Cooking apparatus and method for controlling cooking apparatus
A cooking apparatus including a chamber; a door configured to open or close the chamber; a plurality of supporters inside the chamber at different heights from each other, each supporter being configured to support a tray; a plurality of markers at different locations on the door; a camera configured to obtain an image of an interior of the chamber; and a controller configured to identify the location of a marker, at least a portion of which is hidden by the tray, of the plurality of markers, in an image of the interior of the chamber obtained by the camera while the tray is being supported inside the chamber by at least one supporter of the plurality of supporters, estimate a height of the tray in the chamber based on the identified location, and determine a cooking parameter to cook an object to be cooked in the chamber based on the estimated height.
1. A cooking apparatus comprising:
a chamber;
a door configured to open or close the chamber;
a plurality of supporters inside the chamber at different heights from each other, each supporter of the plurality of supporters configured to support a tray inside the chamber;
a plurality of markers at different locations on the door;
a camera configured to obtain an image of an interior of the chamber; and
a controller configured to:
identify the location of a marker, at least a portion of which is hidden by the tray, of the plurality of markers, in an image of the interior of the chamber obtained by the camera while the tray is being supported inside the chamber by at least one supporter of the plurality of supporters,
estimate height of the tray in the chamber based on the identified location, and
determine a cooking parameter for cooking an object to be cooked in the chamber based on the estimated height.
2. The cooking apparatus of claim 1 , wherein, to identify the location of the marker, at least a portion of which is hidden by the tray, the controller is configured to:
extract a segment image which contains a side of the tray adjacent to the door from the image obtained by the camera while the tray is being supported inside the chamber by the at least one supporter of the plurality of supporters, and
identify the location of the marker, at least a portion of which is hidden, based on depth information of the extracted segment image.
3. The cooking apparatus of claim 1 , wherein, to identify the location of the marker, at least a portion of which is hidden by the tray, the controller is configured to:
detect a side of the tray adjacent to the door in the image obtained by the camera while the tray is being supported inside the chamber by the at least one supporter of the plurality of supporters,
detect another marker of the plurality of markers located closest to the detected side of the tray in the image obtained by the camera while the tray is being supported inside the chamber by the at least one supporter of the plurality of supporters, and
identify the location of the marker, at least a portion of which is hidden, based on feature information of the detected another marker.
4. The cooking apparatus of claim 3 , wherein,
to detect the side of the tray and to detect the another marker, the controller is configured to:
divide a door area in the image obtained by the camera while the tray is being supported inside the chamber by the at least one supporter of the plurality of supporters into a plurality of segment images, and
extract a first segment image containing the side of the tray and a second segment image containing the another marker by sequentially analyzing the plurality of segment images, and
the controller is configured to obtain the feature information of the another marker from the second segment image.
5. The cooking apparatus of claim 4 , wherein, to extract the first segment image and the second segment image, the controller is configured to:
match the plurality of segment images to a plurality of floors in the chamber distinguished by the plurality of supporters, and
extract the first segment image and the second segment image by sequentially analyzing the plurality of segment images matched to the plurality of floors from a top floor to a bottom floor.
6. The cooking apparatus of claim 4 , further comprising:
a memory configured to store history information relating to height of the tray,
wherein the controller s configured to:
detect a segment image of the plurality of segment images corresponding to height of the tray recorded lastly or height of the tray recorded the most in the history information, and
analyze the detected segment image for a first time.
7. The cooking apparatus of claim 1 , further comprising:
a display,
wherein the controller is configured to control the display to display height information indicating the estimated height of the tray.
8. The cooking apparatus of claim 1 , wherein the controller is configured to:
estimate a nature of the object to be cooked in the chamber and positioned on the tray from the image obtained by the camera while the tray is being supported inside the chamber by the at least one supporter of the plurality of supporters, and
determine a cooking parameter based on the estimated nature and the estimated height.
9. The cooking apparatus of claim 1 , wherein
the door includes:
a first transparent glass plate forming an outer surface of the door, and
a second transparent glass plate forming an inner surface of the door, and
the plurality of markers are on a surface of the first transparent glass plate or on a surface of the second transparent glass plate.
