KR20220145214A - Recipe creation method for robot - Google Patents

Abstract

The present invention provides a method for generating a cooking recipe for a robot, comprising: a first step of setting a chef's cooking procedure by dividing the same into a plurality of procedures in time series; a second step of distinguishing arms of the chef into joints and axes in each procedure and expressing movement of each joint and axis in terms of displacement and speed; a third step of matching tools used by the chef in each procedure; and a fourth step of matching ingredients used for cooking in each procedure. Accordingly, if the robot cooks using the cooking recipe for the robot, the robot can accurately and easily reproduce the chef's motion. Accordingly, a variety of high-quality dishes can be easily provided at low cost.

Description

How to create a cooking recipe for a robot {RECIPE CREATION METHOD FOR ROBOT}

The present invention relates to a method for generating a cooking recipe for a robot, and more particularly, to a method for generating a cooking recipe for a robot that can easily provide a variety of high-quality dishes at a low cost.

Despite the widespread use of robots in the restaurant industry, their functions are limited. For example, robots are performing only simple and limited functions, such as adjusting the amount of sauce, frying chicken, assembling hamburgers, etc. Therefore, it is necessary to actively utilize robots in the restaurant industry.

In addition, the restaurant business is highly competitive, and the rate of closing due to problems such as rent, labor costs, and menu development exceeds 20% every year. Accordingly, there is a need for a breakthrough that can increase the competitiveness of the restaurant industry using robots.

On the other hand, the prior art using a robot in the restaurant business is as follows.

Korean Patent Application Laid-Open No. 10-2018-0127475 provides an on-demand robotic food assembly line comprising one or more conveyors and one or more robots operable to assemble food items in response to a received order for food items.

However, the robot of the prior art has only a function limited to assembling food items.

KR 10-2018-0127475

An object of the present invention is to easily provide a variety of high-quality dishes at low cost.

In addition, the present invention is to reproduce the motion of a chef with a robot.

In order to solve the above problems, the present invention provides a first step of dividing and setting a chef's cooking process into a plurality of procedures in time series; a second step of dividing the chef's arm into joints and axes in each procedure and expressing the movements of each joint and axis as displacement and speed; a third step of matching the tools used by the chef in each procedure; and a fourth step of matching ingredients used for cooking in each procedure; provides a cooking recipe creation method for a robot comprising.

In one embodiment, in the second step, the displacement and velocity information of the joint and axis of the chef's arm is mapped to the displacement and velocity of the joint and axis of the robot.

In one embodiment, in the third step, the matched tool is divided into a tool gripped by the robot and a facility tool, the tool gripped by the robot is matched with the movement of the robot, and the facility tool is matched with the movement destination of the robot make it

In one embodiment, in the fourth step, the position information of the material is set, and the motion information of the robot and the position information of the material are matched.

In one embodiment, the first to fourth steps are performed by analyzing image information containing the cooking process of the chef.

In one embodiment, in the second step, a sensor for dataizing the movement of the chef's arm is attached to the chef's arm and the chef cooks, extracting the movements of the joints and axes of the chef's arm as displacement and speed.

According to an embodiment of the present invention, a method for generating a cooking recipe for a robot comprises: a first step of dividing and setting a cooking process of a chef into a plurality of procedures in time series; a second step of dividing the chef's arm into joints and axes in each procedure and expressing the movements of each joint and axis as displacement and speed; a third step of matching the tools used by the chef in each procedure; and a fourth step of matching the ingredients used for cooking in each procedure.

Accordingly, since the robot cooking recipe may include motion information, if the robot cooks using the robot cooking recipe, the robot can accurately and easily reproduce the chef's motion. Accordingly, it is possible to easily provide a variety of high-quality dishes at a low cost.

Specifically, it is possible to build a robot kitchen that is faithful to taste and quality, which are the essence of the restaurant business. For example, by implementing a cooking recipe for a robot that reflects the actions of a famous chef, customer satisfaction with taste and quality, the essence of the restaurant business, can be improved, and the taste reliability of food cooked with a robot can be increased.

In addition, by lowering the general public's rejection of robot processes, it is possible to overcome the limitations of using robots only as events.

In addition, humanity, hospitality, and 1:1 customer response capabilities, which are the essence of the service industry, can be improved. In other words, it is possible to maximize the consumer's satisfactory consumption experience through the service from the perspective of human relationships in which robots are put into repetitive processes and humans make eye contact with customers.

In addition, restaurant operation efficiency and business continuity can be improved. In other words, it is possible to reduce rent by minimizing space with a compact design, and through the combination of F&B and TECH using big data, it is possible to minimize the risk of business closure through continuous improvement of taste and hygienic cooking process.

In addition, it can facilitate entrepreneurship.

Also, according to an embodiment of the present invention, displacement and velocity information of the joints and axes of the chef's arm may be mapped to the displacement and velocity of the joints and axes of the robot.

