WO2020071147A1 - Fixation pour bras de cuisson - Google Patents

Fixation pour bras de cuisson

Info

Publication number
WO2020071147A1
WO2020071147A1 PCT/JP2019/036900 JP2019036900W WO2020071147A1 WO 2020071147 A1 WO2020071147 A1 WO 2020071147A1 JP 2019036900 W JP2019036900 W JP 2019036900W WO 2020071147 A1 WO2020071147 A1 WO 2020071147A1
Authority
WO
WIPO (PCT)
Prior art keywords
cooking
attachment
arm
unit
robot
Prior art date
Application number
PCT/JP2019/036900
Other languages
English (en)
Japanese (ja)
Inventor
雄登 石津
茂幹 大野
辰志 梨子田
光男 奥村
高橋　朋子
綾香 佐藤
郁人 吉川
Original Assignee
ソニー株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ソニー株式会社 filed Critical ソニー株式会社
Publication of WO2020071147A1 publication Critical patent/WO2020071147A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages

Definitions

  • the present technology relates to a cooking arm attachment, and more particularly, to a cooking arm attachment capable of providing a new cooking experience.
  • a device has been proposed that mixes the correct dose of a seasoning according to a recipe.
  • Patent Document 1 There is also a technique for learning the movement of the chef's hand during cooking and automating cooking by imitating the movement of the chef with a robot arm (Patent Document 1).
  • the present technology has been made in view of such a situation, and is to provide a new cooking experience.
  • An attachment for a cooking arm includes a detachable unit that can be attached to and detached from a cooking arm that moves along a moving mechanism provided in a cooking system, and cooking according to a cooking process according to an operation of the cooking arm. And a cooking unit that performs
  • a cooking arm is attached to and detached from a cooking arm that moves along a moving mechanism provided in a cooking system, and cooking according to a cooking process is performed according to the operation of the cooking arm.
  • FIG. 1 is a perspective view illustrating a configuration example of an appearance of a robot kitchen according to an embodiment of the present technology. It is a figure showing a situation of a cooking arm under work. It is a figure showing the 1st example of cooperation work. It is a figure showing the 2nd example of cooperation work. It is a figure showing the 3rd example of cooperation work. It is a figure showing a situation of a room during a meal. It is a figure which shows the example of a deformation
  • FIG. 6 is a diagram illustrating a moving direction of an arm moving unit. It is a figure showing a situation of attachment and detachment of a cooking arm. It is a figure showing an example of a function of a cooking arm. It is a figure showing the example of the attachment and detachment mechanism of an attachment.
  • FIG. 3 is a block diagram illustrating a configuration example of hardware of a transport robot. It is a figure which shows the example of the temperature adjustment of a top plate.
  • FIG. 3 is a block diagram illustrating a functional configuration example of a controller. It is a flowchart explaining a process of a transport robot. It is a front view showing the example of other appearances of a robot kitchen. It is a side view showing the example of other appearances of a robot kitchen. It is a top view of a robot kitchen. It is a figure showing an example of movement of a top board. It is a figure showing a situation at the time of operation of a cooking arm.
  • FIG. 2 is a block diagram illustrating a configuration example of hardware of a computer.
  • FIG. 1 is a perspective view illustrating a configuration example of an external appearance of a robot kitchen 1 according to an embodiment of the present technology.
  • the robot kitchen 1 has a computer that controls the overall operation using AI (Artificial Intelligence), a drive system device such as a cooking arm, and various sensors, and has a robot function that autonomously cooks. Cooking system.
  • AI Artificial Intelligence
  • the robot kitchen 1 is installed in a home, for example.
  • the robot kitchen 1 has a horizontally long rectangular parallelepiped casing 11.
  • Various devices such as a computer are provided inside a housing 11 serving as a main body of the robot kitchen 1.
  • a cooking assistance system 31 is provided so as to stand up from the upper surface of the housing 11.
  • the cooking assistance system 31 includes various cooking assistance units such as a refrigerator, a microwave oven, and a storage. Details of each part such as the cooking assistance unit will be described later.
  • a groove is formed in the longitudinal direction substantially at the center of the housing 11.
  • a rail is provided along the groove, and the cooking arm 51-1 to 51-4 is provided on the rail.
  • the positions of the cooking arms 51-1 to 51-4 can be changed along a rail as a moving mechanism.
  • the cooking arms 51-1 to 51-4 are robot arms configured by connecting cylindrical members at joints. Various operations such as cooking and clearing are performed by the cooking arms 51-1 to 51-4.
  • the space above the top plate 21A on the front side of the housing 11 is a cooking space in which the cooking arms 51-1 to 51-4 cook.
  • the cooking space is a general term for the cooking arms 51-1 to 51-4 or a space where the user cooks.
  • the cooking space includes not only a space completely corresponding to the cooking arm 51-1 to 51-4 or the space where the user performs cooking, but also a partial space included in such a space.
  • the number of cooking arms is not limited to four.
  • the cooking arms 51 are collectively referred to as the cooking arms 51.
  • FIG. 2 is a diagram showing a state of the cooking arm 51 during operation.
  • attachments having various cooking functions are attached to the tip of the cooking arm 51.
  • an attachment having a manipulator function (hand function) for grasping a food or tableware, an attachment having a knife function for cutting the food, an attachment having a mixer function for mixing a liquid such as a seasoning, and the like are prepared.
  • a knife attachment which is an attachment having a knife function, is attached to the cooking arm 51-1.
  • a knife attachment Using a knife attachment, a lump of meat placed on the top plate 21A is cut.
  • the cooking arm 51-2 is provided with a spindle attachment which is an attachment used for fixing the food and rotating the food.
  • a peeler attachment which is an attachment having a peeler function for peeling food, is attached to the cooking arm 51-3.
  • the potato skin lifted by the cooking arm 51-2 using the spindle attachment is peeled by the cooking arm 51-3 using the peeler attachment.
  • the plurality of cooking arms 51 can perform one operation in cooperation with each other.
  • a manipulator attachment which is an attachment having a manipulator function, is attached to the cooking arm 51-4.
  • a manipulator attachment Using a manipulator attachment, a frying pan on which chicken is placed is carried to a cooking auxiliary unit having an oven function.
  • Cooking by such a cooking arm 51 is carried out by appropriately replacing attachments according to the content of the work.
  • the replacement of the attachment is also automatically performed by the robot kitchen 1.
  • Cooking in the robot kitchen 1 using the cooking arm 51 is performed in such a manner that a part of the work cooperates with the user.
  • cooking is performed in cooperation with a family or the like.
  • the work to be performed by the user is specified in, for example, recipe data prepared for each dish.
  • the recipe data also describes information indicating the operation of each cooking arm 51 at each operation.
  • the robot kitchen 1 controls the operation of each unit such as the cooking arm 51 according to the description of the recipe data, and performs cooking.
  • the user when cooking a dish with a high degree of difficulty, the user can leave the cooking that cannot be done by himself to the robot kitchen 1 by setting the degree of involvement low.
  • a user who enjoys cooking can enjoy many tasks by setting a high degree of involvement.
  • Cooking means a product that is completed after cooking. Cooking means the process of cooking and the act of cooking.
  • FIG. 3 is a diagram showing a first example of the cooperative work.
  • FIG. 3 shows a state where the user is cutting potatoes using a kitchen knife.
  • a potato before cutting is prepared near a potato cut by the user.
  • a cooking arm 51-1 equipped with a knife attachment is on standby near the user.
  • Food ingredients such as kitchen knives and potatoes used by the user are prepared by the cooking arm 51.
  • the robot kitchen 1 outputs a synthesized voice of “smart”.
  • the robot kitchen 1 is provided with a function of learning the behavior of the user, a function of recognizing the meaning of the utterance of the user, and responding.
  • a camera for photographing a user's action a microphone (microphone) for detecting voice, and a speaker for outputting synthesized voice are provided.
  • the cutting is continued by the cooking arm 51-1 for the remaining potatoes as indicated by the arrow A2.
  • the direction of the cut, the width of the cut, and the like follow the user's method obtained by learning.
  • FIG. 4 is a diagram showing a second example of the cooperative work.
  • FIG. 4 shows a state in which the sliced baguette and smoked salmon are placed on the top plate 21A.
  • the preparation of the ingredients, the slicing of the ingredients, and the smoke cooking of the salmon were performed by the cooking arm 51.
  • a manipulator attachment is attached to the cooking arm 51-1.
  • a piece of smoked salmon is lifted by the cooking arm 51-1 and carried to the baguette.
  • a baguette with smoked salmon is cooked.
  • a baguette which is a completed dish, is presented to the user by the cooking arm 51-1 as shown by the tip of the arrow A11. Further, a synthesized voice of “please taste” is output, and the user is requested to taste.
  • the user receives the offered baguette and tastes it. If the tasting user makes a positive utterance such as “delicious”, the work of putting smoked salmon on the baguette is continued.
  • Taste is an important task in cooking, and also a fun task for the user. Users can do fun work themselves.
  • FIG. 5 is a diagram showing a third example of the cooperative work.
  • FIG. 5 shows that the operation of the nappe for coating the sponge with the cream is performed by the cooking arm 51-1.
  • a spatula attachment having a spatula function is attached to the cooking arm 51-1.
  • the sponge and the cream are prepared by the cooking arm 51.
  • the user performs the work of decorating with cream as a finishing work in response to a request from the robot kitchen 1.
  • Finishing work such as decoration with cream and serving dishes in cake making is a work that the user performs with creativity, and it can be said that it is a fun work. The user can perform such fun work by himself.
  • cooking by the robot kitchen 1 is appropriately advanced in cooperation with the user. Since tasks such as preparation are performed by the robot kitchen 1 so that the robot kitchen 1 performs the tasks, the user can perform only fun tasks by himself and leave the troublesome tasks to the robot kitchen 1.
  • the user can obtain a new cooking experience, such as cooking in cooperation with the robot kitchen 1.
  • the user can also enjoy watching the work performed by the cooking arm 51 on the top plate 21A. If it is assumed that cooking is performed inside the housing 11 and a completed dish comes out, such a kitchen can be said to be a mere manufacturing apparatus for dishes, and although it is convenient, lacks in fun.
  • the robot kitchen 1 can produce a space such as a room by the cooking operation itself, by performing cooking in a form that is shown to the user using various attachments different from tools used for cooking by humans.
  • the robot kitchen 1 can be said to be an entertaining kitchen because a space can be produced by the work of cooking and the user can participate in the work that can be enjoyed.
  • FIG. 6 is a diagram illustrating a state of a room during a meal.
  • the cooking made by the robot kitchen 1 is carried by the carrying robot 2 which is a moving body for carrying.
  • the robot kitchen 1 places the completed dish on the top plate of the transport robot 2 and transports the completed dish to the position of the serving person as shown in FIG.
  • the robot kitchen 1 also controls the transport robot 2 such as setting a destination and setting a movement route to the destination. For example, the position of the person to whom the food is provided is set as the destination.
  • the transport robot 2 also receives used tableware from the user and transports the tableware back to the robot kitchen 1.
  • the completed dishes, dishes, cutlery, glasses, and the like are the goods to be carried by the carrying robot 2.
  • FIG. 7 is a diagram illustrating an example of a modification of the transport robot 2.
  • the transport robot 2 is configured by connecting an annular base and a circular top plate with a thin rod-shaped support arm.
  • the length and angle of the support arm can be appropriately adjusted.
  • the state shown at the left end of FIG. 7 is a normal state in which the support arm is extended to the maximum.
  • the state shown in the center of FIG. 7 is a state in which the support arm is contracted to approximately half of the maximum length and is tilted down from the left end state.
  • the state shown at the right end of FIG. 7 is a state where the support arm is folded.
  • the top plate is overlaid on the base.
  • the transport robot 2 is housed inside the housing 11 of the robot kitchen 1 in a state of the right end thinned into a flat columnar shape.
  • the transport of the dishes is performed by the transport robot 2, the user does not need to transport the dishes prepared by the robot kitchen 1 to the dining table. Details of the configuration and functions of the transport robot 2 will also be described later.
  • FIG. 8 and FIG. 9 are views showing the appearance of the robot kitchen 1 in the sleep mode.
  • FIG. 8 shows the robot kitchen 1 in the sleep mode as viewed from the front
  • FIG. 9 shows the robot kitchen 1 in the sleep mode as viewed from the front right.
