KR102589593B1 - A robot that cooks meat by direct fire using artificial intelligence - Google Patents

Abstract

One embodiment of the present invention is capable of automatically cooking meat based on a robot arm, and cooking (grilling) in the most appropriate manner and time according to the type and condition of the meat, using artificial intelligence to cook it over direct heat. It's about a robot that cooks meat using this method.

Description

A robot that cooks meat using direct fire using artificial intelligence {A ROBOT THAT COOKS MEAT BY DIRECT FIRE USING ARTIFICIAL INTELLIGENCE}

The examples below can automatically cook meat based on a robot arm, and can cook (grill) meat in the most appropriate manner and time according to the type and condition of the meat, using artificial intelligence to cook meat using a direct fire method. It's about a robot that cooks.

Among various cooking methods for meat dishes, the demand for grilled dishes is increasing.

In particular, direct fire grilling using charcoal or straw fire is popular because various flavors are given to the meat depending on the type of fuel, and greasy grease and odor are removed, allowing for a light grilled meal.

However, caution is required when grilling over an open fire because there is a risk of lung disease caused by cooking fumes such as smoke and carbon monoxide generated during the grilling process.

If the frequency of exposure to cooking fumes is very low due to consumption of such direct fire grilled food, it may not be fatal to health, but workers at stores that handle direct fire grilled food are continuously exposed to such cooking fumes, which can be fatal to health. may be affected.

Therefore, there is a need for a direct-fire grilling method that can minimize human (worker) intervention in the direct-fire grilling process.

KR 10-2335999 B KR 10-2462457 B KR 10-2011-0045771 A

The problem to be solved by one embodiment of the present invention is to overcome the problems of conventional direct fire grilling as described above, by minimizing operator intervention in the direct fire grilling operation to prevent people from inhaling cooking fumes generated during the direct fire grilling operation. This is about a robot that cooks meat using direct fire using artificial intelligence, which can improve the taste and flavor of grilled dishes by deriving the optimal heating method and heating time suitable for meat based on artificial intelligence.

According to one embodiment, a robot arm; a first grill coupled to an end of the robot arm; A first heating unit that heats meat by burning charcoal or straw as fuel; a first hood disposed above the first heating unit to remove cooking fume generated from the first heating unit; A camera installed on the robot arm to photograph the meat; And a control unit that inputs the image captured by the camera into a predetermined artificial intelligence model to determine the type and condition of the meat, and controls the first heating unit and the robot arm based on the determined type and condition of the meat. The control unit includes: specifying the type of meat as one of chicken, beef, pork, lamb, and fish from the image; Measuring the dimensions of the meat from the image; determining the degree of fat distribution of the meat from the image; determining the surface processing state of the meat from the image; And determining a heating method and a first heating time based on the type, size, degree of fat distribution, and surface processing state of the meat; We provide cooking robots.

In addition, the camera includes: a visible light camera and a thermal imaging camera, and the step of determining the heating method and the first heating time is: heating based on the type, size, degree of fat distribution, and surface processing state of the meat. determining a method and a second heating time; Placing a predetermined radiant heat panel at a location spaced apart from the meat by a predetermined distance; operating the radiant heat panel to heat the meat; extracting a first image from a first viewpoint of the thermal image; Extracting a second image at a second time point when a predetermined time has elapsed from the first time point of the thermal image image; stopping the radiant heat panel to stop heating the meat; generating, from the second image, a color spectrum from the lowest temperature to the highest temperature appearing in the second image; Based on the color spectrum, classifying colors from the lowest temperature to the highest temperature appearing in the second image into at least five or more grades; Based on the grade, converting first colors appearing in the first image and the second image into second colors according to each grade; counting for each second color a first number of pixels in which the second colors appear in the first image; counting for each second color the number of second pixels in which the second colors appear in the second image; calculating [second number of pixels / first number of pixels = first ratio] for each second color; And based on the first ratio, calculating the first heating time by reflecting a predetermined correction value in the second heating time.

