CN112621764B - Auxiliary cooking planning method for hot pot rice based on double-arm robot - Google Patents
Auxiliary cooking planning method for hot pot rice based on double-arm robot Download PDFInfo
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- CN112621764B CN112621764B CN202110252672.1A CN202110252672A CN112621764B CN 112621764 B CN112621764 B CN 112621764B CN 202110252672 A CN202110252672 A CN 202110252672A CN 112621764 B CN112621764 B CN 112621764B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses a method for auxiliary cooking planning of hot pot rice based on a double-arm robot, which comprises the following steps: establishing a menu directory which is specified to be executed by the double-arm robot, and determining dish cooking information corresponding to a plurality of dish names; acquiring marking information of all heating stoves on the operating table and all balance plates on the dish storage platform; combining the initial pose data of the robot body and the marking information of all heating cooking benches to construct a dish sending motion strategy library of the robot; combining the initial pose data and the marking information of all the balance plates to construct a dish selection control strategy library of the robot; screening a plurality of dish selection control strategies from a dish selection control strategy library for sequencing to form a basic cooking planning path; and selecting a dish delivery motion strategy from the dish delivery motion strategy library to perform coherent motion supplement on the basic cooking planning path to form a final cooking planning path. The invention can relieve the highly centralized working state of operators, is beneficial to improving the processing efficiency of a plurality of pot rice and ensures the quality of finished products.
Description
Technical Field
The invention relates to the technical field of robot-assisted processing, in particular to a method for assisting in cooking and planning claypot rice based on a double-arm robot.
Background
Under the large environment of manual control, the manufacturing process of single pot rice is complicated, the cooking time of each raw material is strictly controlled to ensure the source of customers for the taste of the finished product is better, and the professional technical requirement of an operator is higher undoubtedly. When a meal peak is encountered, because the making time of a single pot rice is long, if an operator makes a plurality of pot rice simultaneously, the working energy of the operator is greatly consumed, and the monitoring of the cooking progress of each pot rice cannot be completely guaranteed, i.e. the processing efficiency and the finished product quality of the plurality of pot rice cannot be guaranteed to reach a balanced state.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a method for auxiliary cooking planning of hot pot rice based on a double-arm robot, which can realize real-time intelligent monitoring of the cooking process of a plurality of hot pot rice, is beneficial to improving the processing efficiency of simultaneously making a plurality of hot pot rice and ensures the quality of finished products.
In order to solve the above problems, the present invention provides a method for auxiliary cooking planning of a hot pot rice based on a dual-arm robot, the method comprising:
establishing a menu directory which is specified to be executed by the double-arm robot, and determining dish cooking information corresponding to a plurality of dish names under the menu directory according to cooking experience;
taking the body center of the double-arm robot as a coordinate origin, acquiring mark information of all heating cooking benches arranged on an operating bench and mark information of all balance pans arranged on a dish storage platform, wherein the mark information of all the heating cooking benches comprises a coordinate position and an individual number of each heating cooking bench relative to the body center of the double-arm robot, and the mark information of all the balance pans comprises a coordinate position and an individual number of each balance pan relative to the body center of the double-arm robot;
defining initial pose data of the double-arm robot body, and simultaneously combining the marking information of all the heating cooking benches to construct a dish delivery motion strategy library of the double-arm robot;
combining the initial pose data and the marking information of all the balance disks to construct a dish selection control strategy library of the double-arm robot;
screening a plurality of matched dish selection control strategies from the dish selection control strategy library for sorting based on dish cooking information corresponding to each dish name to form a basic cooking planning path;
selecting a dish sending motion strategy from the dish sending motion strategy library by combining human factors, and performing coherent motion supplement on the basic cooking planning path to form a final cooking planning path;
the initial position and posture data of the double-arm robot body are defined, and a dish delivery motion strategy library of the double-arm robot is constructed by combining the marking information of all the heating cooking benches, and the method comprises the following steps:
combining the initial pose data of the double-arm robot body and the coordinate position of the ith heating hearth to calculate the rotation angle w of the double-arm robot body relative to the ith heating hearth1iAnd displacement parameter L of the double-machine arm moving back and forth1i；
Based on the fact that the double machine arms move to a fixed position above the ith heating cooking bench where the cooking bowls are placed, the left machine arm is controlled to clamp the cooking bowl covers according to a set cover clamping program, and then the initial position of the left machine arm is returned; triggering and controlling the right machine arm to turn over the dish box held in the palm according to a set dish pouring program, placing the dish box in the containing box, and returning to the initial position of the right machine arm; triggering and controlling the left mechanical arm to place the cover of the stewing bowl according to a set cover placing program, and then returning to the initial position of the left mechanical arm;
and triggering and controlling the original path of the double-arm robot body to return to the initial position corresponding to the initial pose data based on the fact that the double-arm arms execute the cover clamping program, the dish pouring program and the cover placing program in sequence, and forming a dish sending motion strategy that the double-arm robot moves to the ith heating cooking bench.