  • the horizontally long rectangular parallelepiped housing 11 is provided on a columnar base 12 fixed to the floor.
  • a space having a predetermined height is formed between the bottom surface of the housing 11 and the floor.
  • the cooking assistance system 31 is housed in the housing 11.
  • the cooking assistance system 31 is provided at a position lower than the top plate 21.
  • the top plate 21A and the top plate 21B constituting the top plate portion 21 are provided at the same height with a slight gap therebetween. Since the top plate 21A and the top plate 21B are provided in contact with the same height, the upper surface of the housing 11 is substantially flat.
  • FIG. 10 is a diagram showing the appearance of the robot kitchen 1 in the active mode.
  • the cooking assistance system 31 rises, and as shown in FIG. 10, the cooking assistance system 31 stands on the rear side of the housing 11. .
  • the cooking assistance system 31 provided on the bottom side of the top plate 21B appears.
  • Switching from the sleep mode to the active mode is performed at a predetermined timing such as a timing at which a preset cooking start time has come, or a timing at which it is detected that the person performing the cooperative work is near the robot kitchen 1. .
  • a predetermined timing such as a timing at which a preset cooking start time has come, or a timing at which it is detected that the person performing the cooperative work is near the robot kitchen 1. .
  • Such deformation of the robot kitchen 1 is performed electrically.
  • FIG. 11 is a front view of the cooking assistance system 31.
  • the front, back, left and right sides surrounding the box-shaped cooking assistance system 31 are made of a transparent member such as tempered glass having heat insulation.
  • the inside of the cooking assistance system 31 becomes transparent.
  • the cooking assistance system 31 includes cooking assistance units 31-1 to 31-6.
  • the cooking assistance units 31-1 to 31-6 are devices having a function of assisting the cooking of the robot kitchen 1.
  • Each cooking auxiliary unit is separated by a thin plate-shaped member. By being partitioned by the two thin plate-like shelves, three stages of space are formed vertically inside each cooking auxiliary unit. For example, when the front member slides open, it becomes possible to access each stage of each cooking assistance unit.
  • the cooking auxiliary unit 31-1 is a device having a freezing function. Meat, fish, and the like are stored in the cooking auxiliary unit 31-1 in a frozen state.
  • the cooking auxiliary unit 31-2 is a device having a refrigeration function. Fruits and beverages are stored in the cooking auxiliary unit 31-2 in a cooled state.
  • the cooking auxiliary unit 31-3 is a device having a function of maintaining a low temperature state. Vegetables and the like are stored in the cooking auxiliary unit 31-3 at a low temperature. For example, an attachment attached to the cooking arm 51 is stored in the lower stage of the cooking assistance unit 31-3. By storing the attachment in a low temperature state, it is possible to suppress the propagation of various bacteria.
  • the cooking auxiliary unit 31-4 has a function as a room temperature storage.
  • the cooking auxiliary unit 31-4 stores bread, pasta, seasonings and the like. Tableware, cutlery, and the like are also stored in the cooking auxiliary unit 31-4.
  • the cooking auxiliary unit 31-5 is a device having a heat retaining function. In the cooking auxiliary unit 31-5, soup, food being thawed, food being cooked at low temperature, and the like are stored.
  • the cooking auxiliary unit 31-6 is a device having an oven function. By using the cooking auxiliary unit 31-6, heating cooking such as baking bread and baking meat is performed.
  • the arrangement of the cooking assistance units 31-1 to 31-6 is such that a unit having a function of storing foodstuffs and the like at a lower temperature is located on the left side, and a unit having a function of storing foods at a higher temperature is located on the right side. Become.
  • a device for adjusting the temperature in each cooking auxiliary unit is provided at a predetermined position such as below each cooking auxiliary unit.
  • the temperature inside each unit is adjusted by sending cool air or hot air discharged from the temperature adjusting device.
  • the cooking arm 51 is housed in a groove that appears when the top plate 21B rises. As shown in FIG. 12, the width of the cooking assistance system 31 in the depth direction is smaller than the width of the top plate 21B in the depth direction.
  • the groove closed by the top plate 21B in the sleep mode appears in response to the rise of the top plate 21B, and the cooking arm 51 is activated from the groove.
  • FIG. 13 is a diagram schematically showing the position of the groove.
  • the groove 101 is formed in the longitudinal direction of the housing 11 near the boundary between the top plate 21A and the top plate 21B, as indicated by hatching.
  • the length of the groove 101 is substantially the same as the length in the longitudinal direction of the housing 11 except for a wall portion having a predetermined width on the left side and the right side.
  • a rail 102 is provided near the opening of the groove 101 along the side surface of the groove 101.
  • a rail 102 is provided along the front side surface of the groove 101 as shown by color. It can be said that the groove 101 is formed along the rail 102.
  • the cooking arm 51 is attached movably along the rail 102.
  • FIG. 14 is a figure which shows the example of the application of the groove part 101.
  • FIG. 14 is a figure which shows the example of the application of the groove part 101.
  • the groove 101 is provided with a washing function for washing the hands of the persons put in the groove 101. As shown in FIG. 14, when the user puts his / her hand in the groove 101, the cleaning function is activated, and the hand is washed, dried, and disinfected.
  • the fact that the user has put his hand in the groove 101 is detected by an infrared sensor or the like. By analyzing the image captured by the camera, it may be detected that the user has put his hand in the groove 101.
  • FIG. 15 is a diagram showing a cross section of the groove 101.
  • FIG. 15 shows the vicinity of the opening of the groove 101 in an enlarged manner.
  • the left side of FIG. 15 corresponds to the front side of the robot kitchen 1, and the right side corresponds to the back side of the robot kitchen 1.
  • a side wall portion 101A is formed on the front side of the robot kitchen 1, and a side wall portion 101B is formed on the back side.
  • a slant surface slightly diagonally downward is formed near the upper ends of the side wall portions 101A and 101B.
  • an irradiation port 111 for ultraviolet rays from an ultraviolet disinfection device there are provided an outlet 112 for jet-like air from a hand dryer, and an outlet 113 for water.
  • the user can perform cleaning, drying, and disinfection collectively by putting his / her hand in and out of the groove 101 as indicated by the arrow A31.
  • a rail 102 is provided at a position near the opening of the groove 101, which is an edge of the top plate 21A.
  • a plurality of sets of an ultraviolet irradiation port 111, a jet wind jet port 112, and a water jet port 113 for realizing such a cleaning function are provided at predetermined intervals in the longitudinal direction of the groove 101.
  • the set at the position where the user puts his / her hand is driven, and the hand is washed.
  • Tableware, cutlery, attachments attached to the cooking arm 51, and the like are also cleaned using the cleaning function of the groove 101. In addition to washing, drying and disinfecting dishes, cutlery and attachments is done in the same way as human hands.
  • washing of tableware and cutlery is performed by the cooking arm 51 at the time of clearing work. Washing of tableware and the like is performed by inserting tableware and the like held by the manipulator attachment into the groove 101.
  • the attachment is washed by inserting the tip of the cooking arm 51 into the groove 101 while the attachment is mounted on the cooking arm 51.
  • the food may be washed in the groove 101.
  • the cleaning time, the movement of the cooking arm 51 during the cleaning, and the like are switched according to the object to be cleaned.
  • the configuration in which the washing is performed in accordance with the operation of the user putting the hand and the operation of the cooking arm 51 putting the tableware or the like is provided in the groove portion 101 at a position recessed when viewed from the front of the robot kitchen 1.
  • the hands and the like in the groove 101 it is possible to prevent water from scattering around.
  • the washing, drying and disinfecting functions are operated, and when the object to be washed is tableware, the washing and drying functions are operated.
  • the function to be operated may be switched according to the target.
  • FIG. 16 is a diagram showing an example of another application of the groove 101.
  • the groove 101 is provided with a waste treatment function for treating waste such as garbage generated during cooking.
  • waste such as garbage generated during cooking.
  • the waste scattered on the top plate 21A is thrown into the groove 101 so as to be swept by the cooking arm 51.
  • the waste on the top plate 21A is detected by analyzing an image taken by the camera. In FIG. 16, the waste is indicated by a colored triangle.
  • the waste put into the groove 101 reaches the slope 101C formed below the groove 101.
  • water spouts from the spout 113 and the waste is sent out using the power of the water.
  • a sensing camera 121 is provided near the slope 101C. By analyzing the image captured by the camera 121, the type and size of the waste are detected.
  • the waste whose type or the like is detected is put into a waste treatment device 122 provided at the end of the slope 101C, and is sorted according to the type and size.
  • the waste treatment device 122 has a function of separating waste using centrifugal force or the like.
  • the garbage such as food is subjected to a crushing process, a drying process, a compression process and the like in the waste treatment device 122.
  • the waste disposal device 122 is provided with a disposer function.
  • the waste treated in the waste treatment device 122 is discharged through a pipe in the base 12 as indicated by an arrow A42.
  • the waste processed by the waste processing device 122 may be carried by the transport robot 2 as indicated by an arrow A43.
  • the waste treated in the waste treatment device 122 is packed in, for example, a dedicated container in the waste treatment device 122.
  • the container filled with waste is discharged from a discharge port provided at a predetermined position on the bottom surface of the housing 11, and is placed on the top plate of the transport robot 2 waiting under the discharge port.
  • the transport robot 2 moves the container filled with the waste to the position of the dust box while placing the container on the top plate, and discards the waste together with the container.
  • FIG. 17 is a figure which shows the example of further another use of the groove part 101.
  • FIG. 17 is a figure which shows the example of further another use of the groove part 101.
  • the groove 101 also has a function as a storage space for the cooking arm 51. In the sleep mode, the cooking arm 51 in the folded state is stored in the groove 101 as shown in FIG.
  • the cooking assistance system 31 is also stored in the storage section 103 which is a space formed in the housing 11.
  • the storage section 103 which is a space formed in the housing 11.
  • the cooking arm 51 is driven so as to be pulled out from the groove 101, and the cooking arm 51 is arranged in front of the cooking assistance system 31 in front. State. As shown in FIG. 18, the folded state immediately after emerging from the groove 101 is the standby state of the cooking arm 51.
  • the cooking arm 51 is stored in the groove 101 in the sleep mode, and is pulled out of the groove 101 in the active mode.
  • the storage / withdrawal of the cooking arm 51 is performed according to the opening and closing of the top plate 21.
  • FIG. 19 is a diagram illustrating an example of the arrangement of pipes connected to the cooking arm 51.
  • a pipe storage section 104 for storing a pipe connected to the cooking arm 51 is formed inside the housing 11 and at a position in front of the groove 101.
  • the pipe housing section 104 is formed in the longitudinal direction of the housing 11 similarly to the groove section 101 and the rail 102.
  • the cooking arm 51 has a function of supplying electricity (electric power), heat, cold air, water, cooking oil, and air to an attachment attached to the tip.
  • the cooking arm 51 has a function of sucking a liquid or gas.
  • the arm moving section 131 which is a base of the cooking arm 51 and is a mounting destination of the cooking arm 51, is fitted into the rail 102. As shown in FIG. 19, a pipe 132 for realizing a supply function and a suction function is attached to the arm moving section 131 through the pipe storage section 104.
  • the pipe 132 is constituted by a plurality of pipes such as a pipe through which gas such as heat or cold air flows, a pipe through which water passes, a pipe through which cooking oil passes, and a pipe through which a sucked liquid or gas passes.
  • the pipe 132 is made of a flexible material such as rubber, vinyl, and plastic.
  • the tip of the pipe 132 is connected to the arm function controller 133.
  • the arm function control device 133 changes the state of the refrigerant, the power supply section that supplies electricity based on the power supply of the robot kitchen 1, the boiler section that generates heat by burning fuel, or passing an electric current through a heating wire. It is configured by a cooling unit that generates cool air.
  • the arm function control device 133 is also provided with a compressor that supplies heat generated by the boiler unit and cool air generated by the cooling unit, a suction unit that generates a suction force, and the like.
  • the pipe 132 is connected to each of the cooking arms 51-1 to 51-4.
  • FIG. 20 is a front view showing an example of the arrangement of pipes connected to the cooking arm 51.
  • the cooking arms 51-1 to 51-4 and the arm function control device 133 are connected by pipes 132-1 to 132-4, respectively.
  • the handling of the pipes 132-1 to 132-4 changes.
