JP2020131339A - Compound cooking device and control program - Google Patents

Abstract

To provide a compound cooking device which performs plural kinds of cooking by a robot arm, and can complete cooking by a prescribed time, and a control program.SOLUTION: A compound cooking device 1 comprises: a robot arm 100 which performs cooking of food materials and provide the cooked food materials as cuisine; a camera 200 which images the food materials and a cooking device; and a control terminal 300. As functions of the control terminal 300, this device comprises: a start time control part 331 which calculates cooking time, and calculates cooking start time from a set prescribed time; a determination part 332 which determines positions of the food materials and the cooking device from image data imaged by the camera 200; an operation control part 333 which controls operations of the robot arm 100 and the camera 200; and a machine learning part 334 which performs machine learning on the basis of shapes and/or colors of the food materials from the image data.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a combined cooking apparatus and a control program for cooking a plurality of types of dishes and completing the dishes at a set predetermined time.

In recent years, with the progress of home appliances such as microwave ovens, the automation of the cooking process for cooking at home is progressing. In addition, home appliances that have a timer function and complete the cooking process at a predetermined time are also widespread.

Further, for example, Patent Document 1 discloses a robot food cooking system that replaces a human movement with a robot to perform a cooking operation. This system digitizes the human cooking process and reproduces it in a robot device, and realizes the automation of the cooking process.

Special Table 2017-506169

By the way, in normal life, it is troublesome to prepare breakfast because the morning is a busy time for preparing for the day. However, even with the evolution of home appliances, it is impossible to automatically cook all breakfasts that are nutritionally balanced to some extent. Although the robot food cooking system described in Patent Document 1 reproduces a human cooking process, it performs a plurality of cookings using a plurality of home appliances and completes, for example, breakfast by a predetermined time. It does not have such a function.

Therefore, in the present disclosure, a combined cooking apparatus and a control program capable of performing a plurality of types of cooking by a robot arm and completing the cooking by a predetermined time will be described.

The combined cooking device according to one aspect of the present disclosure is a combined cooking device that cooks a plurality of set types of dishes and completes the dishes at a set predetermined time, and lifts, holds, and moves the ingredients of the dish. Then, a robot arm that puts the ingredients on the cooking device and causes the cooking device to cook and provides the cooked ingredients as a dish, and a robot arm when the set cooking start time is reached. It is provided with a start time control unit for causing the cooking operation to be performed and an operation control unit for controlling the operation of the robot arm.

Further, the control program according to one aspect of the present disclosure is a control program for cooking a plurality of set kinds of dishes for a composite cooking device provided with a robot arm and completing the set at a set predetermined time. At the set cooking start time, there is a cooking start instruction step that causes the robot arm to perform a cooking operation, a food holding step that lifts and holds the ingredients of the dish, and a step of holding the ingredients and moving the ingredients to the cooking device. The computer is made to execute a cooking step of placing the food on the cooking device and causing the cooking device to cook the food, and a cooking step of providing the cooked ingredients as a dish.

According to the present disclosure, a robot arm cooks a plurality of set types of dishes. Further, when the set cooking start time is reached, the robot arm is made to perform a cooking operation to perform cooking. As a result, a plurality of types of cooking can be completed by a predetermined time, and therefore, for example, it is possible to complete the breakfast of the set menu by a predetermined time.

It is a functional block block diagram which shows the complex cooking apparatus which concerns on one Embodiment of this disclosure. It is a top view which shows the arrangement example of the robot arm 100 of FIG. It is a perspective view which shows the example of the appearance of the heating plate P of FIG. It is a perspective view which shows the appearance of the robot arm 100 of FIG. It is a perspective view which shows the state which the robot arm 100 of FIG. 1 moves on a rail L. It is a flowchart which shows the example of the compound cooking operation in the compound cooking apparatus 1 of FIG. It is a flowchart which shows the operation of the compound cooking apparatus 1 of FIG. It is a functional block block diagram which shows the complex cooking apparatus which concerns on one Embodiment of this disclosure. It is a functional block block diagram which shows the computer 500 which concerns on one Embodiment of this disclosure.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. It should be noted that the embodiments described below do not unreasonably limit the contents of the present disclosure described in the claims. In addition, not all of the components shown in the embodiments are essential components of the present disclosure.

