas burner)
Next, the control of the gas burner will be described. In the following description, the control of the gas burner 51 will be described as a typical example. The control circuit 10 shown in FIG. 3 starts the control of FIG. 4 when a predetermined start condition is satisfied. When the predetermined start condition is satisfied, for example, when the power of the cooking cooker 1 is switched to the ON state by the ON operation of the predetermined power switch (when the power can be supplied to each component from the power circuit 57). ) And so on. When the control of FIG. 4 is started, the control circuit 10 has an image captured by the first image pickup unit 90A immediately after the start (first reference image) and an image captured by the second image pickup unit 90B immediately after the start (second image). The reference image) is acquired as the "initial reference image", and these "initial reference images" are stored in the memory (S1). The initial reference images (first reference image and second reference image) are captured by the first imaging unit 90A and the second imaging unit 90B when no cooking utensil is placed on any of the trivets 9A, 9B, and 9C. The image can be newly stored in step S1 only when the image is created, and the image in which the cooking utensil is not placed on the trivet 9A, 9B, 9C is used as the initial reference image (first reference image and second reference image). ) Can be used. When the cooking utensil is placed in any of the trivets 9A, 9B, and 9C, the process of step S1 may be omitted. Whether or not the cooking utensil is placed on any of the trivets 9A, 9B, and 9C can be determined by various known methods.

In this configuration, for example, the image of the imaging range AR1 conceptually shown in FIG. 6 is captured by the first imaging unit 90A, and the cooking utensil is placed on any of the trivets 9A, 9B, and 9C. The image of the imaging range AR1 when not set is the first reference image. Further, the image of the imaging range AR3 shown in FIG. 8 is captured by the second imaging unit 90B, and the imaging range AR3 when no cooking utensil is placed on any of the trivets 9A, 9B, and 9C. The image of is the second reference image. Further, in this configuration, for example, when a cooking utensil is not placed on any of the trivets 9A, 9B, and 9C at the time of product installation, an image of the imaging range AR1 is generated by the first imaging unit 90A and the image is concerned. Can be used as the default first reference image, and the image of the imaging range AR3 can be generated by the second imaging unit 90B and the image can be used as the default second reference image. Then, in step S1, when the images of the imaging ranges AR1 and AR3 in the state where the cooking utensils are not placed on the trivets 9A, 9B, and 9C are obtained by the first imaging unit 90A and the second imaging unit 90B, respectively, These images can be updated as new initial reference images (first reference image, second reference image).

The control circuit 10 performs the process of step S2 after step S1. In the process of step S2, the image (first current image) captured by the first imaging unit 90A at the time of step S2 is acquired, and the first current image and the first reference image (when updated in step S1) are acquired. Is the first reference image obtained in step S1, and if not updated, is a process of comparing with the first reference image stored in advance from before step S1). Further, an image (second current image) captured by the second imaging unit 90B at the time of step S2 is acquired, and this current image and the second reference image (when updated in step S1 are obtained in step S1). This is a process of comparing the second reference image), which is stored in advance from before step S1 when the second reference image is not updated. The control circuit 10 performs the determination process of step S3 after step S2. The determination process in step S3 determines whether or not there is a region (first difference region) changed from the first reference image in the first current image acquired in step S2, and the second present acquired in step S2. This is a process of determining whether or not there is a region (second difference region) changed from the second reference image in the image. When the control circuit 10 has a first difference region in the first current image acquired in step S2 and a second difference region in the second current image, the control circuit 10 has a first difference region and a second difference region in step S4. Calculate the area (area presumed to be foreign matter). When the control circuit 10 determines in step S3 that either the first difference region or the second difference region does not exist, the control circuit 10 performs the processing after step S2 again. As a determination method in step S3, when the total area of the first difference region is a certain value or more (for example, when the number of pixels is a certain value or more), it is determined that "there is a first difference region", and a constant value is obtained. If it is less than, a determination method for determining "there is no first difference region" can be adopted. Similarly, if the total area of the second difference region is equal to or greater than a certain value, it is determined that there is a second difference region, and if it is less than a certain value, it is determined that there is no first difference region. The method can also be adopted.

In the process of step S4, the control circuit 10 specifies the first difference region in the first current image obtained in step S2, and divides the first difference region into continuous regions. Similarly, the second difference region in the second current image obtained in step S2 is specified, and the second difference region is divided into continuous regions. When the first difference region consists of only one continuous region (single region), the control circuit 10 obtains the area of the single region, and when there are a plurality of continuous regions in the first difference region. (When the first difference region is configured by separating a plurality of continuous regions), the area of each continuous region (each individual region) is obtained. Similarly, when the second difference region consists of only one continuous region (single region), the area of the single region is obtained, and when there are a plurality of continuous regions in the second difference region (plural). When the second difference region is configured in such a form that the continuous regions of the above are separated from each other), the area of each continuous region (each individual region) is obtained. The control circuit 10 performs the process of step S5 after step S4, and based on the calculation result in step S4, "the area of any continuous region of the first difference region is equal to or larger than a certain value and the area of the second difference region is It is determined whether or not the condition that "the area of any continuous region is equal to or more than a certain value" is satisfied, and if it is determined that the condition is satisfied, the process of step S6 is performed, and if it is determined that the condition is not satisfied. Performs the processing after step S2 again.