And, the first grill includes: a central frame extending from an end of the robot arm; and a diverging frame extending at predetermined intervals on both sides of the central frame. It is formed in a predetermined fishbone shape, and the first heating unit includes: a second grill configured to correspond to the first grill. ; and a fuel supply unit disposed below the second grill and adjusting the supply amount of fuel based on an input from the control unit, wherein the second grill includes: a peripheral frame formed in a predetermined square shape; and a converging frame extending at predetermined intervals from both ends of the peripheral frame in an inward direction, wherein the first grill is formed to fit into the inner side of the peripheral frame, and the fuel supply unit includes: the second grille; A casing provided at the lower part of the grill and having a predetermined space therein; a fuel plate disposed inside the lower end of the casing and moving linearly in an upward and downward direction; a supply conveyor disposed outside the bottom of the casing to supply fuel blocks to the fuel plate; a discharge conveyor disposed outside the top of the casing to discharge fuel blocks from the fuel plate; a discharge actuator disposed outside the top of the casing, opposite the discharge conveyor, to transport the fuel block in the direction of the discharge conveyor; and an ignition torch disposed on the fuel plate, wherein the fuel block is: formed in a predetermined hexahedral shape, where each face of the hexahedron is composed of a predetermined wire mesh, and the fuel is accommodated inside the hexahedron. It can be configured as follows.

In addition, the step of determining the heating method and the first heating time includes: a method of heating with the first heating unit; Heating method using a second heating unit; Heating method using a third heating unit; and heating with a first grill; A heating method is determined to include at least one of the following, wherein the second heating unit includes: a third grill that provides a space on which the first grill is seated and is made of a predetermined wire mesh; a smokehouse accommodating the third grill; a smoking door that opens and closes to allow the first grill to be inserted and removed from the smoking room; a combustion chamber disposed below the smoke chamber and generating smoke by burning fuel; A hopper formed at the top of the smoke chamber; a feedback pipe connected from the top of the hopper to the bottom of the smoke chamber; a feedback fan provided on one side of the feedback pipe; a heating coil provided inside the feedback pipe; an air supply pipe supplying air to the combustion chamber; and an air discharge pipe connected to the lower end of the smoke chamber, wherein the third heating unit includes: a torch for directly heating meat mounted on the first grill, wherein the first grill includes: the first grill. a fourth grill formed in a shape corresponding to the grill; a grill hinge connecting the first grill and the fourth grill; A planar heating element provided on the surfaces of the first grill and the fourth grill; And a grill motor that rotates the fourth grill so that the fourth grill faces the first grill or separates from the first grill; including, pressing the meat placed on the upper part of the first grill to the fourth grill; It may be configured to heat with the planar heating element.

In addition, the step of determining the heating method and the first heating time includes: extracting first points where a third color corresponding to the lowest temperature appears among the second colors appearing in the second image; measuring a first distance between the first points; calculating a first root mean square value based on the measured first distances; Among the first distances, extracting values less than or equal to the first root mean square as second distances; calculating a second root mean square value based on the second distances; Among the second distances, designating first points having a value less than or equal to the second root mean square as second points; For each of the second points, counting the number of first points located at a distance within the second root mean square value; and designating as local heating points second points where the number of first points located at a distance within the second root mean square value is greater than or equal to a predetermined reference value. Including, a method of heating with the first heating unit, the first After performing a heating method including at least one of a method of heating with a second heating unit and a method of heating with the first grill, it may be configured to determine a heating method to further heat the local heating point with the third heating unit. there is.

According to one embodiment, by minimizing the operator's intervention in the direct fire grilling operation, it is possible to prevent people from inhaling cooking fumes generated during the direct fire grilling operation.

In addition, the taste and flavor of grilled dishes can be improved by analyzing images of meat based on artificial intelligence to derive the optimal heating method and heating time suitable for meat.

And, by providing a predetermined fuel supply structure, the intensity (heating power) of the fire can be adjusted when grilling over direct fire.

In addition, optimal grilled dishes can be produced by applying a heating method suitable for the type and condition of the meat among various types of heating methods such as charcoal/straw fire, smoked, torch fire, and hot wire grill.

In addition, the meat can be heated to a uniform and appropriate level by adjusting the heat power according to the temperature/frozen condition of the meat, or by additionally heating parts that are less cooked than other parts depending on the surface shape or characteristics of the meat.

Additionally, you can download recipes from domestic and foreign famous chefs and construct a robot that can reproduce the famous chef's dishes based on the downloaded recipes.