(Embodiment 1)
<Composition>
FIG. 1 is a functional block configuration diagram showing a combined cooking apparatus 1 according to the first embodiment of the present disclosure. The food cooking support device 1 is, for example, a device that performs a plurality of types of cooking operations using a plurality of home appliances at home and completes cooking by a set predetermined time, and is not limited, but as an example. It is a device that completes a breakfast consisting of multiple types of dishes by a set time. An example of a breakfast that can be cooked by the food cooking support device 1 is a menu consisting of an egg dish (fried egg or scrambled eggs), toast, bacon sauce, and coffee, and in the present embodiment, such a menu will be described as an example. To do.

The combined cooking device 1 has a robot arm 100, a camera (detection unit) 200, a control terminal 300, and a network NW. The robot arm 100, the camera 200, and the control terminal 300 are connected to each other via a network NW. The network NW is a communication network for communication, and is not limited to the Internet, an intranet, a LAN (Local Area Network), a WAN (Wide Area Network), a wireless LAN (Wireless LAN), and a wireless WAN (Wireless LAN). It is composed of a communication network including Wireless WAN (WAN), Virtual Private Network (VPN), and the like. Further, the robot arm 100, the camera 200, and the control terminal 300 may be directly connected to each other by, for example, a USB (Universal Serial Bus) cable or the like.

The robot arm 100 is a device that performs actions such as grasping, releasing, and carrying like a human hand, in order to cook foods and perform a series of movements for providing cooked foods as food. It is provided.

The camera 200 is a device that captures foodstuffs and a cooking device and generates image data. For example, a digital camera 200 including a photographing device such as a CCD (Charge Coupled Device) and a conversion device that converts the captured image into image data. It is composed of a camera and the like. The camera 300 captures images and converts them into image data at predetermined time intervals.

The camera 200 is arranged, for example, on the tip side of the robot arm 100, and one or more cameras 200 are fixed at a position (not shown) capable of photographing the entire kitchen including the home appliances used. Have been placed. In such an arrangement, the camera 200 arranged on the tip side of the robot arm 100 grasps the position of the tip of the robot arm 100 and the target object, for example, the position of the foodstuff and the position of the cooking device. This is to grasp the situation of the entire kitchen including the home appliances used in the other camera 200. The camera 200 may be any device that can detect the foodstuff and the cooking device, and may be configured by a sensor such as an infrared sensor.

FIG. 2 is a plan view showing an arrangement example of the robot arm 100 of FIG. The layout diagram shown in FIG. 2 is a layout diagram of the robot arm 100 used in a kitchen at home and a plurality of home appliances. As a plurality of home appliances, a heating plate (heating cooking device) P, a food storage F, a coffee maker (beverage server) C, and a toaster (heating cooking device) T are arranged in series with the table TA. The robot arm 100 is arranged so as to face the heating plate P, the food storage F, the coffee maker C, and the toaster T.

The robot arm 100 is mounted on a rail L arranged along the arrangement direction of the heating plate P, the food storage F, the coffee maker C, and the toaster T, and the rail is shown in the direction of arrow X shown in FIG. It is arranged so that it can be moved on L. The robot arm 100 is arranged in this way because the robot arm 100 can be moved along the arrangement of the heating plate P, the food storage F, the coffee maker C, and the toaster T, so that the robot arm 100 having a long arm is not provided. This is also good, because it enables operation on a plurality of devices.