  • the robot kitchen 1 is provided with the groove 101 having a cleaning function, a waste disposal function, a storage function of the cooking arm 51, and the like.
  • the function of the groove portion 101 is a function of assisting the cooking by the robot kitchen 1, similarly to the function of the cooking assistance system 31.
  • the space of the groove 101 and the space of the cooking assistance system 31 serve as a cooking assistance space for assisting cooking by the robot kitchen 1.
  • the cooking assistance space is a space that appears when the operation mode of the robot kitchen 1 is set to the active mode and the top board 21B, which is a part of the top board 21, moves.
  • the cooking assistance space is a space that cannot be seen from the outside.
  • the cooking assistance space is a generic name of a space that appears when a part of the top board moves and has a function of assisting cooking.
  • the cooking assistance space includes not only a space completely corresponding to a space in which a function of assisting cooking is exhibited, but also a partial space included in such a space.
  • FIG. 22 is a front view illustrating an example of a space provided in the housing 11.
  • a storage part 151R serving as a storage space for the transport robot 2 is provided at a position near the right side surface in the housing 11.
  • a storage part 151L serving as a storage space for the transport robot 2 is provided at a position near the left side surface in the housing 11.
  • the robot kitchen 1 can transport a dish or the like by controlling a plurality of transport robots 2. Three or more transport robots 2 may be controlled by the robot kitchen 1.
  • the transport robot 2 is dispatched from the storage units 151R and 151L at a predetermined timing such as when it is time to perform a transport operation, and performs an operation according to the control by the robot kitchen 1.
  • FIGS. 23 and 24 are views showing the appearance of the dispatch of the transport robot 2.
  • the members on the bottom surface of the storage unit 151R form substantially the same plane as the bottom surface of the housing 11.
  • the circular plate-shaped tray section 161 constituting the bottom surface of the storage section 151R descends, and the transport robot 2 placed on the tray section 161 appears.
  • tray section 161 is suspended by support members 162-1 and 162-2.
  • the transport robot 2 is lowered onto the floor.
  • the state shown in the upper part of FIG. 24 is a state where the tray unit 161 has reached the floor.
  • the transport robot 2 starts to move as indicated by the tip of the arrow A52. After getting out of the space between the housing 11 and the floor, the transport robot 2 changes its shape and starts work.
  • the transport robot 2 stored in the storage section 151L is dispatched at a predetermined timing to perform work.
  • the carrying robot 2 changes its posture to the posture in the standby mode, and returns onto the tray unit 161 lowered so as to reach the floor.
  • the transport robot 2 is stored in the housing 11 by raising the tray unit 161.
  • the posture and the position of the transport robot 2 are controlled so that they can be stored in the storage units 151R and 151L.
  • the manner in which the transport robot 2 is stored and dispatched is not limited to the modes shown in FIGS.
  • a storage structure there is a structure in which the transport robot 2 is suspended and stored from above by opening and closing a suspension mechanism in the storage units 151R and 151L.
  • the suspension mechanism of the storage units 151R and 151L is opened in conjunction with the top of the transport robot 2 extending (elevating), and the top plate is moved to the storage units 151R and 151L.
  • the suspending mechanism is closed and the top plate of the transport robot 2 is suspended.
  • the base of the transport robot 2 descends first, and when the base lands, the suspension mechanism of the storage units 151 ⁇ / b> R and 151 ⁇ / b> L opens, and This is done by removing the board from the suspension mechanism. After the top plate is removed from the suspension mechanism, the transport robot 2 contracts once, for example, to the thinnest state, and exits from the space below the housing 11 in that state.
  • FIG. 25 is a diagram showing an appearance of the cooking arm 51.
  • the cooking arm 51 is generally configured by connecting thin cylindrical members with hinge portions serving as joints.
  • Each hinge is provided with a motor or the like that generates a force for driving each member.
  • a detachable member 501 As a cylindrical member, a detachable member 501, a relay member 503, and a base member 505 are provided in this order from the tip.
  • the detachable member 501 is a member having a length of about 1/5 of the length of the relay member 503.
  • the sum of the length of the detachable member 501 and the length of the relay member 503 is substantially the same as the length of the base member 505.
  • the detachable member 501 and the relay member 503 are connected by the hinge 502, and the relay member 503 and the base member 505 are connected by the hinge 504.
  • a hinge 502 and a hinge 504 are provided at both ends of the relay member 503.
  • the cooking arm 51 is configured by three cylindrical members, but may be configured by four or more cylindrical members. In this case, a plurality of relay members 503 are provided.
  • the attachment / detachment member 501 has an attachment / detachment portion 501A to which attachments having various cooking functions are attached and detached, and functions as a cooking function arm unit that performs cooking by operating the attachment.
  • the base member 505 has an attaching / detaching portion 506 attached to the arm moving portion 131, and functions as a moving function arm for realizing the movement of the cooking arm 51.
  • FIG. 26 is a diagram showing an example of the movable range of each part of the cooking arm 51.
  • the detachable member 501 is rotatable about the center axis of the circular cross section.
  • the flat small circle shown at the center of the ellipse # 1 indicates the direction of the dash-dot line of rotation axis.
  • the rotation range of the attachment / detachment member 501 is set as a range where the pipe of the attachment does not come off when the attachment is attached to the attachment / detachment portion 501A.
  • the rotation range switches according to the attachment.
  • the attachment / detachment member 501 is rotatable about an axis passing through a fitting portion 501B with the hinge portion 502.
  • the relay member 503 is rotatable about an axis passing through a fitting portion 503A with the hinge portion 502.
  • the movable range of the attachment / detachment member 501 about the axis passing through the fitting portion 501B and the movable range of the relay member 503 about the axis passing through the fitting portion 503A are, for example, 90 degrees, respectively.
  • the relay member 503 is configured to be separated by a member 503-1 on the front end side and a member 503-2 on the rear end side. As indicated by the ellipse # 3, the relay member 503 is rotatable about the center axis of the circular cross section at the connecting portion 503B between the member 503-1 and the member 503-2.
  • the other movable parts basically have the same movable range.
  • the relay member 503 is rotatable about an axis passing through the fitting portion 503C with the hinge portion 504. Further, the base member 505 is rotatable about an axis passing through a fitting portion 505A with the hinge portion 504.
  • the base member 505 is configured to be separated by a member 505-1 on the front end side and a member 505-2 on the rear end side. As indicated by the ellipse # 5, the base member 505 is rotatable about the center axis of the circular cross section at the connecting portion 505B between the member 505-1 and the member 505-2.
  • the base member 505 is rotatable about an axis passing through a fitting portion 505C with the attaching / detaching portion 506.
  • the detachable portion 506 is attached to the arm moving portion 131 so as to be rotatable about the central axis of the circular cross section.
  • the detachable member 501 having the detachable portion 501A at the front end, the relay member 503 connecting the detachable member 501 and the base member 505, and the base member 505 connected to the detachable portion 506 at the rear end are each rotated by the hinge. Connected as possible.
  • the movement of each movable part is controlled by a controller in the robot kitchen 1.
  • FIG. 27 is an enlarged sectional view showing the vicinity of the rail 102.
  • the arm moving unit 131 is fitted into the rail 102 provided on the edge of the top plate 21A.
  • Small grooves 102A and 102B are formed on the upper and lower surfaces of the rail 102, and rollers 131A and 131B provided on the upper and lower surfaces of the arm moving unit 131 are fitted into the grooves 102A and 102B.
  • the tip of the arm moving section 131 is formed as a gentle curved surface, and the detachable portion 131C (FIG. 28) is provided on this curved surface.
  • the cooking arm 51 is attached to the arm moving section 131 by inserting the detachable section 506 into the detachable section 131C.
  • FIG. 27 the illustration of the pipe 132 is omitted.
  • the pipe 132 passes through the inside of the arm moving section 131 and is led to the attaching / detaching section 131C.
  • the pipe 132 is connected to the pipe in the cooking arm 51.
  • FIG. 28 is a diagram showing a moving direction of the arm moving unit 131.
  • FIG. 28 shows a state in which the arm moving section 131 fitted to the rail 102 is viewed from the inside of the groove 101.
  • the arm moving unit 131 moves in the horizontal direction along the rail 102.
  • the cooking arm 51 attached to the arm moving unit 131 can be moved to an arbitrary position.
  • the controller of the robot kitchen 1 controls not only the movement of each movable part but also the position of the cooking arm 51.
  • FIG. 29 is a diagram showing a state of attachment and detachment of the cooking arm 51.
  • the cooking arm 51 can be attached to and detached from the arm moving section 131 fitted on the rail 102.
  • the cooking arm 51 is sold alone. By additionally purchasing, the user can increase the number of cooking arms 51 up to the number of arm moving units 131 provided on the rail 102.
  • FIG. 30 is a diagram showing an example of the function of the cooking arm 51.
  • the cooking arm 51 has a function of supplying electricity to the attachment.
  • the attachment is driven by the electricity supplied from the cooking arm 51. Electricity supplied to the attachment is supplied to the cooking arm 51 via the rail 102, for example.
  • the cooking arm 51 has a function of supplying heat or cold air to the attachment. By the heat supplied from the cooking arm 51, for example, heating cooking is performed in the attachment. The temperature of the food is adjusted by the cool air supplied from the cooking arm 51.
  • Heat and cool air supplied to the attachment are generated in the arm function control device 133 and supplied to the cooking arm 51 via the pipe 132.
  • the heat or cool air generated in the arm function control device 133 is transmitted to the cooking arm 51 by sending compressed air or the like from the arm function control device 133 to the pipe 132.
  • the cooking arm 51 has a function of supplying edible oil such as olive oil and salad oil to the attachment. With the cooking oil supplied from the cooking arm 51, for example, fried food is cooked in the attachment. In addition, cooking such as sprinkling olive oil on ingredients is performed.
  • edible oil such as olive oil and salad oil
  • ⁇ Edible oil supplied to the attachment is supplied from the arm function control device 133 to the cooking arm 51 via the pipe 132.
  • the cooking oil stored in the container provided in the arm function control device 133 is supplied from the arm function control device 133 to the cooking arm 51 by flowing into the pipe 132.
  • the cooking arm 51 has a function of supplying water to the attachment. With the water supplied from the cooking arm 51, for example, cleaning of foods and cleaning of the top plate 21A are performed. Washing of ingredients and washing of the top plate 21A are also operations performed as cooking.
  • the water supplied to the attachment is supplied from the arm function control device 133 to the cooking arm 51 via the pipe 132.
  • the water drawn from the water pipe by the arm function control device 133 is supplied to the cooking arm 51 by flowing into the pipe 132.
  • the water whose temperature has been adjusted by the arm function control device 133 may be supplied to the cooking arm 51.
  • the cooking arm 51 has a function of supplying air to the attachment. For example, steam, smoke and gas are supplied to the attachment.
  • the steam supplied from the cooking arm 51 performs, for example, cooking of steamed food and disinfection of the top plate 21A and other attachments attached to the cooking arm 51.
  • the smoke supplied from the cooking arm 51 causes, for example, smoke cooking to be performed by the attachment.
  • smoke cooking By the flame using the gas supplied from the cooking arm 51, for example, cooking of grilled food is performed by the attachment.
  • the air supplied to the attachment is supplied from the arm function controller 133 to the cooking arm 51 via the pipe 132.
  • the steam and smoke generated in the arm function control device 133 are supplied to the cooking arm 51 by being sent from the arm function control device 133 to the pipe 132 together with the compressed air.
  • the gas drawn from the gas pipe by the arm function control device 133 is supplied to the cooking arm 51 from the arm function control device 133 by being sent into the pipe 132.
  • the cooking arm 51 has a function of sucking a liquid or gas.
  • the suction force generated in the arm function control device 133 is transmitted to the attachment via the pipe 132 and the cooking arm 51, and the liquid or gas at the suction port of the attachment is sucked.
  • the cooking arm 51 may be provided with other functions such as a function of supplying drinking water such as soft drink or alcoholic beverage to the attachment, and a function of supplying seasoning such as sugar or salt to the attachment.
  • FIG. 31 is a diagram showing an example of the attachment / detachment mechanism.
  • a concave insertion hole 521 is formed at the center of the detachable portion 501A formed at the tip of the detachable member 501 on the cooking arm 51 side.
  • a detachable part 611 is provided on the attachment 601 side.
  • a convex protrusion is formed as an insertion portion 621 at the tip of the attachment / detachment portion 611.