In an optional embodiment, the determining, according to the cooking experience, the cooking information corresponding to the names of the plurality of dishes in the menu directory includes:
determining M dish names under the menu catalog, and determining N types of raw materials corresponding to each dish name, the putting sequence of the N types of raw materials and the cooking time length of each type of raw materials according to cooking experience;
and screening out non-repeated P raw materials from the M multiplied by N raw materials, and recording the placement positions of each raw material in the P raw materials on all the balance trays.
In an optional embodiment, the constructing a menu selection control strategy library of the dual-arm robot by combining the initial pose data and the mark information of all the pendulums comprises:
incorporating said double-arm machinesCalculating the initial pose data of the human body and the coordinate position of the jth swinging plate, and calculating the rotation angle w of the double-arm robot body relative to the jth swinging plate2jAnd displacement parameter L of the double-machine arm moving back and forth2j；
And based on that the double-arm robot moves to a fixed position above the jth swing disc, sensing the weight change by using a weighing sensor arranged in the palm of the right arm, triggering and controlling the original path of the double-arm robot body to return to the initial position corresponding to the initial pose data, and forming a vegetable selection control strategy that the double-arm robot moves to the jth swing disc.
In an optional implementation manner, the screening out a plurality of matched dish selection control strategies from the dish selection control strategy library for sorting based on the dish cooking information corresponding to each dish name, and forming a basic cooking planning path includes:
based on N corresponding to the kth dish namekClass of raw material, determining said NkPlacing the similar raw materials on all the swinging plates, and selecting N matched dish selection control strategies from the dish selection control strategy library;
based on the NkAnd the putting sequence of the class raw materials and the cooking time length of each class of raw materials are used as conditions for triggering the operation of the dish selection control strategy corresponding to the next class of raw materials by taking the initial cooking finishing time of the current raw materials, and the N dish selection control strategies are subjected to cooking sequencing in time and space to form a basic cooking planning path.
In an optional embodiment, the selecting one of the dish delivery motion strategies from the dish delivery motion strategy library in combination with human factors to perform coherent motion supplementation on the basic cooking planning path to form the final cooking planning path includes:
based on the kth dish name, a specific heating cooking bench is input by a user and bound, and a specific dish sending motion strategy matched with the individual number of the specific heating cooking bench is selected from the dish sending motion strategy library;
and inserting the specific dish sending motion strategy after each ordered dish selection control strategy based on the N ordered dish selection control strategies contained in the basic cooking planning path, and forming a final cooking planning path by taking the running finishing time of each ordered dish selection control strategy as a condition for triggering the running of the specific dish sending motion strategy.
In the embodiment of the invention, a proper control strategy is prepared for the vegetable selecting process and the vegetable sending process of the double-arm robot by taking the cooking experience of a cook as a reference, and the real-time intelligent monitoring on the cooking process of a plurality of pot rice can be realized by the double-arm robot and the timing function thereof, so that the complex task of assisting an operator to finish the simultaneous making of a plurality of pot rice can be achieved, the highly centralized working state of the operator can be relieved in the process, the processing efficiency of the plurality of pot rice can be improved, and the quality of finished products can be ensured.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for auxiliary cooking planning of rice cooked in a clay pot based on a double-arm robot in an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for assisted cooking planning of rice cooked in a hot pot based on a dual-arm robot in an embodiment of the present invention.
As shown in fig. 1, a method for auxiliary cooking planning of hot pot rice based on a double-arm robot includes the following steps:
s101, establishing a menu directory which is executed by a double-arm robot in a specified manner, and determining dish cooking information corresponding to a plurality of dish names under the menu directory according to cooking experience;
the specific implementation process comprises the following steps: firstly, determining M dish names under the menu catalog, and determining N types of raw materials corresponding to each dish name, the putting sequence of the N types of raw materials and the cooking time length of each type of raw materials according to cooking experience; then, P types of raw materials which do not overlap are screened out from the M multiplied by N types of raw materials, and the placing positions of each type of raw materials in all the placing plates arranged on the dish storing platform are recorded.