When the area of the first difference area having an area of a certain value or more is a first continuous area and the area of the second difference area having an area of a certain value or more is a second continuous area, the control circuit 10 is used. , The positions of the first continuous region and the second continuous region are detected in step S6, respectively. Specifically, the position of the first continuous region in the first current image is specified, and the position of the second continuous region in the second current image is specified. Then, in step S7, the control circuit 10 determines whether or not the position of the first continuous region is within a predetermined fixed range (first monitoring range AR2), and the position of the second continuous region is predetermined. It is determined whether or not it is within a certain range (second monitoring range AR4). In this configuration, as shown in FIG. 6, a part of the range AR1 that can be imaged by the first image pickup unit 90A, AR2 is the first monitoring range defined for the gas burner 51, and in step S7, step S6. It is determined whether or not at least a part of the first continuous region determined to be equal to or more than a certain value exists in the first monitoring range AR2. Further, as shown in FIG. 8, a part of the range AR3 that can be imaged by the second imaging unit 90B, AR4, is the second monitoring range defined for the gas burner 51, and in step S7, it is constant in step S6. It is determined whether or not at least a part of the second continuous region determined to be equal to or greater than the value exists in the second monitoring range AR4.

For example, in the examples of FIGS. 6 to 8, the image of the imaging range AR1 when the cooking utensil Ta does not exist is the first reference imaging image, and the image of the imaging range AR3 when the cooking utensil Ta does not exist is the second reference imaging. It becomes an image. The image of the first monitoring range AR2 when the cooking utensil Ta does not exist is an image like the image M1 shown in FIG. 9A, and the image of the second monitoring range AR4 when the cooking utensil Ta does not exist is an image like the image M1. , The image is similar to the image M3 shown in FIG. 10 (A). On the other hand, the image of the first monitoring range AR2 when the cooking utensil Ta is present as shown in FIG. 6A becomes an image like the image M2 shown by FIG. 9B, and when the cooking utensil Ta is present. The image of the second monitoring range AR4 is an image like the image M4 shown in FIG. 10B. In the example in which the images shown in FIGS. 9 (B) and 10 (B) are generated, in step S3, the region of the cooking utensil Ta shown in FIG. 9 (B) is designated as the first difference region (region of the image G1). Extracted, the region of the cooking utensil Ta (region of the image G2) shown in FIG. 10B is extracted as the second difference region, and in step S4, the cooking utensil Ta is extracted in each of the first current image and the second current image. The area of the region is calculated as each area of the first continuous region and the second continuous region. Then, in step S7, it is determined that the first continuous region corresponding to the region of the cooking utensil Ta in FIG. 9B is in the first monitoring range AR2, and corresponds to the region of the cooking utensil Ta in FIG. 10B. It will be determined that the second continuous region is in the second monitoring range AR4.

In step S7, the control circuit 10 determines that at least a part of the positions of the first continuous region is within the first monitoring range AR2 and at least a part of the positions of the second continuous region are within the second monitoring range AR4. If so, in step S8, it is determined whether or not the gas burner 51 is in combustion, if it is determined that it is in combustion, thermal power control is performed in step S15, and if it is determined that it is not in combustion, step S9. Is processed. The thermal power control in step S15 will be described later. When the control circuit 10 determines in step S7 that the position of the first continuous region is not within the first monitoring range AR2 or the position of the second continuous region is not within the second monitoring range AR4, the control circuit 10 is after step S2. Perform the process again. In this example, the object imaged by both the first image pickup unit 90A and the second image pickup unit 90B is an object existing in the region where the flame is emitted from the gas burners 51, 52, 53, and the cooker 1 It will be presumed to be an object other than the parts that make up the. When the control circuit 10 determines in step S8 that the gas burner 51 is not burning, the control circuit 10 performs a process of detecting the cooking utensil (specifically, pattern matching of the cooking utensil shape) in step S9. When the control circuit 10 performs the process of step S9, for example, the outer shape of the first continuous region described above is extracted, and in step S10, the outer shape of the extracted first continuous region and a large number of patterns registered in advance are used. It is compared with the image, and it is determined whether or not it corresponds to any of the registered patterns by a known pattern matching method. When the control circuit 10 determines in step S10 that the outer shape of the first continuous region does not correspond to the registered pattern image, the control circuit 10 sets the ignition prohibition flag for the gas burner 51 in step S14. The ignition prohibition flag is a flag that prohibits the discharge operation of the igniter 28 and the opening of the solenoid valves 51F and 51G when the ignition prohibition flag is set, and the control circuit 10 is a flag when the ignition prohibition flag for the gas burner 51 is set. The igniter 28 is not discharged and the solenoid valves 51F and 51G are not opened.

When the control circuit 10 determines in step S10 that the outer shape of the first continuous region corresponds to the registered pattern image, the control circuit 10 performs a process of calculating the position and diameter of the cooking utensil in step S11, and is lateral to the first continuous region. The position in the direction and the diameter of the lower part (bottom) of the first continuous region are calculated, and the diameter of the lateral position of the second continuous region and the lower part (bottom) of the second continuous region are calculated. Then, in step S12, the control circuit 10 determines whether or not the lateral position of the first continuous region is within the predetermined first normal range, and the position of the second continuous region in the front-rear direction is determined. , Determine whether or not it is within the predetermined second normal range. The case where the lateral position of the first continuous region is within the predetermined first normal range is, for example, the lateral center position of the first continuous region and the lateral center position of the gas burner 51. This is the case where the distance is within the first predetermined range. When the position in the front-rear direction of the second continuous region is within the predetermined second normal range, for example, the center position in the front-rear direction of the second continuous region and the center position in the front-rear direction of the gas burner 51 are in the front-rear direction. This is the case where the distance is within the second predetermined range.