FIG. 3 is a perspective view showing an example of the appearance of the heating plate P of FIG. The heating plate P shown in FIG. 3 is a device for baking foodstuffs on a top plate. The heating plate P is provided with a top plate S on which ingredients such as eggs and bacon are placed, and by placing the ingredients on the heated top plate S, the ingredients are baked and cooked to cook. Provided as. The heating plate P may be composed of a commercially available heating plate.

The food storage F shown in FIG. 2 is a storage for storing foods such as eggs, bacon (first food), and bread (second food). In this food storage F, for example, each meal of food is stored in a cup-shaped container with an open upper part. The robot arm 100 lifts and holds this container while moving it to the position of the heating plate P, and by turning the container upside down above the heating plate P, the ingredients are baked on the heating plate P and cooking is performed. Will be.

The coffee maker C is a device in which coffee (beverage) is dropped onto the coffee cup when the coffee cup (cup) is set and the switch is pressed (turned on), and the robot arm 100 presses the button. Coffee is brewed. The toaster T is a device that cooks toast by baking bread sliced into thin plates. The robot arm 100 lifts and holds the bread one by one from the food storage F, carries it into the toaster T, and presses a switch ( The toaster is cooked by turning it on). The coffee maker C and the toaster T may be composed of commercially available home appliances.

The control terminal 300 is a device that controls the operations of the robot arm 100 and the camera 200, and is not limited to, for example, a computer (desktop, laptop, tablet, etc.) that provides various Web services, a device including a server device, and the like. It is composed of. Specifically, based on the image data captured by the camera 200, the robot arm 100 lifts the ingredients and cooks them on the heating plate P, cooks the toast on the toaster T, and coffees on the coffee maker C. Control to brew. When the control terminal 300 is configured by a server device, it is not limited to the server device that operates independently, and may be configured by a distributed server system that operates cooperatively by communicating via a network NW or a cloud server. ..

Further, the control terminal 300 includes a communication unit 310, a storage unit 320, and a control unit 330.

The communication unit 310 is a communication interface for wired or wireless communication with the robot arm 100 and the camera 200 via the network NW, and any communication protocol may be used as long as mutual communication can be executed. .. The communication unit 310 is not limited, and communication is performed by a communication protocol such as TCP / IP (Transmission Control Protocol / Internet Protocol) as an example.

The storage unit 320 stores various control processes, programs for executing each function in the control unit 330, input data, and the like. The storage unit 320 is not limited, but as an example, a RAM (Random Access Memory) and a ROM (Read Only). It is composed of a memory including a memory) and a storage including an HDD (Hard Disk Drive), an SSD (Solid State Drive), a flash memory and the like. In addition, the storage unit 320 temporarily stores data that has communicated with the robot arm 100 and the camera 200, and data that is generated in each process described later.

The control unit 330 controls the entire operation of the control terminal 300 by executing a program stored in the storage unit 320. The control unit 330 is not limited to the CPU (Central Processing Unit) and the MPU (Micro). Equipment including Processing Unit), GPU (Graphics Processing Unit), microprocessor (Microprocessor), processor core (Processor core), multiprocessor (Multiprocessor), ASIC (Application-Specific Integrated Circuit), FPGA (Field Programmable Gate Array), etc. Consists of. The functions of the control unit 330 include a start time control unit 331, a determination unit 332, an operation control unit 333, and a machine learning unit 334. The start time control unit 331, the determination unit 332, the operation control unit 333, and the machine learning unit 334 are started by the program stored in the storage unit 320 and executed by the control terminal 300.

The start time control unit 331 uses a heating plate P, a food storage F, a coffee maker C, and a toaster T so that the cooking operation by the robot arm 100 is completed at a set predetermined time, as an example but not a limitation. The cooking time is calculated, and the cooking start time at which the cooking operation is started is calculated by calculating back from the set predetermined time. The cooking time may be set in advance by each electric appliance, and the cooking time may be added to the cooking time, or may be calculated from the past cooking operation time by the robot arm 100. Further, the machine learning unit 334, which will be described later, may perform machine learning to calculate the cooking operation time.