  • the lock portion 521A provided in the insertion hole 521 fits into the groove 621A formed on the peripheral side surface of the insertion portion 621, and the attachment 601 is fixed to the cooking arm 51.
  • FIG. 32 shows a configuration of a contact surface between the detachable portion 501A and the detachable portion 611.
  • ⁇ ⁇ Pipe 531 is provided at the innermost part of insertion hole 521. As shown in FIG. 32, three pipes are provided above and below the pipe 531. Each pipe is provided in each member constituting the cooking arm 51.
  • a pipe 631 is provided on the distal end surface of the insertion portion 621. As shown in FIG. 32, three pipes are provided above and below the pipe 631.
  • the pipe 531 on the cooking arm 51 side and the pipe 631 on the attachment 601 side are used for sucking a liquid or gas as shown by an arrow A71 in FIG.
  • the pipes 532-1 and 532-2 on the cooking arm 51 side and the pipes 632-1 and 632-2 on the attachment 601 side are used for supplying water, for example, as shown by an arrow A72 in FIG.
  • the pipes 532-3 and 532-4 on the cooking arm 51 side and the pipes 632-3 and 632-4 on the attachment 601 side are used for supplying edible oil.
  • the pipes 532-5 and 532-6 on the cooking arm 51 side and the pipes 632-5 and 632-6 on the attachment 601 side are used for supplying gas.
  • supply of heat and cool air, supply of steam, smoke, gas, and the like are performed.
  • FIGS. 33 and 34 are diagrams showing the flow of mounting the attachment 601.
  • the position of the attachment to be attached is recognized.
  • the position of each attachment is recognized by, for example, analyzing an image captured by a camera.
  • each attachment is stored in the cooking assistance unit 31-3, for example, with the attachment / detachment portion 611 facing the groove 101.
  • each part of the cooking arm 51 is driven so that the attachment / detachment part 501A approaches the attachment / detachment part 611 of the attachment 601 to be attached.
  • the attachment 601 is attached to the attaching / detaching portion 501A by the attractive force of the magnets provided on the attaching / detaching portion 501A side and the attaching / detaching portion 611 side, as shown by the tip of the arrow A82. It is attached.
  • the attachment 601 can be replaced by providing the detachable portions on the cooking arm 51 side and the attachment 601 side, respectively.
  • the attachment 601 can have various cooking functions.
  • a portion other than the attaching / detaching portion 611 becomes a cooking portion 612 that realizes a cooking function.
  • the operation according to the cooking process is realized in the cooking unit 612.
  • the operation of the cooking unit 612 is appropriately switched according to the state of the user performing the cooperative operation.
  • the configuration of the cooking unit 612 differs depending on the type of attachment.
  • connection of the pipes has been mainly described.
  • a cable for supplying electricity, a configuration for connecting signal lines for supplying various control signals to the attachment 601 side, and the like are also connected to the cooking arm 51 side.
  • Each is provided on the attachment 601 side.
  • the cooking unit 612 is connected to the control device (the controller 201 in FIG. 46) of the robot kitchen 1 and has a function as a connection unit that receives a control signal transmitted from the control device. Further, the cooking unit 612 has a function as a control unit that controls a cooking function of the cooking unit 612 itself based on the control signal received by the connection unit.
  • FIGS. 35 to 38 are diagrams showing examples of attachments.
  • FIG. 35 to FIG. 37 show each attachment attached to the cooking arm 51.
  • a detachable part 611 is provided at the base of each attachment. The portion ahead of the detachable part 611 corresponds to the cooking part 612 of each attachment.
  • FIG. 35 shows the appearance of a manipulator attachment 651 which is an attachment having a manipulator function for grasping food materials and tableware. Details of the manipulator attachment 651 will be described later.
  • FIG. 35 shows the appearance of a spatula attachment 652 which is an attachment having a spatula function.
  • the spatula attachment 652 has a thin and thin plate shape whose tip is rounded in a semicircular shape.
  • the spatula attachment 652 is made of metal such as stainless steel, ceramic, resin, or the like.
  • spatula attachment 652 work such as nappe is performed as described above.
  • the material of the spatula attachment 652 is a metal
  • the spatula attachment 652 is applied to the food, thereby burning the food with the heat supplied from the cooking arm 51 or cooling the food with the cool air supplied from the cooking arm 51.
  • the work may be performed.
  • FIG. 35 shows the appearance of a knife attachment 653 which is an attachment having a knife function.
  • the knife attachment 653 has a thin and thin plate shape. A blade is formed below the knife attachment 653.
  • the knife attachment 653 is made of metal such as stainless steel, ceramic, resin, or the like.
  • the operation of cutting the food material is performed as described above.
  • the material of the knife attachment 653 is metal, food is cut while burning the cut surface by the heat generated by the heating wire inside the knife attachment 653.
  • AA of FIG. 36 shows the appearance of the universal bar attachment 654.
  • the universal rod attachment 654 has a thin rod shape with a rounded tip.
  • the universal rod attachment 654 is made of metal such as stainless steel.
  • a task of stirring the soup in the pot or warming the soup is performed.
  • the universal bar attachment 654 is inserted into the soup, the universal bar attachment 654 is heated by the heat supplied from the cooking arm 51, and the soup is heated by the heat of the universal bar attachment 654.
  • BB in FIG. 36 shows the appearance of the shaker attachment 655.
  • the shaker attachment 655 has a hollow cylindrical shape.
  • the shaker attachment 655 includes a base portion 655-1 and a capsule portion 655-2 provided at the tip of the base portion 655-1.
  • the capsule part 655-2 is made of a transparent material such as tempered glass, acrylic resin, or the like.
  • the attachment 601 described with reference to FIGS. 33 and 34 is a shaker attachment 655.
  • a part of the capsule part 655-2 is configured as a slidable lid part. Ingredients such as seasonings to be mixed are put into the capsule portion 655-2 from the opening formed when the lid portion is opened.
  • CC of FIG. 36 shows the appearance of the spindle attachment 656.
  • the spindle attachment 656 has a thin rod shape with a sharp tip.
  • the rod-shaped portion before the movable portion 656A is rotatable.
  • the spindle attachment 656 is made of metal such as stainless steel.
  • the operation of peeling the vegetables is performed using the spindle attachment 656 as described above.
  • the cooking arm 51 to which the spindle attachment 656 is attached lifts the potato by piercing the tip of the spindle attachment 656, and rotates the potato in that state.
  • another cooking arm 51 to which a peeler attachment is attached presses the peeler attachment against the surface of the rotating potato to peel the potato.
  • FIG. 37 shows the appearance of the peeler attachment 657.
  • the peeler attachment 657 has a horizontally long elliptical shape, and an elliptical hole is formed at the center thereof. Along the hole, a blade for peeling is formed.
  • the peeler attachment 657 is made of metal such as stainless steel, ceramic, resin, or the like.
  • the operation of peeling vegetables is performed in cooperation with the cooking arm 51 to which the spindle attachment 656 is attached.
  • FIG. 37 shows the appearance of the cleaner attachment 658.
  • the cleaner attachment 658 has a substantially triangular shape that spreads from the root to the tip.
  • the cleaner attachment 658 is made of metal such as stainless steel, resin, or the like.
  • FIG. 38 shows the appearance of the cover attachments 659 and 660.
  • the cover attachments 659 and 660 have a cylindrical housing with a hollow inside.
  • the cover attachment 659 is wider than the cover attachment 660.
  • the cover attachments 659 and 660 are made of a transparent material such as tempered glass and acrylic resin.
  • a detachable portion 611 is provided at the center of the upper surface of each of the cover attachments 659 and 660.
  • the entire bottom surface of the housing of the cover attachments 659 and 660 is open.
  • the cover attachments 659 and 660 are used to cover foods placed on the top plate 21A and perform various operations in the hollows inside. Details of the cover attachments 659 and 660 will be described later.
  • the robot kitchen 1 is provided with various types of dedicated attachments different from tools used for cooking by humans.
  • the cooking arm 51 can be provided with various cooking functions.
  • attachments are grouped and managed according to the cooking process and frequency of use. For example, an attachment that is frequently used is stored in the upper shelf of the cooking assistance unit 31-3 at a position where it can be easily taken out. In this case, the attachment that is used less frequently is stored in the lower shelf of the cooking assistance unit 31-3.
  • each attachment is sold separately.
  • the user can increase the variations of cooking that can be performed by the robot kitchen 1 by additionally purchasing.
  • Fig. 39 is a diagram illustrating a configuration example of the manipulator attachment 651.
  • a gripper 671 is provided on the distal end side of the manipulator attachment 651.
  • the grip part 671 is formed of a deformable material such as silicon.
  • the grip portion 671 is divided into three forks to form three finger portions 671A to 671C.
  • the lower part of FIG. 39 shows a state in which the grip portion 671 is viewed from the distal end side of the manipulator attachment 651.
  • the finger portions 671A to 671C have curved surfaces.
  • the width of the finger portion 671A is wider than the width of the finger portions 671B and 671C.
  • joints 681-1 to 681-3 are provided inside each finger. Each joint is connected by a wire 682.
  • the joint 681-1 is provided near the base of the gripper 671 that branches into the fingers 671A to 671C, and the joint 681-3 is provided near the tip of each finger.
  • the joint portion 681-2 is provided at a position slightly closer to the joint portion 681-3 than an intermediate position between the joint portions 681-1 and 681-3.
  • the distance between the joints on the distal end side of the grip 671 is shorter than the distance between the joints on the rear end side.
  • FIG. 40 is a diagram illustrating an example of the movement of the holding unit 671.
  • the state of the gripper 671 shown on the left side of FIG. 40 is a state during standby.
  • the state of the grip portion 671 shown in the center of FIG. 40 is a state in which a large object is being gripped.
  • the joints 681-1 of the fingers 671A to 671C are driven so as to open a portion ahead of the joint 681-1 outward. Also, the joints 681-2 of the fingers 671A to 671C are driven so as to gently close the part ahead of the joint 681-2 inward.
  • the state of the holding portion 671 shown on the right side of FIG. 40 is a state where a small object is being pinched.
  • the joint portions 681-1 of the finger portions 671A to 671C are driven so as to open the portion earlier than the joint portion 681-1 outward, as in the case of grasping a large object.
  • the joints 681-2 of the finger portions 671A to 671C drive the portions ahead of the joints 681-2 to close more inward than when gripping a large object.
  • the joints 681-3 of the fingers 671A to 671C are driven so as to open a portion ahead of the joint 681-3 outward.
  • the finger portions 671A to 671C can make different movements instead of making the same movement.
  • FIG. 41 and FIG. 42 are diagrams showing a state in which food is gripped.
  • the baguette on which smoked salmon is placed is gripped by the manipulator attachment 651 by bending the finger portion 671A to make the finger portions 671B and 671C substantially straight.
  • Air suction ports are provided on the inner surfaces of the finger portions 671A to 671C. By adsorbing the object on the inner surfaces of the finger portions 671A to 671C, it is possible to support the force of gripping the object such as food.
  • FIG. 43 is a figure which expands and shows the cleaner attachment 658.
  • a narrow opening 658A is formed at the tip of the cleaner attachment 658 having a triangular shape.
  • hot water is ejected from the opening 658A.
  • the surface of the top plate 21A is cleaned by the warm water spouted from the opening 658A.
  • the warm water used for cleaning is sucked into the opening 658A as indicated by an arrow A112.
  • the ejection and suction of the hot water are performed, for example, simultaneously.
  • the robot kitchen 1 can clean the surface of the top plate 21A by driving the cooking arm 51 so as to trace the tip of the cleaner attachment 658.
  • the surface of the top plate 21A may be cleaned by discharging steam from the opening 658A.
  • FIG. 44 is a diagram showing an example of another application of the cleaner attachment 658.
  • the groove 101 is provided with a function of treating waste. As shown in FIG. 44, the cleaner attachment 658 is also used to put the waste on the top plate 21A into the groove 101.
  • the robot kitchen 1 recognizes the position of the waste, and drives the cooking arm 51 so as to sweep from the position of the waste to the position of the groove 101 with the tip of the cleaner attachment 658, thereby putting the waste into the groove 101. be able to.
  • the cleaner attachment 658 having such a function is used not only for cleaning the surface of the top plate 21A but also for cleaning other parts of the robot kitchen 1, such as the inside of the groove 101 and the rail 102.