For example, in an example as shown in FIG. 6, in step S9, the outer shape of the image G1 (first continuous region) of the cooking utensil Ta shown in FIG. 9B is compared with a large number of pre-registered pattern images. To. Then, when it is determined by known pattern matching that the outer shape of the image G1 of the cooking utensil Ta corresponds to any of the registered patterns, in step S11, the side of the image G1 (first continuous region) of the cooking utensil Ta. The position of the direction is calculated. Further, the position in the front-rear direction of the image G2 (second continuous region) of the cooking utensil Ta shown in FIG. 10B is also calculated.

In step S11, the area (bottom area) of the bottom of the cooking utensil Ta may be further obtained. In the examples of FIGS. 9 (B) and 10 (B), for example, the bottom is estimated to be circular, and the lateral width Xa of the bottom in the image G1 (first continuous region) of the cooking utensil Ta shown in FIG. 9 (B). Based on the above, a method of obtaining the bottom area by the equation of π × (Xa / 2) ^{2 may be adopted.} Alternatively, the bottom is estimated to be rectangular, and the lateral width Xa of the bottom in the image G1 (first continuous region) of the cooking utensil Ta shown in FIG. 9B and the image G2 of the cooking utensil Ta shown in FIG. 10B. A method of obtaining the bottom area by the formula of Xa × Za may be adopted based on the width Za in the front-back direction of the bottom in (the second continuous region). Alternatively, when the horizontal width Xa and the front-back width Za match, the bottom is estimated to be circular, and the ^{bottom area is obtained by the formula of π × (Xa / 2) 2} , and when they do not match, the bottom is rectangular. A method may be used in which the bottom area is calculated by the formula of Xa × Za by presuming that there is. Alternatively, the bottom is estimated to be circular, and the lateral width Xa of the bottom in the image G1 (first continuous region) of the cooking utensil Ta shown in FIG. 9B and the image G2 of the cooking utensil Ta shown in FIG. 10B. Based on the anteroposterior width Za of the bottom in (the second continuous region), the average value Ra (Ra = (Xa + Za) / 2) of Xa and Za is estimated as the diameter, and the formula of ^{π × (Ra / 2) 2 is used.} A method of finding the bottom area may be adopted.

Then, in step S12, as shown in FIG. 9B, the lateral center position Ca of the image G1 (first continuous region) of the cooking utensil Ta is detected, and the lateral center of the predetermined gas burner 51 is detected. When the lateral distance between the position Cx and the position Ca is within the first predetermined range, it is determined that the lateral position of the first continuous region is within the predetermined first normal range, and the first predetermined range is determined. If it exceeds, it is determined that it is not within the first normal range. Similarly, as shown in FIG. 10B, the center position Cb in the front-rear direction of the image G2 (second continuous region) of the cooking utensil Ta is detected, and the center position Cz in the front-rear direction of the gas burner 51 is determined in advance. When the distance in the front-rear direction from the position Cb is within the second predetermined range, it is determined that the position in the front-back direction of the second continuous region is within the predetermined second normal range, and the distance exceeds the second predetermined range. It is determined that the product is not within the second normal range.

When the control circuit 10 determines in step S12 that the lateral position of the first continuous region is not within the first normal range or the front-back position of the second continuous region is not within the second normal range, it is described above. The process of step S14 is performed, and the ignition prohibition flag for the gas burner 51 is set. When the control circuit 10 determines in step S12 that the lateral position of the first continuous region is within the first normal range and the front-back position of the second continuous region is within the second normal range, step S13. In, the thermal power determination control is performed, and the opening degree of the thermal power adjusting valve 51E is set to the opening degree corresponding to the rotation angle of the rotation operation unit 6A (the opening degree specified by the rotation operation unit 6A).

In this configuration, when a predetermined ignition operation (operation of pressing when in the retracted position) is performed on the rotation operation unit 6A, the control circuit 10 is electromagnetically operated on condition that the ignition prohibition flag is not set. The valves 51F and 51G are opened and ignition control is performed to give a drive signal to the igniter circuit 46, and the igniter circuit 46 causes the igniter 28 to perform spark discharge accordingly. By such an operation, the gas burner 51 is put into the ignition state. On the other hand, when the ignition prohibition flag is set when a predetermined ignition operation is performed on the rotation operation unit 6A, the control circuit 10 opens the ignition control (solenoid valves 51F and 51G and the igniter circuit 46). The fire extinguishing state of the gas burner 51 is continued without performing the control (control to give a drive signal to the). The ignition prohibition flag may be reset, for example, when No in any of steps S3, S5, and S7, or when Yes in step S12.