Further, when the calculated cooking start time is reached, the start time control unit 331 transmits a control signal for starting the cooking operation to the robot arm 100 to the robot arm 100 via the communication unit 310. When the cooking start time is simply set, a control signal for starting the cooking operation may be transmitted to the robot arm 100. The robot arm 100 receives this control signal and starts the cooking operation.

The determination unit 332 determines the position of the food from the image data captured by the camera 200, and determines the positions of the heating plate P, the food storage F, the coffee maker C, and the toaster T. The robot arm 100 is viewed from the position of the tip of the robot arm 100 at the time of imaging in order to lift the container containing the ingredients and the bread one by one for cooking the ingredients (camera imaged by the camera 200). ) Determine the relative positions of the container and pan from the image data.

Further, since the determination unit 332 places the foodstuff lifted by the robot arm 100 on the heating plate P and carries the bread into the toaster T, the heating plate P and the toaster T viewed from the position of the robot arm 100 at the time of imaging. The relative position is determined from the image data.

Further, the determination unit 332 may determine the degree of completion of cooking based on the shape and / or color of the food material analyzed from the image data of the food material placed on the heating plate P and cooked. .. For the determination at this time, model information indicating the relationship between the shape and / or color of the food material and the degree of perfection of cooking by the machine learning unit 334 described later may be used. It should be noted that this determination may not be performed if the degree of perfection can be determined only by the cooking time of the ingredients.

The motion control unit 333 controls the motion of the robot arm 100 and the camera 200 based on the determination result of the determination unit 332. Specifically, in order for the robot arm 100 to lift the foodstuff, place it on the heating plate P, and carry the bread into the toaster T, the servomotor built in the robot arm 100 is operated as described later. The control signal is transmitted to the robot arm 100 via the communication unit 310. Further, when the camera 200 captures the foodstuffs, the heating plate P, and the toaster T, in order to focus and acquire highly accurate image data, a control signal for controlling the operation of the lens position of the CCD constituting the camera 200 is transmitted. , Is transmitted to the camera 200 via the communication unit 310.

The machine learning unit 334 performs machine learning based on the shape and / or color of the food material from the image data obtained by capturing the image of the food material cooked by the camera 200 on the heating plate P, and obtains the shape and / or color of the food material. Generate model information showing the relationship with the degree of perfection of cooking. The machine learning at this time is not limited, but as an example, supervised learning is performed using image data of the shape and / or color of the ingredients when a well-finished dish is cooked as teacher data. The model information generated by the machine learning unit 334 is used by the determination unit 332. Note that this machine learning may be performed by another device, and model information generated by machine learning performed by the other device may be incorporated into the dishwashing support device 1. Further, as described above, the degree of perfection may be determined only by the cooking time of the ingredients. In such a case, the machine learning unit 334 does not have to be provided.

Further, the machine learning unit 334 performs machine learning based on the cooking operation time by the robot arm 100, and calculates model information of the cooking time using the heating plate P, the food storage F, the coffee maker C, and the toaster T. Is also good.

FIG. 4 is a perspective view showing an example of the appearance of the robot arm 100 of FIG. Further, FIG. 5 is a perspective view showing a state in which the robot arm 100 of FIG. 1 moves on the rail L. As shown in FIG. 4, the robot arm 100 sandwiches the fixed portion 110, the mounting movable portion 120, the upper arm portion 130, the joint portion 140, the forearm portion 150, the wrist portion 160, and the support portion 170. It is composed of a unit 180.