Accordingly, even if the positions, numbers, and rotation directions of the joints and axes of the robot and the chef are different from each other, the robot can reproduce the motion of the chef.

In addition, according to an embodiment of the present invention, in the third step, the matched tool is divided into a tool gripped by the robot and a facility tool, the tool gripped by the robot is matched with the movement of the robot, and the facility tool is set to that of the robot. It can be matched with the moving destination.

Accordingly, even if the method of holding the tool, the method of using the tool, or the location of the facility tool is different between the chef and the robot, the robot can cook by reproducing the chef's motion.

In addition, according to an embodiment of the present invention, in the fourth step, the position information of the material may be set, and the operation information of the robot and the position information of the material may be matched.

Accordingly, even if the location of the ingredients is different, the robot can cook by reproducing the chef's motion.

In addition, according to an embodiment of the present invention, the first to fourth steps may be performed by analyzing image information containing the cooking process of the chef.

Accordingly, it is possible to derive an optimal robot motion by analyzing a plurality of easily obtainable image information.

In addition, according to an embodiment of the present invention, in the second step, a sensor that dataizes the movement of the chef's arm is attached to the chef's arm and the chef cooks, so that the movement of the joints and axes of the chef's arm is converted into displacement and speed can be extracted.

Accordingly, it is possible to accurately and easily extract the movements of the joints and axes of the chef's arms with displacement and speed.

In addition to the above-described effects, the specific effects of the present invention will be described together while describing specific details for carrying out the invention below.

1 is a flowchart illustrating a frying dish cooking method according to an embodiment of the present invention, and FIGS. 2 and 3 are views schematically illustrating an embodiment of a cooking environment in which a robot performs the frying dish cooking method of FIG. 1 .
4 is a view showing the joints and axes of the chef's arm.
5 is a view showing the joints and axes of the arm of the robot.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The present invention is not limited to the embodiments disclosed below, and various changes may be made and may be implemented in various different forms. Only this embodiment is provided so as to complete the disclosure of the present invention and to fully inform those of ordinary skill in the scope of the invention. Therefore, the present invention is not limited to the embodiments disclosed below, and all changes and equivalents included in the technical spirit and scope of the present invention as well as substituting or adding the configuration of any one embodiment and the configuration of other embodiments to each other or substitutes.

The accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical spirit disclosed in the present specification is not limited by the accompanying drawings, and all changes and equivalents included in the spirit and scope of the present invention It should be understood to include water or substitutes. In the drawings, in consideration of the convenience of understanding, the size or thickness may be exaggeratedly large or small, but the protection scope of the present invention should not be construed as being limited thereto.

The terms used herein are used only to describe specific embodiments or examples, and are not intended to limit the present invention. And singular expressions include plural expressions unless the context clearly dictates otherwise. In the specification, terms such as includes, consists of, etc. are intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist. That is, in the specification, terms such as include and consist of. It should be understood that this does not preclude the possibility of addition or existence of one or more other features or numbers, steps, operations, components, parts, or combinations thereof.

Terms including ordinal numbers such as first, second, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

A method of generating a cooking recipe for a robot disclosed in the following embodiments will be described in more detail with reference to the drawings.

[How to cook fried food using a robot]

1 is a flowchart illustrating a frying dish cooking method according to an embodiment of the present invention, and FIGS. 2 and 3 are views schematically illustrating an embodiment of a cooking environment in which a robot performs the frying dish cooking method of FIG. 1 .

Referring to Figure 1, the frying cooking method is a material preparation step (S1), a kneading step (S2), a frying powder coating step (S3), a fryer input step (S4), a frying stirring step (S5), a frying completion waiting step (S6), the oil discharge step (S7) and may include a cooking providing step (S8).

2 and 3 , the robot may be located in the center, a plurality of materials may be disposed at a predetermined position, and a plurality of cooking spaces may be provided to surround the robot. Here, the material may include, for example, a main material (frying target), a first auxiliary material (water), a second auxiliary material (fried powder), and a third auxiliary material (frying oil).

A process in which the recipe of FIG. 1 is performed in the cooking environment of FIGS. 2 and 3 is as follows.

In the material preparation step (S1), the main material (frying target) may be placed in the "1" space of FIG. 2 and the "inlet" space of FIG. 3, and the "2" space of FIG. A first sub-material (water) may be disposed in the "equipment" space. In addition, the second auxiliary material (fried powder) may be disposed in the "3" space of FIG. 2 and the "inlet" space of FIG. 3, and fry in the "5" space of FIG. Dragon oil may be disposed.

The material preparation step (S1) may be performed by a person.

In the kneading step (S2), the main material may be kneaded with the first sub material (water) in the "2" space of FIG. 2 and the "kneading equipment" space of FIG. 3 .