Next, the thermal power control in step S15 will be described.
The control circuit 10 controls step S15 shown in FIG. 4 in the flow as shown in FIG. In this configuration, the first image pickup unit 90A periodically acquires captured images at regular time intervals. In step S21, the control circuit 10 includes an image taken last time (one frame before) generated by the first image pickup unit 90A (the first previous image which is the most recent image taken before the processing of step S21) and step S21. Is compared with the captured image (first current image) generated by the first imaging unit 90A at the time of performing the processing of. Similarly, the captured image (the second previous image which is the most recent captured image before the processing of step S21) generated last time (one frame before) by the second imaging unit 90B and the time when the processing of step S21 is performed. It is compared with the captured image (second current image) generated by the second imaging unit 90B. In step S22, the control circuit 10 determines whether or not there is a region changed from the first previous image (first difference region) in the first current image, and the region changed from the second previous image in the second current image. It is determined whether or not there is (second difference area). When the control circuit 10 determines in step S22 that both the first difference region and the second difference region are generated, the control circuit 10 calculates the areas of the first difference region and the second difference region in step S23. When the control circuit 10 determines in step S22 that there is neither a first difference region nor a second difference region, the control circuit 10 performs the process of step S30. When the process of step S23 is performed, the control circuit 10 divides the first difference area into continuous areas, and when the specified first difference area consists of only one continuous area (single area), the control circuit 10 divides the first difference area into continuous areas. , When the area of the single region is obtained and there are a plurality of continuous regions in the specified first difference region (when the difference region is configured by separating the plurality of continuous regions), respectively. Find the area of the continuous region (each individual region) of. Further, the second difference region is divided into continuous regions, and when the specified second difference region consists of only one continuous region (single region), the area of the single region is obtained and specified. When there are a plurality of continuous regions in the second difference region (when the difference regions are configured by separating the plurality of continuous regions), the area of each continuous region (each individual region). Ask for. The control circuit 10 has an area of one or a plurality of continuous regions (first continuous region) constituting the first difference region among the areas of the one or a plurality of continuous regions obtained in step S23, having a certain value or more. It is determined whether or not the area is, and whether or not any one or a plurality of continuous regions (second continuous regions) constituting the second difference region has an area of a certain value or more (step S24). If it is determined that the area of the first continuous region and the area of any second continuous region are both equal to or more than a certain value, the process of step S25 is performed, and if not, the process of step S30 is performed.

The control circuit 10 detects the positions of the first continuous region and the second continuous region determined to be equal to or higher than a certain value in step S24 in step S25, and then the position of at least a part of the first continuous region is the first described above. It is determined in step S26 whether or not it is within the monitoring range AR2 (FIG. 6) and whether or not the position of at least a part of the second continuous region is within the above-mentioned second monitoring range AR4 (FIG. 8). do. When the control circuit 10 determines in step S26 that the first continuous region is not in the first monitoring range AR2 or the second continuous region is not in the second monitoring range AR4, the control circuit 10 performs the process of step S30. When it is determined that the first continuous region is in the first monitoring range AR2 and the second continuous region is in the second monitoring range AR4, it is determined in step S27 whether or not the gas burner 51 is burning. When the control circuit 10 determines that combustion is in progress in step S27, the control circuit 10 stores the current thermal power (specifically, the opening degree of the current thermal power adjusting valve 51E) in step S28, and sets the thermal power to "weak" in step S29. Is controlled. The state of the thermal power "weak" can be, for example, the smallest opening within the opening range (predetermined opening range) that can be set when the thermal power adjusting valve 51E is opened. As described above, the control circuit 10 functions as an example of the protective operation unit, and when a foreign matter mixed image including an image of a foreign matter is obtained in both the first monitoring range AR2 and the second monitoring range AR4, the foreign matter mixed image is obtained. As a predetermined protection operation, control is performed to suppress the thermal power to "weak". Here, an image in which a part of the first continuous region is present in the first monitoring range AR2 corresponds to an example of a foreign matter mixed image, and an image in which a part of the second continuous region is present in the second monitoring range AR4 is It corresponds to an example of a foreign matter mixed image. In step S29, as a predetermined protection operation, a buzzer sounds, a message such as "foreign matter detected" is emitted as a voice from a speaker or as a display on a display unit, or a lamp is specified. Notification may be performed by lighting with a pattern.

If No in any of steps S22, S24, and S26, the control circuit 10 performs the process of step S30 and determines whether or not the "weak" state set in step S29 continues. In the process of step S30, the control circuit 10 is in either a state in which the process of step S29 is not performed after the start of control in FIG. 5 or a state in which the process of step S29 is not performed after the process of step S31. If it is determined to be applicable, the processing after step S21 is performed again. When the control circuit 10 determines in the process of step S30 that the "weak" thermal power continues without the process of step S31 after the process of step S29 is performed, the control circuit 10 performs the process of step S31 and the gas burner. The thermal power of 51 is restored to the thermal power stored in step S28. That is, the opening degree of the thermal power adjusting valve 51E is returned to the opening degree stored in step S28.