The fixing portion 110 is a place where the robot arm 100 is fixed to the mounting table TA. As shown in FIG. 5, the mounting table TA is mounted on the rail L and is movably arranged on the rail L as shown in the direction of arrow X. The mounting movable portion 120 is a movable portion to which one end of the upper arm portion 130 is connected and the angle with the upper surface of the mounting base TA can be changed. A servomotor is built in the mounted movable portion 120, and the servomotor is driven by the control of the motion control unit 333 to rotate the upper arm portion 130. The upper arm portion 130 is a rod-shaped member on the TA side of the mounting table in the robot arm 100.

The joint portion 140 is a portion that rotatably connects the other end of the upper arm portion 130 and one end of the forearm portion 150. A servomotor is built in the joint portion 140, and the servomotor is driven by the control of the motion control unit 333 to rotate the forearm portion 150. The forearm portion 150 is a rod-shaped member on the tip end side of the robot arm 100.

The wrist portion 160 is a portion that rotatably connects the other end of the forearm portion 150 and one end of the support portion 170. A servomotor is built in the wrist portion 160, and the servomotor is driven by the control of the operation control unit 333 to rotate the support portion 170. The support portion 170 is a portion that supports the sandwiching portion 180 at the tip end portion of the robot arm 100. In the initial state, the support portion 170 is in a downward facing state.

The sandwiching portion 180 is a place where a container or bread containing foodstuffs is sandwiched and held, and is not limited, but as an example, in order to prevent slipping and falling when the foodstuffs or the like are sandwiched and held. Furthermore, scissors-shaped metal members are coated with a material such as synthetic resin so that there is no problem in terms of hygiene even if they come into direct contact with foodstuffs.

Further, one or a plurality of cameras 200 are connected and arranged on the support portion 170 so that the food sandwiched by the sandwiching portion 180 of the robot arm 100 can be imaged.

<Processing flow>
First, an example of the procedure of the cooking operation executed by the combined cooking apparatus 1 will be described with reference to FIG. FIG. 6 is a flowchart showing an example of a combined cooking operation in the combined cooking apparatus 1 of FIG.

First, as the process of step S000, which is a pre-process, the start time control unit 331 uses the heating plate P, the food storage F, and the coffee maker C so that the cooking operation by the robot arm 100 is completed at a set predetermined time. And the cooking time using the toaster T is calculated. Further, based on the cooking time, the cooking start time is calculated by back calculation from the set predetermined time.

As the process of step S001, in the start time control unit 331, when the cooking start time calculated in step S000 is reached, a control signal for starting the cooking operation to the robot arm 100 is transmitted via the communication unit 310. The robot arm 100 receives this control signal and starts the cooking operation.

As the process of step S002, in the robot arm 100, the cup-shaped containers stored in the food storage F are taken out one by one by the operation control of the operation control unit 333. For example, bacon is contained in this container. This container is lifted by the robot arm 100 and moved to the position of the heating plate P, and the container is turned upside down by the rotation of the wrist portion 160 above the heating plate P, and the foodstuff is placed on the heating plate P. Cooked dishes are done. This bacon is served as it is on the heating plate P when Kanetsu is completed.

As the process of step S003, in the robot arm 100, one egg stored in the food storage F is taken out by the motion control of the motion control unit 333, and one egg is inserted into the cup-shaped container one by one. This container is lifted by the robot arm 100 and moved to the position of the heating plate P, the container is turned upside down above the heating plate P, the foodstuff is placed on the heating plate P, and the cooking is performed. The egg dish can be selected from fried eggs or scrambled eggs. In the case of fried eggs, the eggs are heated on the heating plate P as they are, and in the case of scrambled eggs, the eggs are stirred. This egg dish is served as it is when Kanetsu is completed on the heating plate P.

As the process of step S004, in the robot arm 100, one piece of bread stored in the food storage F is taken out by the motion control of the motion control unit 333, moved to the position of the toaster T, and carried into the toaster T. When the toaster T cooks the toast, the robot arm 100 moves the toast to a predetermined position and provides the toast.

As the process of step S005, in the robot arm 100, the operation control of the operation control unit 333 presses the switch of the coffee maker C to brew coffee. This coffee is moved into place and served. This provides breakfast, which is an example of this embodiment.