  • -Cover attachment Fig. 45 is a diagram illustrating an example of the use of the cover attachment 659.
  • the cover attachment 659 is used, for example, over foodstuffs placed on the top plate 21A.
  • the cover attachment 659 is covered by two potatoes by the cooking arm 51.
  • the water supplied from the cooking arm 51 fills the inside of the cover attachment 659 as shown in FIG. After the inside of the cover attachment 659 is filled with water, convection is generated in the cover attachment 659 by the air supplied from the cooking arm 51, and the food is washed.
  • the cover attachment 659 is used for cleaning foods in the internal space by bringing the opening into close contact with the surface of the top plate 21A.
  • the cover attachment 659 is used for performing smoke cooking of ingredients in the internal space.
  • the food is covered with the cover attachment 659, and smoke cooking is performed in the space inside the cover attachment 659 by the smoke supplied from the cooking arm 51.
  • the cover attachment 659 is also used for cooking fried food in the internal space.
  • the food is covered with the cover attachment 659, and the fried food is cooked in the space inside the cover attachment 659 by high-temperature edible oil sprayed from the cooking arm 51.
  • the cover attachment 659 is used for performing various operations in the internal space. Since the work is performed in a closed space, it is possible to prevent the surroundings from being soiled.
  • the use of the cover attachment 660 is basically the same as the use of the cover attachment 659.
  • the cover attachment 659 is used when the amount of food is large or when handling large foods
  • the cover attachment 660 is used when the amount of food is small or when handling small foods.
  • the cover attachment 659 and the cover attachment 660 may be selectively used depending on the application, such as using the cover attachment 659 for washing the food and smoke cooking, and using the cover attachment 660 for cooking fried foods.
  • Fig. 46 is a block diagram illustrating a configuration example of hardware of the robot kitchen 1.
  • the robot kitchen 1 is configured by connecting various parts to the controller 201. 46, the same components as those described above are denoted by the same reference numerals. Duplicate descriptions will be omitted as appropriate.
  • the above-described components such as the cooking assistance system 31, the cooking arm 51, the waste disposal device 122, and the arm function control device 133 are connected to the controller 201.
  • the controller 201 is connected to the arm movement control unit 202, the cleaning unit 203, the top plate driving unit 204, and the top plate temperature adjustment unit 205.
  • a camera 206 To the controller 201, a camera 206, a microphone 207, a projector 208, a speaker 209, a sensor 210, a communication unit 211, and a drive unit 212 are connected.
  • the controller 201 includes a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, and the like.
  • the controller 201 executes a predetermined program by the CPU and controls the entire operation of the robot kitchen 1.
  • the computer constituting the controller 201 is housed inside the housing 11 and functions as a control device for controlling the operation of the robot kitchen 1.
  • the arm movement control unit 202 includes a motor that moves the arm movement unit 131 along the rail 102, a sensor that detects the position of the arm movement unit 131, and the like.
  • the cleaning unit 203 is constituted by an ultraviolet disinfector, a hand dryer, and a water jetting device.
  • the cleaning unit 203 is also provided with a sensor and the like for detecting that a user's hand has been put into the groove 101.
  • at least one of the ultraviolet disinfection device, the hand dryer, and the water ejection device may be provided in the cleaning unit 203.
  • the ultraviolet rays generated by the ultraviolet disinfection unit constituting the cleaning unit 203 are irradiated from the irradiation port 111 provided in the groove 101.
  • the jet air generated by the hand dryer constituting the cleaning unit 203 is discharged from the ejection port 112 provided in the groove 101.
  • the water pressurized by the ejection device constituting the cleaning unit 203 is discharged from the ejection port 113 provided in the groove 101.
  • the top plate driving unit 204 includes a motor that drives the top plate 21B together with the cooking assistance system 31, a sensor that detects the position of the cooking assistance system 31, and the like.
  • the top plate temperature adjustment unit 205 includes a heating device that warms the surface of the top plate 21A, a cooling device that cools the surface of the top plate 21A, and a temperature sensor that measures the temperature of each part of the top plate 21A.
  • the temperature of the surface of the top plate 21A can be adjusted for each position.
  • the temperature of the surface of the top plate 21A is adjusted according to, for example, a cooking process.
  • the camera 206 takes an image of the room where the robot kitchen 1 is installed, and outputs an image obtained by the imaging to the controller 201.
  • the cameras 206 are provided at various positions such as the side surface of the housing 11, the front surface of the cooking assistance system 31, the inside of the groove 101, and the like.
  • the microphone 207 detects the voice of the user and outputs data of the voice of the user to the controller 201.
  • the environmental sound of the room where the robot kitchen 1 is installed is also detected by the microphone 207.
  • the environmental sound data is used for analysis of the surrounding state.
  • the projector 208 projects various information such as a menu of a dish and information of a cooking process. Various requests to the robot kitchen 1, such as requesting a change, are also input using the UI projected by the projector 208.
  • the surface of the top plate 21A is used as a projection surface of information by the projector 208, for example.
  • Other planes such as a floor surface, a wall surface provided on the back side of the robot kitchen 1, and a top plate surface of a dining table provided in front of the robot kitchen 1 may be used as a projection surface.
  • a display such as an LCD or an organic EL display may be provided at a predetermined position in the robot kitchen 1 instead of or together with the projector 208.
  • the speaker 209 outputs a predetermined sound such as a synthesized voice, a sound effect, and BGM.
  • the sensor 210 includes various sensors such as a temperature and humidity sensor, a pressure sensor, an optical sensor, a distance sensor, a human sensor, and a positioning sensor.
  • the detection by the sensor 210 is performed at a predetermined cycle.
  • Data representing the result of detection by the sensor 210 is output to the controller 201.
  • the communication unit 211 is a wireless communication module such as a wireless LAN module and a mobile communication module compatible with LTE (Long Term Evolution).
  • the communication unit 211 communicates with the transport robot 2 and an external device such as a server on the Internet. Communication between the controller 201 and the cooking arm 51 may be performed by the communication unit 211.
  • the communication unit 211 communicates with a mobile terminal such as a smartphone or a tablet terminal used by the user.
  • the user's request for the robot kitchen 1 may be input by an operation on the mobile terminal.
  • the notification to the user from the robot kitchen 1 may be performed using the screen display of the mobile terminal. For example, when it is time to perform an operation in cooperation with the user, this is notified to the user using the screen display of the mobile terminal.
  • the robot kitchen 1 has a function of cooperating with the mobile terminal of the user.
  • the drive unit 212 is a drive unit that drives each unit such as a motor that drives the tray unit 161 that forms the bottom surface of the storage units 151R and 151L of the transport robot 2.
  • the camera 206, the microphone 207, the projector 208, the speaker 209, and the sensor 210 may be provided not at the robot kitchen 1 but at a position away from the robot kitchen 1.
  • Each device provided at a position away from the robot kitchen 1 is connected to the controller 201 via wireless communication.
  • the projector 208 provided at a position distant from the robot kitchen 1 projects predetermined information on a projection surface based on information transmitted from the controller 201.
  • the sensor 210 provided at a position distant from the robot kitchen 1 transmits detection data to the controller 201.
  • FIG. 47 is a block diagram illustrating a configuration example of hardware of the cooking arm 51.
  • the cooking arm 51 includes a controller 231, a communication unit 232, a sensor 233, and a motor 234.
  • the controller 231 has a CPU, a ROM, a RAM, a flash memory, and the like.
  • the controller 231 executes a predetermined program and controls the driving of the motor 234 based on information transmitted from the controller 201 which is a control device on the main body side of the robot kitchen 1. Further, the controller 231 controls the driving of the motor 234 according to the detection result of the sensor 233.
  • the controller 231 controls the driving of the attachment.
  • the controller 231 functions as a cooking control unit that controls the cooking function of the attachment.
  • the communication unit 232 receives the information transmitted from the controller 201 and outputs the received information to the controller 231. For example, information for controlling the driving of each joint and information for controlling the driving of the attachment are transmitted from the controller 201.
  • the communication unit 232 transmits information on the state of the cooking arm 51 to the controller 201 as appropriate.
  • the information on the state of the cooking arm 51 includes information indicating the driving state of each joint, which is represented by the detection result of the sensor 233, and the like.
  • the communication unit 232 is connected to the controller 201 as a control device on the main body side of the robot kitchen 1, and functions as a connection unit for transmitting and receiving various information to and from the controller 201.
  • the sensor 233 is configured by, for example, a gyro sensor, an acceleration sensor, a touch sensor, and the like.
  • the sensor 233 detects the angular velocity, acceleration, and the like of each joint during operation of the cooking arm 51, and outputs information representing the detection result to the controller 231.
  • the sensor 233 detects a user's contact state with each member of the cooking arm 51 during operation of the cooking arm 51, and outputs information representing the user's contact state to the controller 231. For example, the sensor 233 detects a contact state of a user working in cooperation with the cooking arm 51.
  • the information indicating the detection result of the sensor 233 is appropriately output from the controller 231 to the communication unit 232 and transmitted to the controller 201 on the main body side.
  • the operation of the cooking arm 51 is controlled by the controller 201 based on the information detected by the sensor 233.
  • the cooking arm 51 may be provided with a function that operates not only according to the control of the controller 201 but also operates autonomously.
  • the motor 234 is provided at each joint.
  • the motor 234 performs a rotation operation around the axis under the control of the controller 231.
  • the motor 234 functions as a driving unit that drives according to the control of the controller 231.
  • An encoder that detects the amount of rotation of the motor 234, a driver that adaptively controls the rotation of the motor 234 based on the detection result of the encoder, and the like are also provided at each joint.
  • FIG. 48 is a block diagram illustrating an example of a functional configuration of the controller 201 in FIG.
  • At least a part of the functional units shown in FIG. 48 is realized by executing a predetermined program by the CPU of the computer constituting controller 201.
  • the analysis unit 249, the surrounding state recognition unit 250, the person state recognition unit 251, the voice analysis unit 252, the voice recognition unit 253, the voice UI control unit 254, the projection control unit 255, and the transport robot control unit 256 Is achieved.
  • the cooking process management unit 241 controls each unit according to the cooking process described in the recipe data. The control of each unit by the cooking process management unit 241 is appropriately performed according to the recognition result of the surrounding state recognition unit 250, the person state recognition unit 251, the voice recognition unit 253, and the like.
  • the operation mode management unit 242 manages the operation mode of the robot kitchen 1.
  • the operation mode management unit 242 controls the top plate driving unit 204 and deforms the robot kitchen 1 according to the operation mode.
  • the operation mode management unit 242 causes the cooking assistance system 31 and the like to be housed in the housing 11 as described with reference to FIG.
  • the operation mode management unit 242 switches the operation mode of the robot kitchen 1 from the sleep mode to the active mode when the person state recognition unit 251 recognizes that a specific user is nearby.
  • the operation mode management unit 242 raises the cooking assistance system 31 together with the top plate 21B, and exposes the cooking assistance space such as the cooking assistance system 31 and the groove 101.
  • the arm control unit 243 controls the position of the cooking arm 51 on the rail 102 by driving the arm movement control unit 202.
  • the arm control unit 243 controls the posture and operation of the cooking arm 51 by driving each joint of the cooking arm 51.
  • the arm control unit 243 controls the driving of the attachment attached to the cooking arm 51.
  • the unit control unit 244 controls the driving of each unit. Under the control of the unit control unit 244, the respective cooking auxiliary units constituting the cooking auxiliary system 31, the respective devices of the washing unit 203, the waste disposal device 122, the arm function control device 133 and the like are driven.
  • the recipe data storage unit 245 stores recipe data in which a cooking process is described.
  • the recipe data storage unit 245 is realized by the memory of the controller 201.
  • the recipe data acquisition unit 246 reads and acquires recipe data of a dish from the recipe data storage unit 245. As shown in FIG. 49, recipe data is prepared for each dish.
  • Which food to make is selected by the user from a menu projected by the projector 208, for example.
  • which dish to cook may be selected according to the ingredients prepared in the cooking assistance system 31.
  • the ingredients prepared in the cooking assistance system 31 are recognized by the surrounding state recognizing unit 250, and a dish that can be made with the ingredients prepared in the cooking assistance system 31 is selected by the cooking process management unit 241.
  • a dish to be cooked may be selected according to a person who eats the dish.
  • a person near the robot kitchen 1 is recognized by the person state recognition unit 251, and a dish that matches the taste of the recognized person is selected by the cooking process management unit 241.