Figure 1 is a diagram showing a robot that cooks meat using a direct fire method using artificial intelligence according to an embodiment of the present invention.
Figure 2 is a diagram illustrating the process of converting first colors into second colors according to each grade in the control unit of a robot that cooks meat by direct fire using artificial intelligence according to an embodiment of the present invention.
Figure 3 is a flow chart showing the steps of determining the heating method and first heating time of a robot that cooks meat using a direct fire method using artificial intelligence according to an embodiment of the present invention.
Figure 4 is a diagram showing the shape of the first grill of a robot that cooks meat using a direct fire method using artificial intelligence according to an embodiment of the present invention.
Figure 5 is a diagram showing the second heating unit of a robot that cooks meat using a direct fire method using artificial intelligence according to an embodiment of the present invention.
Figure 6 is a diagram showing a recipe input device for a robot that cooks meat using a direct fire method using artificial intelligence according to an embodiment of the present invention.

Hereinafter, embodiments will be described in detail with reference to the attached drawings. However, various changes can be made to the embodiments, so the scope of the patent application is not limited or limited by these embodiments. It should be understood that all changes, equivalents, or substitutes for the embodiments are included in the scope of rights.

Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Accordingly, the embodiments are not limited to the specific disclosed form, and the scope of the present specification includes changes, equivalents, or substitutes included in the technical spirit.

Terms such as first or second may be used to describe various components, but these terms should be interpreted only for the purpose of distinguishing one component from another component. For example, a first component may be named a second component, and similarly, the second component may also be named a first component.

When a component is referred to as being “connected” to another component, it should be understood that it may be directly connected or connected to the other component, but that other components may exist in between.

The terms used in the examples are for descriptive purposes only and should not be construed as limiting. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by a person of ordinary skill in the technical field to which the embodiments belong. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless explicitly defined in the present application, should not be interpreted in an ideal or excessively formal sense. No.

In addition, when describing with reference to the accompanying drawings, identical components will be assigned the same reference numerals regardless of the reference numerals, and overlapping descriptions thereof will be omitted. In describing the embodiments, if it is determined that detailed descriptions of related known technologies may unnecessarily obscure the gist of the embodiments, the detailed descriptions are omitted.

The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and will be implemented in various different forms. The present embodiments only serve to ensure that the disclosure of the present invention is complete and that common knowledge in the technical field to which the present invention pertains is not limited. It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims.

In the embodiments of the present invention, unless otherwise defined, all terms used herein, including technical or scientific terms, are the same as those commonly understood by a person of ordinary skill in the technical field to which the present invention pertains. It has meaning. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless clearly defined in the embodiments of the present invention, have an ideal or excessively formal meaning. It is not interpreted as

The shapes, sizes, proportions, angles, numbers, etc. disclosed in the drawings for explaining embodiments of the present invention are illustrative, and the present invention is not limited to the matters shown. Additionally, in describing the present invention, if it is determined that a detailed description of related known technologies may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. When ‘includes’, ‘has’, ‘consists of’, etc. mentioned in this specification are used, other parts may be added unless ‘only’ is used. When a component is expressed in the singular, the plural is included unless specifically stated otherwise.

When interpreting a component, it is interpreted to include the margin of error even if there is no separate explicit description.

In the case of a description of a positional relationship, for example, if the positional relationship of two parts is described as 'on top', 'on the top', 'on the bottom', 'next to', etc., 'immediately' Alternatively, there may be one or more other parts placed between the two parts, unless 'directly' is used.

The size and thickness of each component shown in the drawings are shown for convenience of explanation, and the present invention is not necessarily limited to the size and thickness of the components shown.

Each feature of the various embodiments of the present invention can be partially or fully combined or combined with each other, and as can be fully understood by those skilled in the art, various technical interconnections and operations are possible, and each embodiment may be implemented independently of each other. It may be possible to conduct them together due to a related relationship.

According to one embodiment, a robot arm (not shown); A first grill 10 detachably coupled to an end of the robot arm; A first heating unit (1) that heats meat by burning charcoal or straw as fuel; A first hood (11) disposed above the first heating unit (1) to remove cooking fume generated from the first heating unit (1); A camera installed on the robot arm to photograph the meat; And inputting the image captured by the camera into a predetermined artificial intelligence model to determine the type and state of the meat, and adjusting the first heating unit 1 and the robot arm based on the determined type and state of the meat. It may include a control unit.

The robot arm places a certain amount of meat (eg, beef) on the first grill 10 with the first grill 10 attached.

At this time, in order to determine the type and condition of the meat, the meat is photographed with the camera, and the control unit determines the type and condition of the meat based on the captured image.