Next, an example of the flow of processing executed by the combined cooking apparatus 1 will be described with reference to FIG. 7 by taking the case of bacon saute as an example. FIG. 7 is a flowchart showing the operation of the combined cooking apparatus 1 of FIG.

As the process of step S101, when the operation of the robot arm 100 is started by the control signal of the operation control unit 333 of the control terminal 300, the robot arm 100 is operated by the control signal of the operation control unit 333 and is stored in the food storage F. The support portion 170 moves to the vicinity of the cup-shaped container.

As the process of step S102, the camera 200 connected to the support portion 170 takes an image of the cup-shaped container containing the bacon stored in the food storage F, and the image data of the container is generated. To.

As the process of step S103, the determination unit 332 determines the relative position of the container as seen from the position of the tip end portion of the robot arm 100 from the image data captured by the camera 200 in step S102.

As the process of step S104, the robot arm 100 is operated by the control signal of the operation control unit 333, the support unit 170 is moved to the position of the container determined in step S103, and the support unit 170 is until the holding unit 180 comes into contact with the container. Is moved.

As the process of step S105, when the robot arm 100 is operated by the control signal of the operation control unit 333 and the holding unit 180 is opened, the container is held. When the robot arm 100 moves in this state, the container is held in a state of being sandwiched by the sandwiching portion 180.

As the process of step S106, the robot arm 100 is operated by the control signal of the operation control unit 333, and the support unit 170 moves above the heating plate P.

As the process of step S107, the camera 200 connected to the support portion 170 takes an image of the heating plate P, and image data of the heating plate P is generated.

As the process of step S108, the determination unit 332 determines the relative position of the heating plate P as seen from the position of the tip end portion of the robot arm 100 from the image data captured by the camera 200 in step S107. At this time, the container sandwiched by the sandwiching portion 180 is determined from the image data so as to be at a position where it does not collide with other foodstuffs on the heating plate P. That is, in a later step, the food material (bacon) is positioned to be placed on the heating plate P.

As the process of step S109, the robot arm 100 is operated by the control signal of the operation control unit 333, and the support unit 170 moves to the position on the heating plate P determined in step S108.

As the process of step S110, the robot arm 100 is operated by the control signal of the operation control unit 333, and the container is turned upside down by the rotation of the wrist portion 160 above the heating plate P while the container is sandwiched. Is placed on the heating plate P. As a result, the ingredients are cooked.

As the process of step S111, the operation control unit 333 determines whether or not the heating time of the food material by the preset heating plate P has elapsed. In this process, if it is determined that the heating time has elapsed, the process of step S112 is performed, and if it is determined that the heating time has not elapsed, the process of step S111 is continuously performed.

As the process of step S112, when the foodstuff is baked, it is provided as it is.

<Effect>
As described above, in the combined cooking apparatus according to the present embodiment, ingredients such as bacon and eggs are lifted by the operation of the robot arm, placed on a heating plate, cooked, and sliced into thin plates. When the bread is brought into the toaster T, the toaster is cooked and the coffee maker button is pressed to brew coffee. These cooking times are calculated in advance, and the cooking start time of the robot arm is controlled so that the cooking time is completed at a predetermined time. When the calculated cooking start time is reached, the robot arm is made to perform a cooking operation, and cooking is performed. As a result, a plurality of types of cooking can be completed by a predetermined time, and therefore, for example, it is possible to complete the breakfast of the set menu by a predetermined time.

Further, since the robot arm cooks using a plurality of electric appliances such as a heating plate, a food storage, a coffee maker, and a toaster, the cooking operation can be performed in a short time. In addition, since existing electric appliances can be used for devices other than the robot arm, the introduction cost can be reduced.