  • the cooking process management unit 241 information on preferences of people living in the house where the robot kitchen 1 is installed is registered. In this case, cooking using the cooking arm 51 is performed according to the taste of the person who eats the dish.
  • the cooking process management unit 241 may select a dish according to the attribute of the person who eats the dish, such as gender and age, or a dish according to the nature of the person eating the dish, such as personality and mood. The selection may be made by the cooking process management unit 241. The attributes and properties of the person who eats the dish are also recognized by the person state recognition unit 251.
  • the cooking process management unit 241 may select a dish according to the timing of eating the dish, such as a season, a temperature, and a time zone.
  • the recipe data acquisition unit 246 reads and acquires the recipe data of the dish selected to be cooked from the recipe data storage unit 245, and outputs the recipe data to the cooking process management unit 241.
  • the recipe data acquired by the recipe data acquisition unit 246 is also output to the recipe data processing unit 247 as appropriate.
  • the recipe data may not be obtained from the recipe data storage unit 245 in the robot kitchen 1, but may be obtained from a server connected via the Internet as shown in FIG.
  • the recipe data management server 271 shown in FIG. 50 various types of recipe data are managed.
  • the recipe data according to the request from the recipe data acquisition unit 246 is transmitted from the recipe data management server 271 to the robot kitchen 1, and is acquired by the recipe data acquisition unit 246.
  • the recipe data processing unit 247 processes the recipe data supplied from the recipe data acquisition unit 246, and outputs the processed recipe data to the cooking process management unit 241. Processing of the recipe data will be described later.
  • the cooking log management unit 248 manages a cooking log, which is a history of cooking performed in the robot kitchen 1.
  • a cooking log for example, information on a person who has eaten the food, information on the food made in the robot kitchen 1, and information on the cooking indicating in what process the robot kitchen 1 made the food are recorded.
  • the analysis unit 249 analyzes an image captured by the camera 206 and data detected by the sensor 210.
  • the analysis result by the analysis unit 249 is supplied to the surrounding state recognition unit 250 and the person state recognition unit 251.
  • the surrounding state recognition unit 250 recognizes the surrounding state based on the analysis result by the analysis unit 249.
  • the recognition result of the surrounding state is output to the cooking process management unit 241.
  • the surrounding state recognition unit 250 recognizes the state of the cooking assistance system 31 such as the type and amount of ingredients prepared in the cooking assistance system 31, the type and number of dishes, the type and number of cutlery, and the type of attachment. I do.
  • the surrounding state recognition unit 250 also determines the state of the food being cooked by the cooking assistance system. It is recognized as state 31.
  • the surrounding state recognizing unit 250 recognizes the state of the cooking arm 51, such as the position and operation of each cooking arm 51, and the state of ingredients handled by the cooking arm 51.
  • the surrounding state recognition unit 250 recognizes the state of the transport robot 2 such as the position and the posture of the transport robot 2 when the transport is performed by the transport robot 2.
  • the person state recognition unit 251 recognizes the state of the person based on the analysis result by the analysis unit 249. Not only the motion of the person, but also the gender, age, height of the person, facial expression, emotion, progress of the meal, etc. are recognized. The recognition result of the person's state is output to the cooking process management unit 241.
  • the person state recognition unit 251 recognizes the work state of the user such as the user's standing position and the movement of each part of the user's body.
  • the work performed by the user is determined by the cooking process management unit based on the recognition result by the person state recognition unit 251. 241 is learned. The continuation of the operation is performed by controlling the arm control unit 243 and the like by the cooking process management unit 241.
  • the state of the work of the user recognized by the person state recognition unit 251 is also used by the cooking process management unit 241 for ensuring the safety of the user and determining whether the user has performed the work correctly.
  • the movable range of the cooking arm 51 is set as a dangerous area.
  • the safety of the user is ensured by outputting a warning or stopping the operation of the cooking arm 51. Since work is performed in cooperation with the user, such safety considerations are required.
  • the person state recognition unit 251 recognizes the state of the person near the robot kitchen 1, such as the number of people who eat food and the attributes of those who eat food. For example, a person near the robot kitchen 1 is treated as a person who eats food.
  • the recognition of the surrounding state by the surrounding state recognition unit 250 and the recognition of the state of the person by the person state recognition unit 251 may be performed using the analysis result of the sound detected by the microphone 207.
  • the voice analysis unit 252 analyzes the voice of the user detected by the microphone 207, and outputs the analysis result to the voice recognition unit 253.
  • the voice recognition unit 253 recognizes the content of the utterance of the user based on the analysis result by the voice analysis unit 252. For example, a request for the robot kitchen 1 is input by voice. The recognition result of the content of the utterance of the user is output to the cooking process management unit 241 and the voice UI control unit 254.
  • the voice UI control unit 254 determines the content of the response to the utterance of the user based on the recognition result by the voice recognition unit 253, and outputs the synthesized voice from the speaker 209. In addition, the voice UI control unit 254 causes the speaker 209 to output various synthesized voices such as inquiries to the user according to the control of the cooking process management unit 241.
  • the projection control unit 255 controls the projection by the projector 208.
  • the transport robot control unit 256 controls the communication unit 211 to communicate with the transport robot 2 and controls the operation of the transport robot 2.
  • the transport robot control unit 256 sets the position of the person to whom the dish is provided as the destination.
  • the position of the person serving the food is specified based on the recognition result of the person state recognition unit 251, for example.
  • the transport robot control unit 256 sets a movement route to the destination.
  • the recognition result of the obstacle and the like by the surrounding state recognition unit 250 is used for setting the movement route.
  • the transport robot control unit 256 transmits information on the destination and the movement route to the transport robot 2 and causes the transport of the dish.
  • FIG. 51 is a diagram showing an example of description of recipe data.
  • the recipe data of the dish A describes information on the cooking process of the dish A.
  • the cooking process indicates the order of operations.
  • the types of work constituting the cooking process include a work performed by the robot kitchen 1 (cooking arm 51) alone, a work performed in cooperation with a user, a work performed by the transfer robot 2 and the like.
  • the work performed by the robot kitchen 1 alone is referred to as an independent work, and the work performed in cooperation with the user is referred to as a cooperative work.
  • the work of carrying by the carrying robot 2 is called carrying work.
  • the information on the cooking process includes a plurality of pieces of work information that is information on the work.
  • work information on work # 0 work information on work # 1
  • work information on work # 2,... are described in the order of work.
  • one piece of work information includes information on a cooking arm ID, an attachment type, an attachment function, a cooking auxiliary unit type, a cooking arm position, a cooking arm operation, a material, and tableware.
  • the cooking arm ID is an identifier of the cooking arm 51 that performs the work. Based on the cooking arm ID, the cooking arm 51 in charge of the work is specified. When a plurality of cooking arms 51 perform one work in cooperation, a plurality of cooking arm IDs are described in the work information of the work.
  • Attachment type indicates the type of attachment used for work.
  • the attachment represented by the attachment type is attached to the cooking arm 51 responsible for the work.
  • Attachment function indicates the function of the attachment used for the work, such as water supply and air suction.
  • Cooking auxiliary unit type indicates the type of cooking auxiliary unit used for work. For example, when preparing tableware, use of the cooking auxiliary unit 31-4 in which the tableware is stored is specified by the type of the cooking auxiliary unit.
  • the cooking arm position indicates the position of the cooking arm 51 on the rail 102 when performing the work.
  • the position of the cooking arm 51 is controlled to move to the position represented by the cooking arm position.
  • Cooking arm operation indicates the operation of the cooking arm 51 when performing a task. Specifically, the operation of the cooking arm 51 is represented by a time series such as the angle of each joint, the torque of the motor 234 that drives the joint, and the like. Each part of the cooking arm 51 is controlled so as to perform the operation represented by the cooking arm operation.
  • Ingredients represent the ingredients used in the work, such as seasonings and ingredients.
  • Tableware represents tableware and cutlery used for work.
  • FIG. 52 is a diagram showing a specific example of the description of the recipe data.
  • the cooking process shown in FIG. 52 is a cooking process relating to “salad”.
  • operations # 0 to # 13 are shown as cooking processes relating to “salad”.
  • Work # 0 is a work of preparing food 1.
  • the operation # 0 is an independent operation performed by the robot kitchen 1 alone.
  • the food 1 as the first food is taken out of the cooking assistance system 31 by the cooking arm 51-1 to which the manipulator attachment 651 is attached and placed on the top board 21A.
  • Work # 1 is an independent work of preparing food 2 which is the second food. As with the operation # 0, the ingredients 2 are prepared according to the description of the operation information of the operation # 1.
  • Work # 2 is an independent work to prepare food material 3 as the third food material. Similarly to the operation # 0, the foodstuff 3 is prepared according to the description of the operation information of the operation # 2.
  • the “salad” made based on the recipe data in FIG. 52 is a dish using three types of ingredients.
  • Each work is performed in parallel with other work as appropriate.
  • the work described later in the cooking process may be performed before the work described earlier.
  • Work # 3 is an independent work to prepare a kitchen knife for the user.
  • the kitchen knife for the user is taken out of the cooking assistance system 31 by the cooking arm 51-1 to which the manipulator attachment 651 is attached and presented to the user.
  • the user receives the provided kitchen knife.
  • Work # 4 is a work of learning the operation of the user who cuts the food 1 and cutting the food 1 by the same operation as the operation of the user. Work # 4 is a cooperative work performed in cooperation with the user.
  • the notification to the user is performed by, for example, projecting predetermined information using the projector 208 or outputting a synthesized voice from the speaker 209.
  • the LED provided at a predetermined position on the top plate 21A may emit light to notify the user. It is also possible to notify the user by transmitting the information to the user's mobile terminal and displaying the information on the screen.
  • the user cuts the foodstuff 1 using the provided kitchen knife.
  • the motion of the user is recognized by the person state recognition unit 251 and learning is performed.
  • the user is notified that the learning is completed. The user who has received this notification can leave the continuation of cutting the food 1 to the robot kitchen 1.
  • the food 1 is cut by the same operation as that of the user, for example, by the cooking arm 51-2 to which the knife attachment 653 is attached.
  • Work # 5 is a cooperative work for cutting the food 2. Similar to the operation # 4, the user's operation of cutting the food 2 is learned, and the cooking arm 51 continues to cut the food 2 based on the learning result.
  • Work # 6 is a cooperative work for cutting the food material 3. Similar to the operation # 4, the user's operation of cutting the food 3 is learned, and the cooking arm 51 continues to cut the food 3 based on the learning result.
  • Work # 7 is an independent work of preparing dressing materials.
  • the seasoning is taken out from the cooking assistance system 31 by the cooking arm 51-1 to which the manipulator attachment 651 is attached, for example.
  • the lid of the shaker attachment 655 is opened by the cooking arm 51-3 to which the shaker attachment 655 is attached, and the shaker attachment 655 approaches the cooking arm 51-1 holding the seasoning.
  • the operation # 7 is an operation performed by the plurality of cooking arms 51 in cooperation.
  • the seasoning is poured into the shaker attachment 655 by the cooking arm 51-1.
  • a plurality of seasonings are poured into the shaker attachment 655 in order.
  • Work # 8 is an independent work to stir the seasoning poured as a dressing material.
  • the shaker attachment 655 is shaken by the cooking arm 51-3, and the seasoning poured into the shaker attachment 655 is stirred. Olive oil and the like are also supplied from the cooking arm 51-3 into the shaker attachment 655.
  • Work # 9 is a dressing tasting work.
  • Operation # 9 is a cooperative operation.
  • the shaker attachment 655 with the lid open is provided to the user by, for example, the cooking arm 51-3. Further, a notification for prompting a taste is made. In response to the notification from the robot kitchen 1, the user tastes the dressing.
  • the tasting operation ends.
  • Work # 10 is an independent work of preparing tableware.
  • a dish for serving salad is taken out of the cooking assistance system 31 by the cooking arm 51-1 to which the manipulator attachment 651 is attached, for example, and placed on the top plate 21A.
  • Work # 11 is a collaborative work for serving salads.
  • Work # 12 is a work for transporting the salad.
  • Operation # 12 is a transport operation by the transport robot 2.
  • the position of the transport robot 2 is controlled by the transport robot controller 256 according to the description of the operation information of the operation # 12. Under the control of the transport robot control unit 256, the transport robot 2 moves to, for example, a transport reference position set as a position where the cooking arm 51 can reach.