Thereafter, the first grill 10 is inserted into the first heating unit 1 and the first heating unit 1 and the first hood 11 are operated.

After the meat is completely cooked (after the first heating time described later has elapsed), the first grill 10 can be removed from the first heating unit 1 and provided to the kitchen or customer.

The control unit: specifying the type of meat as one of chicken, beef, pork, lamb, and fish from the image; Measuring the dimensions of the meat from the image; determining the degree of fat distribution of the meat from the image; determining the surface processing state of the meat from the image; and determining a heating method and a first heating time based on the type, size, fat distribution degree, and surface processing state of the meat.

The artificial intelligence model is created by learning images for each type of meat and surface processing state in advance.

An artificial intelligence (AI) system is a computer system that implements human-level intelligence, and unlike existing rule-based smart systems, it is a system in which machines learn and make decisions on their own. As artificial intelligence systems are used, their recognition rates improve and they can more accurately understand user preferences, and existing rule-based smart systems are gradually being replaced by deep learning-based artificial intelligence systems.

Artificial intelligence technology consists of machine learning and element technologies using machine learning. Machine learning is an algorithmic technology that classifies/learns the characteristics of input data on its own, and elemental technology is a technology that mimics the functions of the human brain such as cognition and judgment by utilizing machine learning algorithms such as deep learning, including linguistic understanding and visual It consists of technical areas such as understanding, reasoning/prediction, knowledge expression, and motion control.

The various fields where artificial intelligence technology is applied are as follows. Linguistic understanding is a technology that recognizes and applies/processes human language/characters and includes natural language processing, machine translation, conversation systems, question and answer, and voice recognition/synthesis. Visual understanding is a technology that recognizes and processes objects like human vision, and includes object recognition, object tracking, image search, person recognition, scene understanding, spatial understanding, and image improvement. Inferential prediction is a technology that judges information to make logical inferences and predictions, and includes knowledge/probability-based reasoning, optimization prediction, preference-based planning, and recommendations. Knowledge expression is a technology that automatically processes human experience information into knowledge data, and includes knowledge construction (data creation/classification) and knowledge management (data utilization). Motion control is a technology that controls the autonomous driving of vehicles and the movement of robots, and includes motion control (navigation, collision, driving), operation control (behavior control), etc.

Generally, in order to apply machine learning algorithms to real life, learning is performed using a trial and error method due to the nature of the basic methodology of machine learning. In particular, deep learning requires hundreds of thousands of iterations. It is impossible to execute this in an actual physical external environment, so instead, the actual physical external environment is virtually implemented on a computer and learning is performed through simulation.

Meanwhile, the robot is connected to the Internet and can cook meat based on a predetermined recipe downloaded by the user through the Internet.

For example, based on a meat cooking method and a cooking method written based on recipes from domestic/international famous chefs, the robot/robotic arm can operate to produce food made with cooked meat.

As shown in FIG. 6, the recipe input by the user into the recipe input device (D) or the recipe downloaded from the Internet is transmitted to the robot arm (R), and is used to heat the first to third heating units, the hood, etc. By controlling the components, you can perform the cooking methods recorded in the recipe.

Additionally, the cameras may include: visible light cameras and thermal imaging cameras.

The visible light camera is a general RGB camera, etc., and is used to obtain general images for determining the size, degree of fat distribution, and surface processing status of the meat.

Meanwhile, the thermal imaging camera is used to acquire thermal imaging images to determine the temperature/frozen state/specific heat/thermal conductivity of each part of the meat, etc.

The step of determining the heating method and the first heating time includes: determining the heating method and the second heating time based on the type, size, degree of fat distribution, and surface processing state of the meat (S100); Placing a predetermined radiant heat panel at a position spaced apart from the meat by a predetermined distance (S200); Operating the radiant heat panel to heat the meat (S300); Extracting a first image from a first viewpoint of the thermal image (S400); Extracting a second image from a second viewpoint after a predetermined time has elapsed from the first viewpoint of the thermal image (S500); Stopping the radiant heat panel to stop heating the meat (S600); Generating, from the second image, a color spectrum from the lowest temperature to the highest temperature appearing in the second image (S700); Based on the color spectrum, classifying the colors from the lowest temperature to the highest temperature appearing in the second image into at least five grades (S800); Based on the grade, converting the first color (C1) appearing in the first image and the second image into a second color (C2) according to each grade (S900); Counting the number of first pixels in which the second colors (C2) appear in the first image for each second color (C2) (S1000); Counting the number of second pixels in which the second colors (C2) appear in the second image for each second color (C2) (S1100); Calculating [number of second pixels / number of first pixels = first ratio] for each second color (C2) (S1200); And based on the first ratio, calculating the first heating time by reflecting a predetermined correction value in the second heating time (S1300).