10. The cooking apparatus of claim 1 , wherein
the plurality of supporters include:
a first supporter at first height from a bottom of the chamber, and
a second supporter at second height higher than the first height, the plurality of markers include:
a lower marker at a first location on the door,
a middle marker at a second location on the door corresponding to the first height of the first supporter, and
an upper marker at a third location on the door corresponding to the second height of the second supporter,
wherein the lower marker is closer to a bottom of the chamber than the middle marker and the upper marker.
11. The cooking apparatus of claim 1 , wherein each marker of the plurality of markers has feature information including at least one of a shape, color, a letter and a symbol.
12. The cooking apparatus of claim 1 , wherein
the plurality of supporters include:
a first supporter at first height from a bottom of the chamber, and
a second supporter at second height higher than the first height from the bottom of the chamber,
the first supporter includes:
a first protrusion protruding from a first side wall of the chamber,
a second protrusion separated from the first protrusion and protruding from a second side wall, opposite to the first side wall, of the chamber, and
a first groove positioned between the first protrusion and the second protrusion,
the second supporter includes:
a third protrusion protruding from the first side wall of the chamber,
a fourth protrusion separated from the third protrusion and protruding from the second side wall of the chamber, and
a second groove positioned between the third protrusion and the fourth protrusion, and
the first groove and the second groove longitudinally extend in a horizontal direction at different vertical heights.
13. The cooking apparatus of claim 12 , wherein the controller is configured to estimate the height of the tray further based on whether at least one of the first groove and the second groove is detected from the image obtained by the camera while the tray is being supported inside the chamber by the at least one supporter of the plurality of supporters.
14. A method of controlling a cooking apparatus including a chamber, a door configured to open or close the chamber, a plurality of supporters inside the chamber at different heights from each other with each supporter of the plurality of supporters configured to support a tray inside the chamber, a plurality of markers formed at different locations on the door, and a camera, the method comprising:
obtaining, by the camera, an image of an interior of the chamber while the tray is being supported inside the chamber by at least one supporter of the plurality of supporters;
identifying a location of a marker, at least a portion of which is hidden by the tray, of the plurality of markers, in the obtained image;
estimating height of the tray in the chamber based on the identified location; and
determining a cooking parameter for cooking an object to be cooked in the chamber based on the estimated height.
15. The method of claim 14 , wherein the identifying of the location of the marker, at least a portion of which is hidden, includes:
extracting, from the image, a segment image which contains a side of the tray adjacent to the door; and
identifying the location of a marker, at least a portion of which is hidden, based on depth information of the extracted segment image.
16. The method of claim 14 , wherein the identifying of the location of the marker, at least a portion of which is hidden, includes:
detecting a side of the tray adjacent to the door in the image;
detecting another marker of the plurality of markers located closest to the detected side of the tray in the image; and
identifying the location of the marker, at least a portion of which is hidden, based on feature information of the another marker.
17. The method of claim 16 , wherein the detecting the side of the tray and the detecting the another marker includes:
dividing a door area in the image into a plurality of segment images;
extracting a first segment image containing the side of the tray and a second segment image containing the another marker by sequentially analyzing the plurality of segment images; and
obtaining the feature information of the another marker from the second segment image.
18. The method of claim 17 , wherein the extracting the first segment image and the second segment image includes:
matching the plurality of segment images to a plurality of floors in the chamber distinguished by the plurality of supporters, and
extracting the first segment image and the second segment image by sequentially analyzing the plurality of segment images matched to the plurality of floors from a top floor to a bottom floor.
19. The method of claim 17 , further comprising:
obtaining history information relating to height of the tray stored in a memory;
detecting a segment image of the plurality of segment images corresponding to height of the tray recorded lastly or height of the tray recorded the most in the history information; and
analyzing the detected segment image for a first time.
20. The method of claim 14 , further comprising:
estimating a nature of the object to be cooked in the chamber placed on the tray from the image,
wherein the cooking parameter is determined based on the estimated nature and the estimated height.