(Embodiment 2)
FIG. 8 is a functional block configuration diagram showing the combined cooking apparatus 1A according to the second embodiment of the present disclosure. The combined cooking device 1A according to the first embodiment is a device that performs a plurality of types of cooking operations at home using a plurality of home appliances and completes cooking by a set predetermined time. It is the same as the apparatus 1, but is different from the combined cooking apparatus 1 according to the first embodiment in that the control terminal 300 is provided with the input unit 340.

The input unit 340 is a device that can adjust the cooking, the cooking process, and the completion time of the cooking to be cooked by the combined cooking device 1A, and accepts the input of the setting in a settable manner. ing. The input unit 340 selects, for example, the type of egg dish (fried egg or scrambled eggs, etc.) that can be selected, the degree of baking of each cooked dish, the type of coffee (presence or absence of sugar and milk, etc.) as input for cooking. It is possible to enter. Based on these input values, the cooking operation of the robot arm 100 is performed by the control signal of the operation control unit 333. The input unit 340 may be configured by an external device. The other configurations and the flow of processing are the same as those in the first embodiment.

According to the present embodiment, in addition to the effect of the first embodiment, the robot arm is provided with an input unit for accepting input of the setting of the dish to be cooked and the completion time of the dish, so that it can be adjusted to the user's preference. It becomes possible to perform a cooking operation.

(Embodiment 3 (program))
FIG. 9 is a functional block configuration diagram showing an example of the configuration of the computer (electronic computer) 500. The computer 500 includes a CPU 501, a main storage device 502, an auxiliary storage device 503, and an interface 504.

Here, the details of the control program for realizing each function constituting the start time control unit 331, the determination unit 332, the operation control unit 333, and the machine learning unit 334 according to the first and second embodiments will be described. These functional blocks are implemented in computer 500. The operation of each of these components is stored in the auxiliary storage device 503 in the form of a program. The CPU 501 reads the program from the auxiliary storage device 503, expands it to the main storage device 502, and executes the above processing according to the program. Further, the CPU 501 secures a storage area corresponding to the above-mentioned storage unit in the main storage device 502 according to the program.

Specifically, the program includes a start time calculation step of calculating the cooking time of the dish and calculating the cooking start time of the dish so that the dish is completed at a predetermined time set on the computer 500, and cooking. At the start time, a cooking start instruction step for causing the robot arm to perform a cooking operation, a food imaging step for imaging the ingredients, a food position determination step for determining the position of the ingredients from the image data of the captured ingredients, and a food ingredient Based on the position determination result, the position of the cooking device is determined from the food holding step of lifting and holding the food, the cooking device imaging step of imaging the cooking device, and the image data of the imaged cooking device. The cooking device position determination step, the cooking step of moving the food while holding it, placing the food on the cooking device and causing the cooking device to cook, and providing the cooked food as a dish. It is a control program that realizes the cooking serving step to be done by a computer.

The auxiliary storage device 503 is an example of a non-temporary tangible medium. Other examples of non-temporary tangible media include magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, semiconductor memories, etc. connected via interface 504. When this program is distributed to the computer 500 via the network, the distributed computer 500 may expand the program to the main storage device 502 and execute the above processing.

Further, the program may be for realizing a part of the above-mentioned functions. Further, the program may be a so-called difference file (difference program) that realizes the above-mentioned function in combination with another program already stored in the auxiliary storage device 503.

Although the embodiments related to the disclosure have been described above, these can be implemented in various other embodiments, and can be implemented by making various omissions, substitutions, and changes. These embodiments and modifications as well as those with omissions, substitutions and modifications are included in the technical scope of the claims and the equivalent scope thereof.