FIG. 11A shows an example of an image in the first monitoring range AR2 captured by the first imaging unit 90A immediately after the gas burner 51 ignites, and FIG. 12A shows an example immediately after the gas burner 51 ignites. An example of the image in the second monitoring range AR4 captured by the second image pickup unit 90B is shown. FIG. 11B shows an example of an image in the first monitoring range AR2 when a foreign substance (human hand) enters, and FIG. 12B shows a second image when a foreign substance (human hand) enters. 2 An example of an image in the monitoring range AR4 is shown. The image M5 of FIG. 11B includes an image H1 of a foreign substance (human hand) in addition to an image G1 of the cooking utensil Ta and a part of the image of the cooking utensil 1. The image M6 of FIG. 12B includes an image H2 of a foreign substance (human hand) in addition to an image G2 of the cooking utensil Ta and a part of the image of the cooking utensil 1. For example, when the control of FIG. 5 is being performed, the image of the first monitoring range AR2 changes from the image shown in FIG. 11A to the image shown in FIG. 11B, and the image of the second monitoring range AR4 changes. When the image changes from the image as shown in FIG. 12A to the image as shown in FIG. 12B, the region of the image H1 of the foreign matter (human hand) is extracted as the first difference region in step S22, and the foreign matter is removed. The region of the image H2 (human hand) is extracted as the second difference region. Then, for example, when a constant value is set to be smaller than the area of the images H1 and H2, in step S24, the area of the area of the image H1 (first continuous area) and the area of the area of the image H2 (second continuous area). Is determined to be a certain value or more, and in step S26, it is determined that the position of the image H1 is within the first monitoring range AR2, and it is determined that the position of the image H2 is within the second monitoring range AR4. In such a case, if the combustion is in progress, the processes of steps S28 and S29 are performed, and the thermal power is suppressed to "weak".

Further, the control circuit 10 uses the first image pickup unit 90A and the second image pickup unit 90B as stereo cameras, and the second image pickup image generated by the first image pickup unit 90A and the second image pickup unit 90B are generated. Based on the captured image, the distance to a predetermined portion of the foreign object may be measured by a measurement method using stereo parallax.

Here, the effect of this configuration will be illustrated.
In the heating cooker 81, since the first image pickup unit 90A can take an image of the region where the flame is emitted from the gas burners 51, 52, 53 in a direction intersecting the vertical direction, the image taken by the first image pickup unit 90A is used. , It is possible to recognize the vertical positional relationship of an object existing in the region where the flame is emitted from the gas burners 51, 52, 53. Further, since the first imaging unit 90A and the second imaging unit 90B can image the region where the flame is emitted from the gas burners 51, 52, 53 in different directions, the region where the flame is emitted from the gas burners 51, 52, 53 can be imaged. When an object exists, it becomes easier to recognize the shape of the object more concretely and more accurately based on the captured images obtained by imaging in different directions.

Further, since the heating cooker 1 can be integrally configured with the housing portion 2 in both the first image pickup unit 90A and the second image pickup unit 90B, the configuration can be made compact and complicated. It becomes easy to electrically link each image pickup unit and the device in the housing without using a configuration or a large-scale configuration.

Further, when the object is present in the region where the flame is emitted from the gas burners 51, 52, 53, the cooking cooker 1 is positioned in the left-right direction by the first image captured by the first image pickup unit 90A. The relationship can be recognized, and the positional relationship in the front-rear direction of the object can be recognized by the second captured image generated by the second imaging unit 90B.

Further, in the cooking device 1, an object existing on the front side of the cooking device 1 (specifically, on the front side of the first image pickup unit 90A) is generated in the first image pickup image generated by the first image pickup unit 90A. Based on the first captured image in which the influence of such an object is eliminated, it becomes easier to more accurately recognize the object existing in the region where the flame is emitted from the gas burners 51, 52, 53.
Further, since the cooking cooker 1 can determine whether or not it is a foreign matter mixed image by two types of captured images captured in different directions, a method of determining based on one type of captured image. The accuracy of the judgment is improved in comparison. Then, when a foreign matter mixed image is obtained, a predetermined protective operation can be performed by the protective operation unit.

The cooking cooker 1 can also make the control circuit 10 function as a bottom area estimation unit, in which case the control circuit 10 is based on a plurality of captured images obtained by the first imaging unit 90A and the second imaging unit 90B. , Can act to estimate the bottom area of the cookware. The cooking utensil 1 can more accurately estimate the bottom area of the cooking utensil from two types of captured images taken in different directions.

As shown in FIGS. 1, 3 and the like, the heating cooker 1 may include an illuminance sensor 94 and infrared lighting units 92A and 92B. Then, when the illuminance at a predetermined position (installation position of the illuminance sensor 94) in the vicinity of the heating cooker 1 is in a predetermined decrease state (for example, when the illuminance detected by the illuminance sensor 94 is reduced to a certain level or less). In addition, the control circuit 10 may control the infrared illumination units 92A and 92B so as to irradiate the infrared illumination light toward the region where the flame is emitted from the gas burners 51, 52, 53. In this case, when the illuminance detected by the illuminance sensor 94 exceeds a certain level, it is desirable to control so that the irradiation by the infrared illumination units 92A and 92B is stopped. The illuminance sensor 94 may be provided, for example, so as to be fixed to the upper surface of the top plate, or may be provided on the front surface portion or the vicinity of the front surface portion of the housing portion 2. Alternatively, it may be provided in a range hood (a range hood similar to the range hood 100 shown in FIG. 18).
By doing so, when the illuminance in the vicinity of the cooking device 1 is reduced, infrared illumination light is irradiated to suppress or prevent blurring of the image in the vicinity of the region where the flame is emitted from the gas burners 51, 52, 53. be able to.

<Example 2>
Regarding the configuration of the cooking utensil 1 of the second embodiment shown in FIGS. 13 to 15, only the arrangement of the first imaging unit 90A and the second imaging unit 90B is the heating cooker of the first embodiment shown in FIGS. 1 to 3. It is different from No. 1, and other than that, it is the same as the cooking device 1 of Example 1. The imaging surfaces of the first imaging unit 90A and the second imaging unit 90B may be surfaces along a plane direction orthogonal to the front-rear direction, or may be inclined to some extent with respect to the front-rear direction.