In the step (S100) of determining the heating method and the second heating time based on the type, size, fat distribution degree, and surface processing state of the meat, based on data previously learned in the artificial intelligence model, the meat is Cook/heat method and determine how long or how much heat should be applied.

At this time, it is difficult to accurately determine the temperature/frozen state, specific heat, and thermal conductivity of the meat based on general images, so it is difficult to measure the temperature based on the thermal image to determine how much heat is present in the temperature/frozen state of the meat. You can determine whether more should be added (how much the heating time should be adjusted).

Placing a predetermined radiant heat panel at a position spaced apart from the meat by a predetermined distance (S200); And operating the radiant heat panel to heat the meat (S300); In order to minimize the impact on the quality or processing state of the meat, a small amount of heat is applied based on the radiant heat panel as described above to heat the meat. Observe temperature changes.

Extracting a first image from a first viewpoint of the thermal image (S400); Extracting a second image from a second viewpoint after a predetermined time has elapsed from the first viewpoint of the thermal image (S500); and stopping the radiant heat panel to stop heating the meat (S600). In the step (S600), the temperature change as the meat is heated for a predetermined period of time can be confirmed based on the thermal image.

For example, the time interval from the first time point to the second time point can be adjusted to about 5 to 10 seconds.

From the second image, in the step (S700) of generating a color spectrum from the lowest temperature to the highest temperature appearing in the second image, based on the thermal image colors appearing in the second image, as shown in FIG. 2 (a) generates a predetermined spectrum.

Based on the color spectrum, classifying the colors from the lowest temperature to the highest temperature appearing in the second image into at least five grades (S800); And based on the grade, converting the first color (C1) appearing in the first image and the second image into a second color (C2) according to each grade (S900); In the color included in the color spectrum, The colors are divided into a plurality of grades, and the first color (C1) is replaced with the second color (C2) according to the color of each grade, thereby converting the color into the form shown in Figure 2 (b).

In the step (S1000) of counting the first pixel numbers in which the second colors C2 appear in the first image for each second color C2, for example, the number of first pixels of the red grade in the first image is It is possible to count how many there are, how many first pixels are in the yellow grade, etc.

In the step (S1100) of counting the number of second pixels in which the second color C2 appears in the second image for each second color C2, for example, the number of second pixels of the red level in the first image is It is possible to count how many there are, how many second pixels are in the yellow grade, etc.

In the step (S1200) of calculating [number of second pixels / number of first pixels = first ratio] for each second color (C2), the temperature change trend/temperature change rate can be estimated by calculating the first ratio. .

In the step (S1300) of calculating the first heating time by reflecting a predetermined correction value in the second heating time based on the first ratio, the temperature change trend/temperature change rate is estimated based on the calculated first ratio, The frozen state, thermal conductivity, specific heat, etc. of the meat in question are estimated and reflected to calculate the first heating time by reflecting a predetermined correction value in the second heating time.

For example, if the meat is in a strongly frozen state, a first heating time that is longer than the second heating time may be derived, and if the meat is in a completely thawed state, a first heating time that is shorter than the second heating time may be derived. Heating time may also be derived.

And, the first grill 10 includes: a central frame 101 extending from an end of the robot arm; and a diverging frame 102 extending at predetermined intervals on both sides of the central frame 101. It may be formed in a predetermined fishbone shape.

The shape of the first grill 10 is shown in the lower part of FIG. 4 (a).

The first heating unit 1 includes: a second grill 12 configured to correspond to the first grill 10; and a fuel supply unit disposed below the second grill 12 to adjust the amount of fuel supplied based on the input from the control unit.

The second grill 12 includes: a peripheral frame 121 formed in a predetermined square shape; and a converging frame 122 extending at predetermined intervals in an inward direction from both ends of the peripheral frame 121, wherein the first grill 10 is fitted to correspond to the inside of the peripheral frame 121. It can be formed as much as possible.

The shape of the second grill 12 is shown in the upper part of FIG. 4 (a).