  • Information on the control of the transport robot 2 is described in the work information of the transport operation. Information on the destination and the movement route is transmitted from the transport robot control unit 256 to the transport robot 2.
  • the dish on which the salad is placed is grasped by the cooking arm 51-1 to which the manipulator attachment 651 is attached, for example, and placed on the top plate of the transport robot 2. After the plate is placed on the top plate, the transport is started by the transport robot 2.
  • Work # 13 is a cleaning work. Operation # 13 is an independent operation.
  • the uncut food is put into the groove 101 by, for example, the cooking arm 51-4 to which the cleaner attachment 658 is attached. Further, the surface of the top plate 21A is cleaned using hot water or steam.
  • the “salad” is cooked by the cooking process consisting of the above series of operations. Information for realizing each of the above operations is described in each recipe data.
  • the content of each task changes depending on various conditions such as the condition of the person eating the dish. Even in the case of cooking the same dish, for example, if the number of people who eat the dish is large, the amount of necessary ingredients increases, and the number of times the same operation is repeated also increases.
  • recipe data of one dish for example, a plurality of recipe data having different descriptions depending on a combination of conditions is prepared.
  • FIG. 53 is a diagram showing an example of a condition for determining the description content of the recipe data.
  • the conditions for determining the description content of the recipe data include a condition for cooking and a condition for a person who eats the dish.
  • Conditions for cooking include, for example, the number of cooking arms 51, types of available attachments, the number of transport robots 2, the number of users involved in cooking, and the degree of involvement in cooking.
  • the type of work that can be performed changes according to the type of attachment prepared in the cooking assistance system 31.
  • two transport robots 2 are prepared. However, only one transport robot 2 may be prepared, or three or more transport robots 2 are prepared by additional purchase. Sometimes.
  • the number and types of cooperative work that can be performed simultaneously vary according to the number of users involved in cooking.
  • the number, content, and ratio of cooperative work vary depending on the degree of involvement in cooking. For example, the higher the degree of involvement, the greater the number of collaborative tasks, or the more advanced tasks are required of the user.
  • the user can select the degree of involvement by himself.
  • the selection of the degree of involvement is performed at a predetermined timing, for example, before the start of cooking.
  • Conditions for food eater include number, gender and age of food eater.
  • Various conditions expressed by information that can be acquired as user information such as schedule information on a food eater's schedule, biometric information, and the like, in addition to conditions relating to appearance such as weight and height, as conditions relating to a food eater. May be included.
  • cooking is performed with a reduced amount of ingredients.
  • the blood pressure represented by the biological information is high, cooking with reduced salt is performed.
  • a plurality of recipe data having different descriptions depending on the combination of such conditions is prepared as recipe data of each dish.
  • recipe data of the dish A data having different description contents is prepared by the number of combinations of conditions.
  • the recipe data acquisition section 246 in FIG. 48 reads out the recipe data corresponding to the condition from the recipe data of the selected dish from the recipe data storage section 245 and acquires it.
  • recipe data according to conditions may be generated based on one recipe data serving as a reference.
  • the recipe data processing unit 247 processes one reference recipe data acquired by the recipe data acquisition unit 246 and generates recipe data according to the conditions.
  • FIG. 54 is a diagram showing an example of processing recipe data.
  • the learned model shown in FIG. 54 is a model that inputs recipe-related conditions, cooker-related conditions, and recipe data, and outputs recipe data according to the conditions. For example, machine learning is performed using various recipe data and conditions as input, and a learned model is generated. Conditions other than those relating to cooking and those relating to the person who eats the food may be used for learning the model.
  • the recipe data processing unit 247 inputs the reference recipe data of the recipe A to the learned model together with the conditions relating to the recipe and the conditions relating to the person who eats the recipe.
  • the recipe data processing unit 247 acquires the recipe data output as the inference result as the recipe data of the dish A according to the condition.
  • Such a model may be prepared in the recipe data processing unit 247 to process the recipe data.
  • FIG. 55 is a diagram showing another example of processing recipe data.
  • the recipe data processing unit 247 merges the recipe data of cooking A and the cooking data of cooking B, as shown in FIG. Generate recipe data to make.
  • the robot kitchen 1 can shorten the cooking time by changing the description content of the recipe data so that the operations for making each of the dishes are appropriately performed in parallel. Becomes
  • step S1 the cooking process management unit 241 selects which dish to cook.
  • step S2 the cooking process management unit 241 acquires a condition relating to cooking.
  • conditions such as the number of cooking arms 51 and types of available attachments are detected and acquired.
  • step S3 the cooking process management unit 241 acquires a condition relating to a person who eats the dish.
  • conditions such as the number, gender, and age of people are detected and acquired.
  • the recognition result of the surrounding state by the surrounding state recognition unit 250 and the recognition result of the state of the person by the person state recognition unit 251 are appropriately used.
  • the information on the dish selected to be cooked and the information on the conditions acquired by the cooking process management unit 241 are supplied to the recipe data acquisition unit 246.
  • step S4 the recipe data acquisition unit 246 reads and acquires recipe data according to the conditions from the recipe data storage unit 245. By performing the processing described above, the recipe data according to the condition may be generated by the recipe data processing unit 247.
  • the recipe data acquired by the recipe data acquisition unit 246 is supplied to the cooking process management unit 241 and thereafter used for cooking.
  • the processing in FIG. 57 is started at a predetermined timing, for example, when it is detected that the user performing the cooperative work is near the robot kitchen 1.
  • step S11 the cooking process management unit 241 pays attention to one operation described in the recipe data.
  • step S12 the cooking process management unit 241 determines whether or not the work of interest is a single operation performed by the robot kitchen 1 alone.
  • step S13 the arm control unit 243 controls the position and operation of each cooking arm 51 according to the description of the recipe data.
  • the work information of the work of interest is supplied from the cooking process management unit 241 to the arm control unit 243.
  • step S14 the cooking process management unit 241 determines whether all operations have been completed. If it is determined in step S14 that all the operations have not been completed, the cooking process management unit 241 returns to step S11, and repeats the subsequent processes while focusing on the next operation.
  • step S15 the cooking process management unit 241 determines whether or not the work to be focused on is a cooperative work performed in cooperation with the user.
  • step S16 the cooking process management unit 241 performs a predetermined work by controlling the voice UI control unit 254 and the projection control unit 255, for example. To the user.
  • step S17 the arm control unit 243 controls the position and operation of each cooking arm 51 according to the description of the recipe data. Thereby, the cooperative work between the user and the robot kitchen 1 is performed.
  • step S15 If it is determined in step S15 that the work to be focused on is not a cooperative work, in step S18, a transport process for transporting a dish or the like is performed. Details of the carrying process will be described later with reference to the flowchart in FIG.
  • step S17 After the cooperative work is performed in step S17, or after the carrying process is performed in step S18, the process proceeds to step S14. If it is determined in step S14 that all operations have been completed, the process ends.
  • step S18 in FIG. 57 will be described with reference to the flowchart in FIG.
  • the transport process is started at a predetermined timing, for example, when a dish as a transport item is prepared.
  • step S31 the transport robot controller 256 sets a destination.
  • the position of the person serving the dish is set as the destination.
  • step S32 the transport robot controller 256 sets a moving route to the destination.
  • the movement route is set so as to avoid the obstacle recognized by the surrounding state recognition unit 250.
  • step S33 the transport robot control unit 256 transmits information on the destination and the movement route to the transport robot 2.
  • step S34 the transport robot control unit 256 calls (moves) the transport robot 2 to a preset transport reference position, and adjusts the height of the top plate so that the cooking arm 51 reaches the height.
  • step S35 the transport robot controller 256 determines whether or not the transport robot 2 is ready, and waits until determining that the transport robot 2 is ready.
  • the transport robot controller 256 determines whether or not the transport robot 2 is ready, and waits until determining that the transport robot 2 is ready.
  • step S36 the arm control unit 243 controls, for example, the cooking arm 51 to which the manipulator attachment 651 is attached, and places the dish on the top plate of the transport robot 2.
  • step S37 After placing the dish on the top plate, in step S37, the transport robot control unit 256 starts transporting. Thereafter, the flow returns to step S18 in FIG. 57, and the subsequent processing is performed.
  • the robot kitchen 1 can perform a part of the work in cooperation with the user and cook the dish.
  • the user can feel the real pleasure of cooking by selecting the degree of involvement himself.
  • a user with advanced skills can perform complicated tasks and enjoy cooking by setting a high degree of involvement.
  • top board part 21 moved according to operation mode switching, a part of top board part 21 moves according to the cooking process described in recipe data. You may do so.
  • the top plate 21B may be closed while the cooking arm 51 is kept out of the groove 101.
  • the cooking arms 51 are arranged at the center of the flat top 21 where the top 21A and the top 21B are at the same height.
  • FIG. 59 is an enlarged view showing the appearance of the transport robot 2.
  • the transport robot 2 is configured by connecting an annular base 801 and a circular thin top plate 802 with a thin rod-shaped support arm 803. A plurality of tires are provided on the bottom surface side of the base 801.
  • the base unit 801 functions as a moving unit that realizes movement of the transport robot 2.
  • the radial length of the base 801 and the radial length of the top plate 802 are substantially the same.
  • the support arm 803 is inclined as shown in FIG. 59.
  • the support arm 803 includes an arm member 803-1 and an arm member 803-2.
  • the diameter of the arm member 803-1 on the top plate 802 side is slightly smaller than the diameter of the arm member 803-2 on the base portion 801 side.
  • FIG. 60 is a perspective view showing a configuration of a connecting portion between base portion 801 and support arm 803.
  • the angle of the support arm 803 (arm member 803-2) can be adjusted at the connection with the base 801 about the axis indicated by the broken line.
  • the movable range of the support arm 803 around the axis is, for example, 90 degrees as shown by a dashed line.
  • FIG. 61 is a perspective view showing a configuration of a connecting portion between the top plate 802 and the support arm 803.
  • the connection between the top plate 802 and the support arm 803 (arm member 803-1) is provided at a position near the edge on the bottom surface side of the top plate 802.
  • the angle of the support arm 803 can be adjusted at a connection portion with the top plate 802 about an axis indicated by a broken line.
  • the movable range of the support arm 803 around the axis is, for example, 90 degrees as shown by a dashed line.
  • FIG. 61 shows the cameras 811-1 and 811-2. Based on an image captured by the camera, for example, a surrounding state during movement is recognized.
  • the transport robot 2 can change its posture. Further, the transport robot 2 can adjust the height of the top plate 802.
  • FIG. 62 is a diagram illustrating an example of a posture of the transport robot 2 when placing a dish.
  • the height of the top plate 802 is adjusted to be substantially the same as the height of the top plate 21A of the robot kitchen 1 by making the support arm 803 substantially vertical and making the length the maximum length. Have been.
  • a dish is placed by the cooking arm 51.
  • the completed dish is placed on the cooking arm 51-4 to which the manipulator attachment 651 is attached.
  • the posture of the transport robot 2 including the height of the top plate 21A may be controlled according to the movement of the cooking arm 51-4.
  • the movement of the transport robot 2 to the position shown in FIG. 62 and the change of the posture are performed at the start of the transport operation according to the control of the transport robot control unit 256 (step S34 in FIG. 58).
  • the position shown in FIG. 62 near the side surface of the housing 11 is a transport reference position set in advance as a position for placing a dish or the like.
  • the robot kitchen 1 can make the cooking arm 51 to which the manipulator attachment 651 is attached reach the top plate 802.
  • FIG. 63 is a diagram illustrating another example of the posture of the transport robot 2.
  • the transport robot 2 has a function of adjusting the height of the top plate 802 according to the height of the person to whom the food or the like is provided. As shown in FIG. 63, when the person to be provided is a child, the height of the top plate 802 is adjusted so as to be lower than when the person is an adult.
  • a person who receives a dish or the like carried by the carrying robot 2 can easily receive it.
  • the height of the top plate 802 may be adjusted according to the control by the robot kitchen 1, or may be adjusted autonomously by the transport robot 2.
  • the transport robot 2 can maintain the horizontal state of the top plate 802 while maintaining the horizontal surface as shown in FIG. You can move.
  • FIG. 65 is a block diagram illustrating a configuration example of hardware of the transport robot 2.
  • the transport robot 2 is configured by connecting a controller 851 to a top-plate elevating drive unit 852, a heating / cooling unit 853, a tire drive unit 854, a sensor 855, and a communication unit 856.