S102, with the center of the body of the double-arm robot as a coordinate origin, acquiring marking information of all heating stoves arranged on an operating table and marking information of all balance plates arranged on a dish storage platform;
the specific implementation process comprises the following steps: based on the two-arm robot is in the body fixed point operating condition in the whole auxiliary cooking process, at the moment, the three-dimensional coordinate system is established by taking the body center of the two-arm robot as the origin of coordinates, the laser sensor arranged by the two-arm robot is utilized to acquire the coordinate position of each heating cooking bench relative to the body center of the two-arm robot and the coordinate position of each balance relative to the body center of the two-arm robot, and the individual number of each heating cooking bench and the individual number of each balance are recorded simultaneously.
S103, defining initial pose data of the double-arm robot body, and simultaneously combining the marking information of all the heating cooking benches to construct a dish delivery motion strategy library of the double-arm robot;
the specific implementation process comprises the following steps:
(1) combining the initial pose data of the double-arm robot body and the coordinate position of the ith heating hearth to calculate the rotation angle w of the double-arm robot body relative to the ith heating hearth1iAnd a dual machineDisplacement parameter L of arm back and forth movement1iWherein the displacement parameter L of the two mechanical arms moving back and forth1iDepending on the arrangement rules of the individual heating ranges on the worktop;
(2) based on the fact that the double machine arms move to a fixed position above the ith heating cooking bench where the cooking bowls are placed, the left machine arm is controlled to clamp the cooking bowl covers according to a set cover clamping program, and then the initial position of the left machine arm is returned; triggering and controlling the right machine arm to turn over the dish box held in the palm according to a set dish pouring program, placing the dish box in the containing box, and returning to the initial position of the right machine arm; triggering and controlling the left mechanical arm to place the cover of the stewing bowl according to a set cover placing program, and then returning to the initial position of the left mechanical arm;
the cover clamping program, the dish pouring program and the cover placing program are all fixed operation steps obtained by technicians through pre-repeated tests, and the fixed operation steps comprise specific setting of parameters such as displacement of each mechanical arm, applied grabbing pressure, rotation angle, movement speed and the like, and the three programs can generate a habitual main control program for sending dishes by the two mechanical arms in a combined mode.
(3) And triggering and controlling the original path of the double-arm robot body to return to the initial position corresponding to the initial pose data based on the fact that the double-arm arms execute the cover clamping program, the dish pouring program and the cover placing program in sequence, and forming a dish sending motion strategy that the double-arm robot moves to the ith heating cooking bench.
In the embodiment of the invention, the total number of all heating cooking ranges arranged on the operating platform is M1By performing a cyclic operation M on the above steps (1) to (3)1Next, the generated M can be1And (3) summarizing the dish sending motion strategies corresponding to the heating cooking ranges to obtain a dish sending motion strategy library, wherein the step (2) is repeated and unchanged in any operation.
S104, combining the initial pose data and the marking information of all the swinging plates to construct a dish selection control strategy library of the double-arm robot;
the specific implementation process comprises the following steps:
(1) calculating the rotation angle w of the double-arm robot body relative to the jth swinging plate by combining the initial pose data of the double-arm robot body and the coordinate position of the jth swinging plate2jAnd displacement parameter L of the double-machine arm moving back and forth2jWherein the displacement parameter L of the two mechanical arms moving back and forth2jDepending on the arrangement rule of each balance on the dish storage platform;
(2) and based on that the double-arm robot moves to a fixed position above the jth swing disc, sensing the weight change by using a weighing sensor arranged in the palm of the right arm, triggering and controlling the original path of the double-arm robot body to return to the initial position corresponding to the initial pose data, and forming a vegetable selection control strategy that the double-arm robot moves to the jth swing disc.
It should be noted that the right robot arm is in a palm-up state when moving to the fixed position, and at this time, a user manually places a dish box containing raw materials on the palm of the right robot arm, so that the weighing sensor can acquire weight information.
In the embodiment of the invention, the total quantity of all the balance plates arranged on the dish storage platform is M2By performing a cyclic operation M on the steps (1) to (2)2Next, the generated M can be2And summarizing the dish selection control strategies corresponding to the individual balance pans to obtain a dish selection control strategy library.
S105, screening a plurality of matched dish selection control strategies from the dish selection control strategy library for sorting based on dish cooking information corresponding to each dish name to form a basic cooking planning path;
the specific implementation process comprises the following steps:
(1) based on N corresponding to the kth dish namek（Nk<P) type raw material, determining the NkPlacing positions of the class raw materials on all the swinging plates, and selecting matched N (N) from the dish selection control strategy library<M2) Individual vegetable selection control strategy;
(2) based on the NkAnd the putting sequence of the class raw materials and the cooking time length of each class of raw materials are used as conditions for triggering the operation of the dish selection control strategy corresponding to the next class of raw materials by taking the initial cooking finishing time of the current raw materials, and the N dish selection control strategies are subjected to cooking sequencing in time and space to form a basic cooking planning path.