Depending on the heating method, the first grill 10 is heated while inserted inside the second grill 12, or the diverging frame 102 and the converging frame are heated as shown in FIG. 4 (b). 122) may be overlapped and heated in a state where the inside of the peripheral frame 121 is exposed.

When heating in the form shown in Figure 4 (b), heat and smoke are transmitted more directly to the meat, so the meat can be heated more strongly.

The fuel supply unit includes: a casing 13 provided at a lower portion of the second grill 12 and having a predetermined space therein; a fuel plate 14 disposed inside the lower end of the casing 13 and moving linearly in an upward and downward direction; a supply conveyor 15 disposed outside the lower end of the casing 13 and supplying fuel blocks 18 to the fuel plate 14; a discharge conveyor 16 disposed outside the top of the casing 13 and discharging the fuel block 18 from the fuel plate 14; A discharge actuator 17 disposed outside the top of the casing 13 and opposite the discharge conveyor 16 to transport the fuel block 18 toward the discharge conveyor 16; and an ignition torch disposed on the fuel plate 14.

Hereinafter, a method of operating the fuel supply unit will be described with reference to FIG. 1.

As shown in FIG. 1 (a), the fuel blocks 18 seated on the supply conveyor 15 are transferred in the right direction in the drawing and dropped/seated on the top of the fuel plate 14. In Figure 1, for convenience of explanation, the length of the supply conveyor 15 and the discharge conveyor 16 is shown shorter than the actual length.

If an appropriate amount of fuel blocks have been supplied according to the heating method (heating power) (Figure 1 shows a state where three fuel blocks 18 are supplied), the fuel plate 14 is transferred upward and placed on the fuel plate 14. The connected ignition torch is operated to ignite/ignite the fuel (charcoal or straw) inside the fuel block (18).

When the fuel is burned and needs to be replaced, the discharge actuator 17 is operated to transport the fuel block 18 to the left in the drawing, and the discharge conveyor 16 is then operated to move the fuel block 18. Remove from casing (13).

After removing one fuel block 18, the discharge actuator 17 is removed again to the right, the fuel plate 14 is transferred upward, and the above-described fuel block 18 discharge process is repeated.

The fuel block 18 may be formed in a predetermined hexahedral shape, with each face of the hexahedron being made of a predetermined wire mesh, and configured to accommodate the fuel inside the hexahedron shape.

The operator can fill the fuel block 18 with a uniform amount of fuel (charcoal or straw), store it, and supply it to the supply conveyor 15.

In addition, the step of determining the heating method and the first heating time includes: heating with the first heating unit 1; Heating method using the second heating unit (2); Heating method using a third heating unit; And a method of heating with the first grill (10); The heating method may be determined to include at least one of the following.

Based on the type and condition of the meat, it can be determined whether to heat the meat with charcoal/straw fire, smoking, heating with a heating wire (first grill 10), or heating with a torch.

At this time, depending on the cooking method, multiple methods among the above methods may be used.

The second heating unit 2 includes: a third grill that provides a space on which the first grill 10 is seated and is made of a predetermined wire mesh; a smokehouse (21) accommodating the third grill; a smoking door 210 that opens and closes to allow the first grill 10 to be inserted and removed from the smoke chamber 21; A combustion chamber 22 disposed below the smoke chamber 21 and generating smoke by burning fuel; A hopper 23 formed at the top of the smoke chamber 21; a feedback pipe 24 connected from the top of the hopper 23 to the bottom of the smoke chamber 21; a feedback fan provided on one side of the feedback pipe 24; a heating coil provided inside the feedback pipe 24; an air supply pipe (25) supplying air to the combustion chamber (22); and an air discharge pipe 26 connected to the lower end of the smoke chamber 21.

Figure 5 shows the structure of the second heating unit 2.

Inside the combustion chamber 22, a certain amount of fuel for generating smoke can be accommodated.

The fuel is combusted by receiving air through an air supply pipe 25 connected to the combustion chamber 22, and the smoke generated here is transmitted to the upper part (smoke chamber) through the holes formed between the smoke chamber 21 and the combustion chamber 22. 21) direction).

To prevent smoke inside the smoke room 21 from leaking out, the smoke door 210 is controlled to be opened only when meat is supplied to the third grill inside the smoke room 21 through the first grill 10.

The air discharge pipe 26 is equipped with a predetermined valve to discharge air only when smoke/air needs to be discharged.