1 compound cooking device, 100 robot arm, 110 fixed part, 120 mounting movable part, 130 upper arm part, 140 joint part, 150 forearm part, 160 wrist part, 170 support part, 180 pinching part, 200 camera (detection part), 300 control terminal, 310 communication unit, 320 storage unit, 330 control unit, 331 start time control unit, 332 judgment unit, 333 operation control unit, 334 machine learning unit, 340 input unit, NW network

Claims (16)

A compound cooking device that cooks a plurality of set types of dishes and completes the dishes at a set predetermined time.
A robot arm that lifts, holds, and moves the ingredients of the dish, places the ingredients on a cooking device, causes the cooking device to cook, and provides the cooked ingredients as the dish. When,
When the set cooking start time is reached, the robot arm has a start time control unit that causes the robot arm to perform a cooking operation.
A compound cooking device including an operation control unit that controls the operation of the robot arm. A detector that detects the ingredients and the cooking device,
The combined cooking apparatus according to claim 1, further comprising a determination unit for determining the position of the food material from the detected detection result and determining the position of the cooking apparatus. The combined cooking apparatus according to claim 2, wherein the detection unit is composed of one or a plurality of cameras. The combined cooking apparatus according to claim 2 or 3, wherein the detection unit is arranged in the vicinity of the tip end portion of the robot arm. The item according to any one of claims 2 to 4, wherein the determination unit determines the degree of perfection of cooking based on the shape and / or color of the first food material analyzed based on the detection result. Combined cooking equipment. The determination unit has the shape and / or color of the first foodstuff generated by machine learning based on the shape and / or color of the first foodstuff from the detection result, and the completion of cooking. The combined cooking apparatus according to claim 5, wherein the degree of completion of cooking is determined based on model information indicating the relationship with the degree. Any of claims 1 to 6, wherein the start time control unit calculates the cooking time of the dish and calculates the cooking start time of the dish so that the dish is completed at a predetermined time set. The combined cooking apparatus according to item 1. The robot arm
The first foodstuff is lifted, held and moved, and the first foodstuff is placed on a heating plate for heating the first foodstuff on a top plate, and cooking is performed on the heating plate. Let me
The second item according to any one of claims 1 to 7, wherein the second foodstuff is lifted, held and moved, and the second foodstuff is carried into a toaster so that the toaster is cooked. Combined cooking equipment. The first foodstuff is stored in a container whose upper part is open for each meal.
The combined cooking apparatus according to claim 8, wherein the robot arm lifts and holds the container, turns the container upside down above the heating plate, and places the first food material on the heating plate. The first ingredient is an egg,
The combined cooking apparatus according to claim 9, wherein the robot arm holds and holds the eggs one by one and moves to the upper part of the container to insert the eggs. The second ingredient is bread sliced into a thin plate.
The robot arm holds the pans one by one, carries them into the toaster, and causes the toaster to be switched on to perform heating, according to any one of claims 8 to 10. The compound cooking device described. The robot arm sets a cup for putting the beverage in a beverage server that provides the beverage, turns on the switch of the beverage server, pours the beverage into the cup, and the beverage is poured. The combined cooking apparatus according to any one of claims 8 to 11, which moves the cup to a predetermined position. The heating plate, the toaster, and the beverage server are arranged in series.
The combined cooking apparatus according to claim 12, wherein the robot arm is mounted on a rail that can move along the arrangement direction of the heating plate, the toaster, and the beverage server. The combined cooking apparatus according to any one of claims 1 to 13, which is provided with an input unit capable of setting the cooking and the predetermined time by the user. The combined cooking apparatus according to claim 14, wherein the input unit can select one or a plurality of the dishes from the plurality of types of the dishes, and the cooking process of the dishes can be adjusted. A control program that cooks a set of multiple types of dishes for a combined cooking device equipped with a robot arm and completes them at a set predetermined time.
At the set cooking start time, a cooking start instruction step for causing the robot arm to perform a cooking operation, and
Ingredient holding step to lift and hold the ingredients of the dish,
A cooking step of moving the food while holding the food, placing the food on the cooking device, and causing the cooking device to perform cooking.
A control program that causes a computer to execute a cooking serving step of providing the cooked ingredients as the cooking.

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