The kneading step S2 may be performed by a robot. The steps S3 to S8 below may also be performed by the robot.

In the frying powder coating step (S3), the kneaded main material may be coated with a second sub material (fried powder) in the "3" space of FIG. 2 and the "inlet" space of FIG. 3 .

In the fryer input step (S4) and the fryer stirring step (S5), the main material coated with the second sub material may be fried and stirred in the space "5" of FIG. 2 and the space "fryer" of FIG.

In the frying completion waiting step (S6), the robot may perform the steps S1 to S7 in parallel with respect to the waiting or other main ingredients.

In the oil discharge step (S7), the oil contained in the fried main material may be discharged from the space "6" of FIG. 2 and the "drain" space of FIG.

In the cooking providing step (S8), the main material from which the oil has been discharged may be provided in the "6" space of FIG. 2 and the "discharge port" space of FIG.

In this way, in order to cook fried food with a robot, more information may be required than a conventional cooking recipe made on the premise that a human cooks. For example, a cooking recipe for a robot may include operation information of the robot.

Hereinafter, a method of generating a cooking recipe for a robot will be described.

[How to create cooking recipes for robots]

The method for generating a cooking recipe for a robot may include first to fourth steps.

[Step 1]

In the first step, the cooking process of the chef may be set by dividing the cooking process into a plurality of procedures in time series. Here, the chef may preferably be a professional cook. Also, here, the plurality of procedures may refer to detailed procedures of the cooking process as shown in FIG. 1 .

The first step may be performed by analyzing image information containing the chef's cooking process. Steps 2 to 4, which will be described later, may also be performed by analyzing the image information.

Accordingly, it is possible to derive an optimal robot motion by analyzing a plurality of easily obtainable image information.

[Step 2]

In the second step, by dividing the chef's arm into joints and axes in each procedure, the movement of each joint and axis can be expressed as displacement and speed. In this regard, look at FIG. 4 .

4 is a view showing the joints and axes of the chef's arm.

4, the chef's arm has 3 joints (Shoulder-J11, Elbow-J12, Wrist-J13) and 7 axes (Shoulder Adduction/Shoulder Abduction, Shoulder Flexion/Shoulder Extension, Shoulder Lateral Rotation/Shoulder Medial Rotation) , Elbow Flextion/Elbow Extension, Forearm Supination/Forearm Pronation, Wrist Adduction/ Wrist Abduction, Wrist Flexion/ Wrist Extension).

For example, by analyzing image information containing a chef's cooking process, the movements of the chef's 3 joints and 7 axes can be expressed as displacement and speed. Here, the image information may be 3D image information.

As another example, by attaching a sensor that dataizes the movement of the chef's arm to the chef's arm and the chef cooks, the movement of the joints and axes of the chef's arm may be extracted as displacement and speed. Here, the sensor may include a three-axis acceleration sensor or a position sensor.

Accordingly, it is possible to accurately and easily extract the movements of the joints and axes of the chef's arms with displacement and speed.

At this time, only a part of movement among the three joints and seven axes of the chef's arm may be expressed as displacement and speed. For example, only three axes (Forearm Supination/Forearm Pronation, Wrist Adduction/ Wrist Abduction, and Wrist Flexion/ Wrist Extension) related to wrist joint and wrist movement may be expressed as displacement and velocity.

After extracting the displacement and velocity information of the chef's arm joint and axis, the chef's arm joint and axis displacement and velocity information can be mapped to the robot's joint and axis displacement and velocity. In this regard, look at FIG. 5 .

5 is a view showing the joints and axes of the arm of the robot.

5, the robot may have four joints (J21, J22, J23, J24) and six axes (A1 to A6). Accordingly, in the robot of FIG. 5, the number of arms and axes, the direction of the axis, the number of joints, the positions of the joints, and the distances between adjacent joints are different from each other.

In this way, when the joints and axes of the human arm and the robot are different, the displacement and velocity information of the joint and axis of the chef's arm can be mapped to the displacement and velocity of the joint and axis of the robot.

For example, the displacement and velocity of 4 joints and 6 axes of the robot can be calculated to correspond to the displacement and velocity information of the chef's wrist joint and wrist-related axes (the three axes described above).

Accordingly, even if the positions, numbers, and rotation directions of the joints and axes of the robot and the chef are different from each other, the robot can reproduce the motion of the chef.

Information about the displacement and speed of the joints and axes of the cook or the robot may be included as motion information in the cooking recipe for the robot.

Meanwhile, in order to easily map the chef's motion information to the robot's motion information, it may be desirable for the chef to cook in the same environment as the robot.

[Step 3]

In the third step, it is possible to match the tools used by the chef in each procedure.

For example, it can be automatically identified from the image information that the tools used by the chef are a frying net, a pot, a fryer, a heater, or the like, or input by the user.