In the heating cooker 1 shown in FIGS. 13 to 15, the first image pickup unit 90A performs imaging from one side to the other side in a predetermined direction, and the second image pickup unit 90B performs an image pickup from one side to the other side in a predetermined direction. It has a function of performing image pickup in a direction different from that of the image pickup unit 90A and calculating the distance from a predetermined reference position in a predetermined direction to an object imaged by the first image pickup unit 90A and the second image pickup unit 90B. Specifically, the first imaging unit 90A performs imaging from the front side to the rear side in the front-rear direction or an oblique direction inclined with respect to the front-rear direction, and the second imaging unit 90B performs imaging from the front side to the rear side. Imaging was performed in a front-rear direction or an oblique direction inclined with respect to the front-rear direction in a direction different from that of the first image pickup unit 90A, and images were taken by the first image pickup unit 90A and the second image pickup unit 90B from a predetermined reference position in the front-rear direction. Calculate the distance to the object. In this example, the first image pickup unit 90A and the second image pickup unit 90B are used as stereo cameras, and the first image pickup image generated by the first image pickup unit 90A and the second image pickup image generated by the second image pickup unit 90B are used. Based on this, images were taken by the first image pickup unit 90A and the second image pickup unit 90B from a predetermined reference position (for example, the position of the image pickup surface of either the first image pickup unit 90A or the second image pickup unit 90B) in the front-rear direction. The distance to the object is measured by a known measurement method using stereo parallax.

When the cooking utensil 1 of the second embodiment shown in FIGS. 13 to 15 performs such a distance measurement, any flow may be used, but for example, FIGS. 4 and 4 have the same flow as that of the first embodiment. An example is given in which the control shown in FIG. 5 is performed and the distance to the cooking utensil is measured in step S11 of FIG. The controls of FIGS. 4 and 5 performed by the cooking device 1 of the second embodiment are the same as those of the first embodiment, and further, the following distance measurement processing is added.

In the heating cooker 1 shown in FIGS. 13 and 14, when the cooking utensil Ta is placed on the trivet 9C of the stove portion 4C as shown in FIGS. 13 and 14, the first image pickup as shown in FIG. 15 (A) is performed. The distance (in the front-back direction) to a predetermined portion by the image (the image generated by the first image pickup unit 90A) and the second image pickup image (the image generated by the second image pickup unit 90B) as shown in FIG. 15 (B). Distance) can be measured by a measurement method using stereo parallax. Specifically, for example, if it can be specified by a known method that the image of a predetermined part of an object in the first captured image and the image of a predetermined part of an object in the second captured image are images showing the same part, stereo parallax. The distance can be measured by a known measurement method using. For example, in the example of FIG. 15A, a partial image G41 of the object image (cooking utensil image G3) included in the first captured image is extracted as a feature image, and in the example of FIG. 15B, the second imaging is performed. In the object image (cooking utensil image G4) included in the image, the image G42 of the same part as this feature image is extracted by a known method, and using these analysis results, the reference position in the front-rear direction (reference position in the front-back direction by the principle of triangular survey) ( For example, the distance from the position of the image pickup surface of the first image pickup unit 90A or the second image pickup unit 90B) to a predetermined position of the object (positions of the feature images G41 and G42) is calculated. The method of extracting the feature images G41 and G42, which are the same target images in the first captured image and the second captured image, can be performed by a known stereo matching process, and the stereo matching process can be performed by a local matching method or the like. A known method such as a global matching method can be preferably used. By using such a method, it is possible to specify not only the position of the cooking utensil Ta in the left-right direction but also the position of the cooking utensil Ta in the front-rear direction.

In the above description, an example of measuring the distance to the cooking utensil in step 11 based on the images recognized as the cooking utensil in each of the first captured image and the second captured image is shown. The application example is not limited to this example. For example, in step S6 of FIG. 4 or step S25 of FIG. 5, the distance in the front-rear direction to a predetermined portion of an object (foreign substance) to be positioned is measured based on the first captured image and the second captured image. May be good. The distance measurement in this case can also be performed by the same method as described above. From a predetermined reference position (for example, the position of the imaging surface of the first imaging unit 90A or the second imaging unit 90B) to a predetermined portion of an object (foreign matter whose image is included in the first captured image and the second captured image) in step S6. When measuring the distance in the front-back direction of, the measured distance is set to proceed to Yes in step S7 only when the measured distance is within a predetermined normal range (a range corresponding to the vicinity of the heating cooker 1), and the measured distance is measured. If is out of the predetermined normal range, the process may proceed to No in step S7. By doing so, when only the image of the object located at a distance outside the normal range is the target of the position detection in step S6, it is not the target of the ignition prohibition flag set. That is, even if an object (foreign substance) is newly imaged, ignition can be prevented if the object (foreign substance) is displaced back and forth from the vicinity of the cooking device 1. Similarly, in step S25, an object (foreign matter whose image is included in the first captured image and the second captured image) from a predetermined reference position (for example, the position of the imaging surface of the first imaging unit 90A or the second imaging unit 90B). When measuring the distance in the front-back direction to a predetermined part, only when the measured distance is within the predetermined normal range (the range corresponding to the vicinity of the cooking cooker 1), the process proceeds to Yes in step S26 and the measurement is performed. If the distance is outside the predetermined normal range, the process may proceed to No in step S26. In this way, if only the image of the object located at a distance outside the normal range is the target of the position detection in step 25, it will not be the target of the thermal power suppression control. That is, even if a new object (foreign substance) is imaged, if the object (foreign substance) is displaced back and forth from the vicinity of the cooking cooker 1, control for forcibly suppressing the thermal power is not performed. Can be.