The smoke flows upward inside the smoke room 21, smokes and heats the meat, and is supplied back to the smoke room 21 through the hopper 23-feedback pipe 24 at the top.

According to this resupply structure, thermal efficiency can be improved and the meat can be cooked to have a deeper smoked flavor.

The third heating unit may include a torch that directly heats the meat placed on the first grill 10.

The third heating unit can be used in cases where it is necessary to directly heat meat with a torch, such as beef tataki sushi.

The first grill 10 includes: a fourth grill 3 formed in a shape corresponding to the first grill 10; a grill hinge 30 connecting the first grill 10 and the fourth grill 3; A planar heating element 31 provided on the surfaces of the first grill 10 and the fourth grill 3; and a grill motor that rotates the fourth grill 3 so that the fourth grill 3 faces the first grill 10 or separates from the first grill 10. ) can be configured to pressurize the meat seated on the upper part of the meat with the fourth grill (3) and heat it with the planar heating element (31).

As shown in Figure 4 (c), the first grill 10 is folded based on a hinge with the fourth grill 3, and is configured to heat/cook meat by seating it between them.

At this time, the planar heating element 31 attached to the surface of the first grill 10 and the fourth grill 3 directly heats the meat.

In addition, the step of determining the heating method and the first heating time includes: extracting first points where a third color corresponding to the lowest temperature appears among the second colors (C2) appearing in the second image; measuring a first distance between the first points; calculating a first root mean square value based on the measured first distances; Among the first distances, extracting values less than or equal to the first root mean square as second distances; calculating a second root mean square value based on the second distances; Among the second distances, designating first points having a value less than or equal to the second root mean square as second points; For each of the second points, counting the number of first points located at a distance within the second root mean square value; And designating second points where the number of first points located at a distance within the second root mean square value is more than a predetermined reference value as local heating points, including heating with the first heating unit (1). After performing a heating method including at least one of a heating method, a method of heating with the second heating unit 2, and a method of heating with the first grill 10, the local heating point is added to the third heating unit. It may be configured to determine a heating method to heat.

According to the above steps, the lowest temperature points captured by disturbances such as smoke or noise are removed from the second image extracted from the captured thermal image, and only the points with actually low temperatures (specific heat, thermal conductivity, etc.) are removed. It can be extracted and designated as a local heating point.

If a deviation in temperature/specific heat/thermal conductivity occurs at any point in the meat, for example, at a point located on a bone, a bone, or a point that is less thawed, the heating condition of the meat can be made uniform by additionally heating only the points where the deviation occurred with the torch. You can.

Although embodiments of the present invention have been described in more detail with reference to the accompanying drawings, the present invention is not necessarily limited to these embodiments, and various modifications may be made without departing from the technical spirit of the present invention. . Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

Therefore, other implementations, other embodiments, and equivalents of the claims also fall within the scope of the following claims.

S100: Step of determining heating method and second heating time
S200: Steps to place radiant heat panels
S300: Step of heating meat
S400: Extracting the first image
S500: Step of extracting the second image
S600: Step to stop heating of meat
S700: Steps to generate color spectrum
S800: Step to classify colors from the lowest temperature to the highest temperature into at least 5 grades.
S900: Step of converting first colors into second colors according to each grade
S1000: Counting the first pixel numbers for each second color
S1100: Counting second pixel numbers for each second color
S1200: Calculating the first ratio for each second color
S1300: Calculating the first heating time
1: first heating unit
10: first grill
101: center frame
102: diverging frame
11: first hood
12: second grill
121: Peripheral frame
1210: Inside of peripheral frame
122: convergence frame
13: Casing
14: fuel plate
15: Supply conveyor
16: Discharge conveyor
17: Discharge actuator
18: fuel block
2: second heating unit
21: Smoke room
210: Smoking door
22: combustion chamber
23: Hopper
24: feedback pipe
25: Air supply pipe
26: air discharge pipe
3: Fourth grill
30: grill hinge
31: Plane heating element
C1: first color
C2: Second color
R: robot arm
D: Recipe input device