After matching the tools, the matched tools are divided into tools gripped by the robot (frying nets, pots, etc.) and facility tools (fryers, heaters, etc.), and the tools gripped by the robot are matched with the movement of the robot, Facility tools can be matched to the robot's moving destination.

For example, when the joint and axis of the cook and the robot are different from each other and the method of holding the tool or the method of using the tool is different, the method of holding the tool and the method of using the tool may be matched to suit the movement of the robot.

In addition, if the location of the facility tools installed in the place where the chef cooks and the place where the robot will cook are different, the location of the facility tools installed in the place where the robot will cook is set to the moving destination (facility tool location) of the robot. can be set.

Accordingly, even if the method of holding the tool, the method of using the tool, or the location of the facility tool is different between the chef and the robot, the robot can cook by reproducing the chef's motion.

[Step 4]

In the fourth step, it is possible to match the ingredients used for cooking in each procedure.

For example, in the image information, it can be automatically identified or input by the user that the ingredients used by the chef are the frying target, water, frying powder, and oil.

After matching the material, the location information of the material can be set, and the motion information of the robot and the location information of the material can be matched.

For example, if the location of the ingredients placed in the place where the chef cooks and the place where the robot will cook are different, the robot receives the location information of the ingredients to be placed in the place where the robot will cook and sets the location of the ingredients to the location of the input. You can set the robot's motion information so that the robot moves.

Accordingly, even if the location of the ingredients is different, the robot can cook by reproducing the chef's motion.

As described above, the method for generating a cooking recipe for a robot includes: a first step of setting a chef's cooking process by dividing it into a plurality of procedures in time series; a second step of dividing the chef's arm into joints and axes in each procedure and expressing the movements of each joint and axis as displacement and speed; a third step of matching the tools used by the chef in each procedure; and a fourth step of matching the ingredients used for cooking in each procedure.

Accordingly, since the robot cooking recipe may include motion information, if the robot cooks using the robot cooking recipe, the robot can accurately and easily reproduce the chef's motion. Accordingly, it is possible to easily provide a variety of high-quality dishes at a low cost.

Specifically, it is possible to build a robot kitchen that is faithful to taste and quality, which are the essence of the restaurant business. For example, by implementing a cooking recipe for a robot that reflects the actions of a famous chef, customer satisfaction with taste and quality, the essence of the restaurant business, can be improved, and the taste reliability of food cooked with a robot can be increased.

In addition, by lowering the general public's rejection of robot processes, it is possible to overcome the limitations of using robots only as events.

In addition, humanity, hospitality, and 1:1 customer response capabilities, which are the essence of the service industry, can be improved. In other words, it is possible to maximize the consumer's satisfactory consumption experience through the service from the perspective of human relationships in which robots are put into repetitive processes and humans make eye contact with customers.

In addition, restaurant operation efficiency and business continuity can be improved. In other words, it is possible to reduce rent through space minimization with a compact design, reduce labor costs, and minimize the risk of business closure through continuous improvement of taste and hygienic cooking process through the combination of F&B and TECH using big data. have.

In addition, it can facilitate entrepreneurship.

As described above, the present invention has been described with reference to the illustrated drawings, but the present invention is not limited by the embodiments and drawings disclosed in the present specification. It is obvious that variations can be made.

In addition, although the effects according to the configuration of the present invention are not explicitly described and described while describing the embodiments of the present invention, it is natural that the effects predictable by the configuration should also be recognized.

J: joint
A: axis

Claims (6)

a first step of dividing and setting a chef's cooking process into a plurality of procedures in time series;
a second step of dividing the chef's arm into joints and axes in each procedure and expressing the movements of each joint and axis as displacement and speed;
a third step of matching the tools used by the chef in each procedure; and
A method of creating a cooking recipe for a robot, including; a fourth step of matching ingredients used for cooking in each procedure.
The method according to claim 1,
In the second step, displacement and speed information of the joint and axis of the chef's arm is mapped to the displacement and speed of the joint and axis of the robot, a cooking recipe creation method for a robot.
The method according to claim 1,
In the third step, the matched tool is divided into a tool gripped by the robot and a facility tool, the tool gripped by the robot is matched with the movement of the robot, and the facility tool is matched with the movement destination of the robot , How to create a cooking recipe for a robot.
The method according to claim 1,
In the fourth step, the method for creating a cooking recipe for a robot, characterized in that by setting the position information of the material, and matching the position information of the robot with the position information of the robot.
The method according to claim 1,
A method for generating a cooking recipe for a robot, wherein the first to fourth steps are performed by analyzing image information containing the chef's cooking process.
The method according to claim 1,
In the second step, a sensor that dataizes the movement of the chef's arm is attached to the chef's arm and the chef cooks, extracting the movement of the joints and axes of the chef's arm with displacement and speed, creating a cooking recipe for a robot Way.

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