<Other Examples>
The present invention is not limited to the examples described in the above description and drawings, and for example, the following examples are also included in the technical scope of the present invention.
(1) In the cooking cooker, the first image pickup unit may be configured to take an image from the rear side to the front side of the cooking cooker. The second image pickup unit may be configured to take an image from the right end side (right end side when viewed from the front side) to the left end side (left end side when viewed from the front side) of the cooking cooker. Either or both of the first image pickup unit and the second image pickup unit may be configured to be inclined with respect to the front-rear direction and the left-right direction and to be able to take an image in the direction along the horizontal direction.
(2) In the above-described embodiment, the configuration in which the control shown in FIGS. 4 and 5 is performed in relation to the gas burner 51 is exemplified, but the control shown in FIGS. 4 and 5 may be performed in relation to the gas burner 52. , May be done in connection with the gas burner 53.
(3) In the above-described embodiment, an example is shown in which the first image pickup unit 90A and the second image pickup unit 90B are indirectly assembled to the housing portion 2 via another member (top plate 5). Any or both of them may be directly assembled to the housing portion 2 as long as the region where the flame is emitted from the gas burners 51, 52, 53 can be imaged. Further, although the configuration in which the housing portion 2 accommodates a part of each of the gas burners 51, 52, and 53 inside is illustrated, the entire gas burner may be accommodated in the housing portion.
(4) In the above-described embodiment, an example in which the protection operation is performed when both the first captured image and the second captured image are foreign matter mixed images is shown, but when any of them is a foreign matter mixed image, the protective operation is performed. May be done.
(5) In the above-described embodiment, the example in which the second image pickup unit 90B is assembled to the housing portion 2 is shown, but instead of the second image pickup unit 90B or in addition to the second image pickup unit 90B, another A second imaging unit may be provided. For example, in the example of FIG. 16, the second imaging unit 90C capable of imaging the imaging range AR5 (FIG. 17) is fixed to the range hood 100, and further, an infrared illumination unit 92C fixed to the range hood 100 is provided. ing. The second imaging unit 90C is arranged on the upper side of the trivet 9A, 9B, 9C (mounting unit), and is configured to image the region where the flame is emitted from the gas burners 51, 52, 53 from the upper side. .. The heating cooker 1 facilitates detection of foreign matter overlapping the cooking utensil in the front-rear direction and foreign matter overlapping in the left-right direction. In the cooking apparatus 1 shown in FIGS. 16 and 17, the imaging range AR5 is set, and the third monitoring range AR6 is set as the monitoring range for foreign matter. After setting the range in this way, the control as shown in FIGS. 4 and 5 can be performed by the same method as in the first embodiment. Alternatively, as shown in FIG. 18, the first imaging unit 90A and the second imaging unit 90B are provided on the upper side of the gas burners 51, 52, 53, respectively, and the first imaging unit 90A performs imaging from the upper side to the lower side. , The second image pickup unit 90B took an image from the upper side to the lower side in a direction different from that of the first image pickup unit 90A, and the first image pickup unit 90A and the second image pickup unit 90B imaged from a predetermined position in the vertical direction. The distance to the object may be calculated. In this example, the first image pickup unit 90A and the second image pickup unit 90B are used as stereo cameras, and the first image pickup image generated by the first image pickup unit 90A and the second image pickup image generated by the second image pickup unit 90B are used. The distance to a predetermined part of the object (distance in the vertical direction) may be measured by a measurement method using stereo parallax based on the above. For example, a part of the object image included in the first captured image is extracted as a feature image, and the image of the same part as the feature image in the object image included in the second captured image is extracted by a known method. Using the analysis result, the distance from the reference position in the vertical direction (for example, the position of the image pickup surface of the first image pickup unit 90A or the second image pickup unit 90B) to the predetermined position (position of the feature image) of the object according to the principle of triangular measurement. May be calculated.
(6) In the above-described embodiment, as shown in FIG. 5, it is determined whether or not a foreign matter mixed image is obtained based on the difference between a plurality of images obtained within a certain period of time, but the control circuit 10 (protection operation) Section) uses the image obtained by the first image pickup unit 90A immediately after the ignition operation of the gas burner as the first reference image, and the image obtained by the second image pickup section 90B immediately after the ignition operation of the gas burner as the second reference image. When the captured image having a change of a certain range or more from the first reference image is obtained by the first image pickup unit 90A, and the captured image having a change of a certain range or more from the second reference image is obtained by the second image pickup unit 90B. , It may be determined that a foreign matter mixed image is obtained. In this case, the captured image having a change of a certain range or more from the images obtained by the first imaging unit 90A and the second imaging unit 90B immediately after the ignition operation of the gas burner corresponds to an example of the foreign matter mixed image.
(7) In either of the above-mentioned examples or the above-mentioned modified examples, when a foreign matter mixed image is obtained, the thermal power of the gas burner is protected so as to be a predetermined level lower than the setting of the setting operation unit. The operation may be performed. For example, in the case of a configuration in which the thermal power can be set in multiple stages, a state of the thermal power lower than the thermal power set by the setting operation unit by a predetermined stage (for example, one stage, two stages, etc.) may be set as the suppressed thermal power state. Alternatively, when a foreign matter mixed image is obtained, the thermal power of the gas burner may be set to a suppressed thermal power state in which the thermal power is set to a constant opening smaller than the opening degree of the thermal power adjusting valve according to the setting of the setting operation unit. Alternatively, a protective operation may be performed so as to extinguish the gas burner when a foreign matter mixed image is obtained.
(8) In either of the above-mentioned examples or the above-mentioned modified examples, the "configuration in which the first imaging unit captures the region where the flame is emitted from the gas burner in the direction intersecting the vertical direction" is carried out. As in Example 1, the first imaging unit directs the region where the flame is emitted from the gas burner from the front side to the rear side in the front-rear direction (for example, the light receiving optical axis is in the front-back direction). The image may be taken in the direction (orientation), or may be taken in the direction along the front-rear direction from the rear side to the front side, and may be taken in the direction along the left-right direction (for example, the direction in which the light receiving optical axis is along the left-right direction). The image may be taken in a horizontal direction with an inclination with respect to the front-back direction. Then, in the "configuration in which the second imaging unit captures the region where the flame is emitted from the gas burner in a direction different from that of the first imaging unit", the second imaging unit is oriented in a direction different from that of the first imaging unit and is in the horizontal direction. The image may be taken in a direction (for example, a configuration in which the light receiving optical axis is oriented along the horizontal direction), and a direction intersecting the horizontal direction (for example, an orientation along the vertical direction or a vertical direction). It may be configured to take an image in a direction along an inclined direction with respect to the object (for example, a configuration in which the light receiving optical axes intersect with each other in the horizontal direction).
(9) In either of the above-described embodiment or a modified version of the above-mentioned embodiment, a release operation unit (for example, a press button capable of performing a press operation as a release operation) capable of performing a predetermined release operation may be provided. can. Then, when the release operation is performed on the release operation unit, the control performed in step S29 may be released. As an example, when the release operation is performed on the release operation unit, the process of step S30 can be performed after step S21 for a certain period (for example, 3 minutes) after the release operation.