The basic cooking plan path is described as follows: taking dish a as an example, the dish a comprises raw material B1 (depending on a dish selection control strategy S1) with a cooking time length of T1, raw material B2 (depending on a dish selection control strategy S2) with a cooking time length of T2 and raw material B3 (depending on a dish selection control strategy S3) with a cooking time length of T3, and under the constraint condition that T1> T2> T3, the execution sequence of the three dish selection control strategies is determined to be dish selection control strategy S1, dish selection control strategy S2 and dish selection control strategy S3 in sequence; secondly, placing a pot bowl on a corresponding heating cooking bench as an initial timing point, and triggering a dish selection control strategy S1 to operate when timing is up to a fixed time length T (namely the primary cooking time length of raw rice); then, when the fixed time duration T1-T2 (namely the preliminary cooking time duration of the raw material B1) is continuously counted to the end time, triggering a dish selection control strategy S2 to operate; and finally, when the fixed time duration T2-T3 (namely the initial cooking time duration of the raw material B2) is counted continuously, triggering a dish selection control strategy S3 to operate, and waiting for the fixed time duration T3 (namely the cooking time duration of the raw material B3) to be counted, namely the cooking end time of the dish A.
And S106, selecting a dish delivery motion strategy from the dish delivery motion strategy library by combining human factors, and performing coherent motion supplement on the basic cooking planning path to form a final cooking planning path.
The specific implementation process comprises the following steps:
(1) based on the kth dish name, a specific heating cooking bench is input by a user and bound, a specific dish sending motion strategy matched with the individual number of the specific heating cooking bench is selected from the dish sending motion strategy library, wherein the kth dish name is a dish appointed by the user, and the user automatically inputs the dish and selects an idle heating cooking bench on the operating bench to bind when cooking is started;
(2) and inserting the specific dish sending motion strategy after each ordered dish selection control strategy based on the N ordered dish selection control strategies contained in the basic cooking planning path, and forming a final cooking planning path by taking the running finishing time of each ordered dish selection control strategy as a condition for triggering the running of the specific dish sending motion strategy.
Based on the description process of the basic cooking planning path mentioned in step S105, the final cooking planning path is further described as follows: and setting a specific dish sending motion strategy S, triggering the specific dish sending motion strategy S to execute once at the running ending time of the dish selection control strategy S1, and finishing the continuous action of placing the raw material B1 in the pot bowl for cooking, wherein similarly, the specific dish sending motion strategy S needs to be triggered to execute once at the running ending time of the dish selection control strategy S2 and the running ending time of the dish selection control strategy S3.
In the embodiment of the invention, a proper control strategy is prepared for the vegetable selecting process and the vegetable sending process of the double-arm robot by taking the cooking experience of a cook as a reference, and the real-time intelligent monitoring on the cooking process of a plurality of pot rice can be realized by the double-arm robot and the timing function thereof, so that the complex task of assisting an operator to finish the simultaneous making of a plurality of pot rice can be achieved, the highly centralized working state of the operator can be relieved in the process, the processing efficiency of the plurality of pot rice can be improved, and the quality of finished products can be ensured.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer-readable storage medium, and the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
The method for assisting cooking planning of rice cooked in a clay pot based on the double-arm robot provided by the embodiment of the invention is described in detail, a specific embodiment is adopted in the method for explaining the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (5)
1. A method for auxiliary cooking planning of hot pot rice based on a double-arm robot is characterized by comprising the following steps:
establishing a menu directory which is specified to be executed by the double-arm robot, and determining dish cooking information corresponding to a plurality of dish names under the menu directory according to cooking experience;
taking the body center of the double-arm robot as a coordinate origin, acquiring mark information of all heating cooking benches arranged on an operating bench and mark information of all balance pans arranged on a dish storage platform, wherein the mark information of all the heating cooking benches comprises a coordinate position and an individual number of each heating cooking bench relative to the body center of the double-arm robot, and the mark information of all the balance pans comprises a coordinate position and an individual number of each balance pan relative to the body center of the double-arm robot;
defining initial pose data of the double-arm robot body, and simultaneously combining the marking information of all the heating cooking benches to construct a dish delivery motion strategy library of the double-arm robot;
combining the initial pose data and the marking information of all the balance disks to construct a dish selection control strategy library of the double-arm robot;
screening a plurality of matched dish selection control strategies from the dish selection control strategy library for sorting based on dish cooking information corresponding to each dish name to form a basic cooking planning path;
selecting a dish sending motion strategy from the dish sending motion strategy library by combining human factors, and performing coherent motion supplement on the basic cooking planning path to form a final cooking planning path;
the initial position and posture data of the double-arm robot body are defined, and a dish delivery motion strategy library of the double-arm robot is constructed by combining the marking information of all the heating cooking benches, and the method comprises the following steps:
combining the initial pose data of the double-arm robot body and the coordinate position of the ith heating hearth to calculate the rotation angle w of the double-arm robot body relative to the ith heating hearth1iAnd displacement parameter L of the double-machine arm moving back and forth1i；
Based on the fact that the double machine arms move to a fixed position above the ith heating cooking bench where the cooking bowls are placed, the left machine arm is controlled to clamp the cooking bowl covers according to a set cover clamping program, and then the initial position of the left machine arm is returned; triggering and controlling the right machine arm to turn over the dish box held in the palm according to a set dish pouring program, placing the dish box in the containing box, and returning to the initial position of the right machine arm; triggering and controlling the left mechanical arm to place the cover of the stewing bowl according to a set cover placing program, and then returning to the initial position of the left mechanical arm;
and triggering and controlling the original path of the double-arm robot body to return to the initial position corresponding to the initial pose data based on the fact that the double-arm arms execute the cover clamping program, the dish pouring program and the cover placing program in sequence, and forming a dish sending motion strategy that the double-arm robot moves to the ith heating cooking bench.