Claims (3)

robotic arm;
a first grill coupled to an end of the robot arm;
A first heating unit that heats meat by burning charcoal or straw as fuel;
a first hood disposed above the first heating unit to remove cooking fume generated from the first heating unit;
A camera installed on the robot arm to photograph the meat; and
A control unit that inputs the image captured by the camera into a predetermined artificial intelligence model to determine the type and condition of the meat, and controls the first heating unit and the robot arm based on the determined type and condition of the meat. do,
The control unit:
Specifying the type of meat as one of chicken, beef, pork, lamb, and fish from the image;
Measuring the dimensions of the meat from the image;
determining the degree of fat distribution of the meat from the image;
determining the surface processing state of the meat from the image; and
It is controlled according to a method comprising: determining a heating method and a first heating time based on the type, size, fat distribution degree, and surface processing state of the meat,
The cameras include: visible light cameras and thermal imaging cameras,
The steps of determining the heating method and first heating time are:
determining a heating method and a second heating time based on the type, size, fat distribution degree, and surface processing state of the meat;
Placing a predetermined radiant heat panel at a location spaced apart from the meat by a predetermined distance;
operating the radiant heat panel to heat the meat;
Extracting a first image from a first viewpoint of a thermal image;
Extracting a second image at a second time point when a predetermined time has elapsed from the first time point of the thermal image image;
stopping the radiant heat panel to stop heating the meat;
generating, from the second image, a color spectrum from the lowest temperature to the highest temperature appearing in the second image;
Based on the color spectrum, classifying colors from the lowest temperature to the highest temperature appearing in the second image into at least five or more grades;
Based on the grade, converting first colors appearing in the first image and the second image into second colors according to each grade;
counting for each second color a first number of pixels in which the second colors appear in the first image;
counting for each second color the number of second pixels in which the second colors appear in the second image;
calculating [second number of pixels / first number of pixels = first ratio] for each second color; and
Based on the first ratio, calculating the first heating time by reflecting a predetermined correction value in the second heating time,
The first grill:
a central frame extending from an end of the robot arm; and
Including a diverging frame extending at predetermined intervals on both sides of the central frame,
It is formed in the shape of a predetermined fish bone,
The first heating unit:
a second grill configured to correspond to the first grill; and
A fuel supply unit disposed below the second grill and adjusting the amount of fuel supplied based on the input from the control unit,
The second grill:
A peripheral frame formed in a predetermined square shape; and
Including a convergence frame extending at predetermined intervals in an inward direction from both ends of the peripheral frame,
The first grill is formed to correspond to and fit inside the peripheral frame,
The fuel supply section:
a casing provided at a lower portion of the second grill and having a predetermined space therein;
a fuel plate disposed inside the lower end of the casing and moving linearly in an upward and downward direction;
a supply conveyor disposed outside the bottom of the casing to supply fuel blocks to the fuel plate;
a discharge conveyor disposed outside the top of the casing to discharge fuel blocks from the fuel plate;
a discharge actuator disposed outside the top of the casing, opposite the discharge conveyor, to transport the fuel block in the direction of the discharge conveyor; and
Including an ignition torch disposed on the fuel plate,
The fuel block:
It is formed in a predetermined hexahedral shape, and each face of the hexahedron shape is composed of a predetermined wire mesh,
The fuel is accommodated inside the hexahedral shape,
The steps of determining the heating method and first heating time are:
A method of heating with the first heating unit;
Heating method using a second heating unit;
Heating method using a third heating unit; and
Heating method using a first grill; Determine a heating method to include at least one of the following,
The second heating unit:
a third grill that provides a space in which the first grill is seated and is made of a predetermined wire mesh;
a smokehouse accommodating the third grill;
a smoking door that opens and closes to allow the first grill to be inserted and removed from the smoking room;
a combustion chamber disposed below the smoke chamber and generating smoke by burning fuel;
A hopper formed at the top of the smoke chamber;
a feedback pipe connected from the top of the hopper to the bottom of the smoke chamber;
a feedback fan provided on one side of the feedback pipe;
a heating coil provided inside the feedback pipe;
an air supply pipe supplying air to the combustion chamber; and
Includes an air discharge pipe connected to the bottom of the smoke chamber,
The third heating unit:
It includes a torch that directly heats the meat placed on the first grill,
The first grill:
a fourth grill formed in a shape corresponding to the first grill;
a grill hinge connecting the first grill and the fourth grill;
A planar heating element provided on the surfaces of the first grill and the fourth grill; and
Including a grill motor that rotates the fourth grill so that the fourth grill faces the first grill or separates from the first grill.
Pressurizing the meat seated on the upper part of the first grill with the fourth grill and heating it with the planar heating element,
A robot that cooks meat using direct fire using artificial intelligence
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