1 ... heating cooker, 2 ... housing part, 6A, 6B, 6C ... rotation operation part (setting operation part), 9A, 9B, 9C ... Gotoku (mounting part), 10 ... control circuit (protection operation part, bottom) Area estimation unit), 51, 52, 53 ... Gas burner, 90A ... First image pickup unit, 90B ... Second image pickup unit, 92A, 92B ... Infrared illumination unit

Claims (6)

With a gas burner,
The setting operation unit used for the operation of setting the thermal power of the gas burner,
A housing portion that accommodates at least a part of the gas burner,
A mounting part for mounting cooking utensils on the upper side of the gas burner,
A first imaging unit that captures at least a region where a flame is emitted from the gas burner in a direction intersecting the vertical direction.
A second imaging unit that captures at least a region where a flame is emitted from the gas burner in a direction different from that of the first imaging unit.
Have a,
The first image pickup unit and the second image pickup unit are cookers that are directly or indirectly attached to the housing portion via other members. With a gas burner,
The setting operation unit used for the operation of setting the thermal power of the gas burner,
A housing portion that accommodates at least a part of the gas burner,
A mounting part for mounting cooking utensils on the upper side of the gas burner,
A first imaging unit that captures at least a region where a flame is emitted from the gas burner in a direction intersecting the vertical direction.
A second imaging unit that captures at least a region where a flame is emitted from the gas burner in a direction different from that of the first imaging unit.
Have,
The first image pickup unit has a configuration in which an image is taken from one side in the front-rear direction to the other side in the front-rear direction of the cooking cooker.
The second image pickup unit is a cooking device having a configuration in which an image is taken from one side in the left-right direction to the other side in the left-right direction of the cooking device. The heating cooker according to claim 2, wherein the first image pickup unit is configured to take an image from the front side to the rear side of the cooking cooker. Any of claims 1 to 3 having a protective operation unit that performs a predetermined protection operation when a foreign matter mixed image containing an image of a foreign substance is obtained by either the first image pickup unit or the second image pickup unit. The heating cooker described in the first item. With a gas burner,
The setting operation unit used for the operation of setting the thermal power of the gas burner,
A housing portion that accommodates at least a part of the gas burner,
A mounting part for mounting cooking utensils on the upper side of the gas burner,
A first imaging unit that captures at least a region where a flame is emitted from the gas burner in a direction intersecting the vertical direction.
A second imaging unit that captures at least a region where a flame is emitted from the gas burner in a direction different from that of the first imaging unit.
Have,
A heating cooker having a bottom area estimation unit that estimates the bottom area of the cooking utensil based on a plurality of captured images obtained by the first image pickup unit and the second image pickup unit. With a gas burner,
The setting operation unit used for the operation of setting the thermal power of the gas burner,
A housing portion that accommodates at least a part of the gas burner,
A mounting part for mounting cooking utensils on the upper side of the gas burner,
A first imaging unit that captures at least a region where a flame is emitted from the gas burner in a direction intersecting the vertical direction.
A second imaging unit that captures at least a region where a flame is emitted from the gas burner in a direction different from that of the first imaging unit.
Have,
A cooking cooker including an infrared lighting unit that irradiates infrared illumination light toward a region where a flame is emitted from the gas burner when the illuminance at a predetermined position in the vicinity of the cooking cooker becomes a predetermined decrease .

Images