2. The method for auxiliary cooking planning for hot pot rice based on double-arm robot as claimed in claim 1, wherein the determining of the cooking information of the dishes corresponding to the names of the dishes under the menu directory according to the cooking experience comprises:
determining M dish names under the menu catalog, and determining N types of raw materials corresponding to each dish name, the putting sequence of the N types of raw materials and the cooking time length of each type of raw materials according to cooking experience;
and screening out non-repeated P raw materials from the M multiplied by N raw materials, and recording the placement positions of each raw material in the P raw materials on all the balance trays.
3. The method for assisting cooking planning of rice cooked in a pot based on a dual-arm robot as claimed in claim 1, wherein the building of the dish selection control strategy library of the dual-arm robot in combination with the initial pose data and the mark information of all the balance plates comprises:
calculating the rotation angle w of the double-arm robot body relative to the jth swinging plate by combining the initial pose data of the double-arm robot body and the coordinate position of the jth swinging plate2jAnd displacement parameter L of the double-machine arm moving back and forth2j；
And based on that the double-arm robot moves to a fixed position above the jth swing disc, sensing the weight change by using a weighing sensor arranged in the palm of the right arm, triggering and controlling the original path of the double-arm robot body to return to the initial position corresponding to the initial pose data, and forming a vegetable selection control strategy that the double-arm robot moves to the jth swing disc.
4. The auxiliary cooking planning method for rice cooker based on double-arm robot as claimed in claim 1, wherein the step of screening a plurality of matching dish selection control strategies from the dish selection control strategy library for sorting based on the dish cooking information corresponding to each dish name to form a basic cooking planning path comprises:
based on N corresponding to the kth dish namekClass of raw material, determining said NkPlacing the similar raw materials on all the swinging plates, and selecting N matched dish selection control strategies from the dish selection control strategy library;
based on the NkAnd the putting sequence of the class raw materials and the cooking time length of each class of raw materials are used as conditions for triggering the operation of the dish selection control strategy corresponding to the next class of raw materials by taking the initial cooking finishing time of the current raw materials, and the N dish selection control strategies are subjected to cooking sequencing in time and space to form a basic cooking planning path.
5. The method for auxiliary cooking of rice cooked in a pot based on a dual-arm robot as claimed in claim 1, wherein said selecting a dish delivery motion strategy from said dish delivery motion strategy library in combination with human factors to perform consecutive motion supplementation on said basic cooking planning path to form a final cooking planning path comprises:
based on the kth dish name, a specific heating cooking bench is input by a user and bound, and a specific dish sending motion strategy matched with the individual number of the specific heating cooking bench is selected from the dish sending motion strategy library;
and inserting the specific dish sending motion strategy after each ordered dish selection control strategy based on the N ordered dish selection control strategies contained in the basic cooking planning path, and forming a final cooking planning path by taking the running finishing time of each ordered dish selection control strategy as a condition for triggering the running of the specific dish sending motion strategy.
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| CN111708341A (en) * | 2020-07-09 | 2020-09-25 | 广东智源机器人科技有限公司 | Intelligent control method of rice cooker, cooking system and storage medium |
| CN111772471A (en) * | 2020-09-07 | 2020-10-16 | 佛山隆深机器人有限公司 | Mechanical hand of a kind of deep pot rice culinary art transport |
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