  • a camera 811 including cameras 811-1 and 811-2 is also connected to the controller 851.
  • the controller 851 has a CPU, a ROM, a RAM, a flash memory, and the like.
  • the controller 851 executes a predetermined program and controls the entire operation of the transport robot 2.
  • the top-plate elevating drive unit 852 includes a motor provided at a connection between the base 801 and the support arm 803, a connection between the top 802 and the support arm 803, and the like.
  • the top-plate elevating drive unit 852 drives each connecting unit.
  • the top-plate elevating drive unit 852 includes a rail and a motor provided inside the support arm 803.
  • the top-plate elevating drive unit 852 extends and contracts the support arm 803.
  • the heating / cooling unit 853 is a heating device using a heating wire, a cooling device of a predetermined system such as an air cooling system or an air cooling system.
  • the heating / cooling unit 853 is provided at a predetermined position inside the top plate 802 or on the bottom side of the top plate 802.
  • FIG. 66 is a diagram illustrating an example of temperature adjustment of the top plate 802.
  • the temperature of the top plate 802 when carrying a glass filled with a cold drink, the temperature of the top plate 802 is cooled to a temperature suitable for the drink. In addition, when carrying a hot dish, the temperature of the top plate 802 is heated to a temperature suitable for the dish.
  • the temperature of the top plate 802 is adjusted in advance according to the transported object before the transported object is placed by the cooking arm 51, for example. At what timing and what to put can be specified from the recipe data, so that the temperature can be adjusted in advance.
  • the tire driving unit 854 is configured by a motor that drives a tire provided on the bottom surface of the base unit 801.
  • the sensor 855 includes various sensors such as a positioning sensor, a distance sensor, and a human sensor. Data representing the detection result of the sensor 855 is output to the controller 851.
  • the communication unit 856 is a wireless communication module such as a wireless LAN module and a mobile communication module.
  • the communication unit 856 communicates with an external device such as the robot kitchen 1 and a server on the Internet.
  • FIG. 67 is a block diagram showing a functional configuration example of the controller 851.
  • At least a part of the functional units shown in FIG. 67 is realized by a predetermined program being executed by a CPU constituting controller 851.
  • a route information acquisition unit 871, a positioning control unit 872, a movement control unit 873, an operation mode management unit 874, an attitude control unit 875, an analysis unit 876, a surrounding state recognition unit 877, and a person state recognition unit 878 are realized. Is done.
  • the route information acquisition unit 871 controls the communication unit 856 to receive the destination and travel route information transmitted from the robot kitchen 1. The information received by the route information acquisition unit 871 is output to the movement control unit 873.
  • the positioning control section 872 detects the current position of the transport robot 2. For example, the positioning control unit 872 generates a map of the space where the robot kitchen 1 is installed based on the detection result by the distance sensor. The positioning control unit 872 detects the current position by specifying its own position on the generated map. Information on the current position detected by the positioning control unit 872 is output to the movement control unit 873.
  • the movement control unit 873 controls the movement of the transport robot 2 based on the information supplied from the route information acquisition unit 871 and the current position detected by the positioning control unit 872 by controlling the tire driving unit 854.
  • the operation mode management unit 874 controls the operation mode of the transport robot 2.
  • the operation modes of the transport robot 2 include, for example, a normal mode, which is a normal mode, and the above-described standby mode.
  • the operation mode management unit 874 switches the operation mode of the transport robot 2 according to the control by the robot kitchen 1.
  • Information on the operation mode set by the operation mode management unit 874 is output to the attitude control unit 875.
  • the posture control unit 875 controls the top-plate elevating drive unit 852 according to the operation mode set by the operation mode management unit 874, and controls the posture of the transport robot 2. In addition, the posture control unit 875 controls the moving posture of the transport robot 2 so that the top plate 802 is kept horizontal, in conjunction with the control by the movement control unit 873.
  • the posture control unit 875 controls the posture of the transport robot 2 according to the surrounding state recognized by the surrounding state recognition unit 877 or the state of the person recognized by the person state recognition unit 878.
  • the posture control unit 875 causes the transport robot 2 to move the height of the top board 802 closer to the height of the top board 21 of the robot kitchen 1 or the top of the dining table recognized by the surrounding state recognition unit 877. Control the attitude of
  • the posture control unit 875 adjusts the height of the top board 802 according to the height of the person to be provided, which is recognized by the person state recognition unit 878.
  • the analysis unit 876 analyzes an image captured by the camera 811 and data detected by the sensor 855.
  • the analysis result by the analysis unit 876 is supplied to the surrounding state recognition unit 877 and the person state recognition unit 878.
  • the surrounding state recognition unit 877 recognizes the surrounding state such as the position of the obstacle and the state of the floor based on the analysis result by the analysis unit 876. Information indicating the recognition result by the surrounding state recognition unit 877 is supplied to the movement control unit 873 and the posture control unit 875.
  • the person state recognition unit 878 recognizes the state of a person around based on the analysis result by the analysis unit 876. Information representing the recognition result by the person state recognition unit 878 is supplied to the movement control unit 873 and the posture control unit 875.
  • the processing in FIG. 68 is performed, for example, when it is time to carry the work, so that a conveyed object such as a dish is placed on the top plate 802, and information on the destination and the movement route is transmitted from the robot kitchen 1. Be started.
  • step S101 the route information acquisition unit 871 receives the destination and travel route information transmitted from the robot kitchen 1.
  • step S102 the movement control unit 873 starts moving to the destination based on the information transmitted from the robot kitchen 1.
  • step S103 the movement control unit 873 determines whether or not the user has arrived at the destination, and continues moving until it is determined that the user has arrived at the destination.
  • the posture control unit 875 adjusts the height of the top plate 802 according to the height of the other person recognized by the person state recognition unit 878, Encourage receipt of food.
  • cutlery such as a spoon and a fork is provided, used tableware is collected, and the like.
  • the user does not need to perform simple tasks such as serving dishes by himself, and can leave it to the transport robot 2.
  • the state of the transport robot 2 is such that the top plate 802 overlaps the base unit 801 as described with reference to Fig. 7 and the like. May be stored in the base unit 801.
  • the destination and the moving route may not be set by the robot kitchen 1, but may be set by the robot kitchen 1 to be a person to whom food or the like is provided.
  • the transport robot 2 autonomously moves to the position of the person to be provided.
  • information representing a person to whom food or the like is provided is transmitted from the robot kitchen 1 to the transport robot 2.
  • the person state recognition unit 878 of the transport robot 2 identifies each person around and identifies the position of the person to be provided set by the robot kitchen 1.
  • the movement control unit 873 sets a movement route to the position specified by the person state recognition unit 878 and controls movement.
  • the posture control unit 875 controls the posture of the transport robot 2 by adjusting the height of the top board 802 according to the person identified by the person state recognition unit 878.
  • the robot kitchen 1 can leave the transport of the dish to the transport robot 2 only by specifying the person to be provided.
  • the transportation of the next dish may be controlled according to the progress of the meal of the person eating the meal.
  • the person state recognition unit 878 recognizes the progress of each meal of the person eating the food. For example, the progress of the meal is recognized according to the amount of the dish remaining on the plate in front of the person eating the dish.
  • the movement control unit 873 waits at a position distant from the person to be provided, and moves near the person to be provided at the timing when the meal is almost finished.
  • the posture control unit 875 moves close to the person to be provided, the posture control unit 875 adjusts the height of the top plate 802 according to the person to be provided, and prompts reception of the dish.
  • the position and the posture of the transport robot 2 can be controlled in accordance with the progress of the meal of the person to whom the dish is provided.
  • FIG. 69 and FIG. 70 are diagrams illustrating examples of other appearances of the robot kitchen. The same components as those of the robot kitchen 1 described above are denoted by the same reference numerals.
  • the robot kitchen 901 in FIGS. 69 and 70 is provided in a space where many people are present, such as an airport lounge or a hotel party venue.
  • the operation performed by the robot kitchen 901 is controlled based on, for example, recipe data that includes only a description of a single operation and does not include a description of a cooperative operation as a description of the operation.
  • the robot kitchen 901 is used not to cook food in cooperation with a person, but to provide food prepared by an independent operation to a person. Cooking by the robot kitchen 901 may be performed in cooperation with a person based on recipe data including a description of the cooperation work.
  • the robot kitchen 1 has a columnar housing 911.
  • the surface shown in FIG. 69 is the front surface of the housing 911.
  • Various devices such as a computer are provided inside the housing 911.
  • a top plate portion 921 is provided on the upper surface of the housing 911 so as to partially protrude to the rear side as shown in FIG.
  • the chairs are arranged along the peripheral surface on the rear side of the housing 911.
  • the top plate portion 921 includes an annular top plate 921A and a circular top plate 921B.
  • the top plate 921B is provided at a position surrounded by the top plate 921A.
  • FIG. 71 is a top view of the robot kitchen 901.
  • the top plate 921A and the top plate 921B constituting the top plate portion 921 are provided at the same height with a small gap therebetween. Since the top plate 921A and the top plate 921B are provided in contact with the same height, the upper surface of the housing 911 becomes a substantially flat surface.
  • the cooking arm 51 is provided along a gap between the top plate 921A and the top plate 921B.
  • a rail is provided near the inner edge of the top plate 921A.
  • the cooking arm 51 has a configuration similar to the configuration described above. In this example, six cooking arms 51 are provided.
  • FIG. 72 is a diagram illustrating an example of movement of the top plate 921 when the operation mode is switched.
  • the state shown in the upper part of FIG. 72 is a state before the movement of the top plate part 921 is started.
  • the top plate 921B gradually descends as indicated by arrows A151 and A152. That is, the moving direction of a part of the top plate 921 of the robot kitchen 901 is vertically downward.
  • FIG. 73 is a diagram showing a state of the cooking arm 51 during operation.
  • the work is performed by the cooking arms 51-1 to 51-6 among the cooking arms 51-1 to 51-6.
  • the cooking arm 51-1 with the knife attachment slices the baguette, and the cooking arm 51-6 with the manipulator attachment lifts any smoked salmon and carries it to the baguette. Also in this example, cooking of baguettes on which smoked salmon is placed is performed.
  • the cooking arm 51-2 to which the manipulator attachment is attached extends the baguette on which the smoked salmon is placed to a person near the robot kitchen 901.
  • FIG. 74 is a diagram showing the position of the cooking space.
  • the columnar space above the lowered top plate 921B is a cooking space in which the cooking arm 51 performs cooking.
  • a cooking space is formed by the top plate 921B descending.
  • dishes and glasses prepared in front of two persons near the robot kitchen 901 are prepared by the cooking arm 51.
  • the provision of food by the robot kitchen 901 is performed, for example, by placing the food directly on a top plate 921A that can partially adjust the temperature.
  • a heating device using a heating wire, a cooling device of a predetermined system such as an air cooling system or an air cooling system is provided inside the housing 911.
  • cooking by the robot kitchen 901 is performed in a cooking space formed at the center of a person surrounding the robot kitchen 901.
  • the robot kitchen 901 can attract cooking as entertainment and produce a space.
  • the robot kitchen 901 can secure a distance from the side surface of the housing 911 to the cooking space. By ensuring the distance from the side surface of the housing 911 to the cooking space, it is possible to prevent the cooking arm 51 during cooking or the attachment used for cooking from hitting a person.
  • Fig. 75 is a diagram illustrating an example of arrangement of the cooking auxiliary unit.
  • the cooking assistance units 31-1 to 31-6 having the function of assisting the cooking of the robot kitchen 901 are provided inside the housing 911 in an annular arrangement.
  • FIG. 75 the illustration of the cooking arm 51 is omitted. The same applies to FIG. 76 and the like.
  • FIG. 76 is a perspective view showing an example of the inner peripheral side surface of the housing 911.
  • the inner peripheral side surface of the housing 911 that appears when the top plate 921B is lowered is configured by a member serving as a door that can slide in a predetermined direction.
  • a member serving as a door that can slide in a predetermined direction.
  • door portions 931-1 to 931-3 are shown.
  • the cooking assistance unit 31-1 in FIG. 75 appears.
  • the cooking assistance unit 31-2 appears.
  • the cooking assistance unit 31-3 appears.
  • the cooking assistance units 31-4 to 31-6 appear when the doors provided on the respective front sides are opened.
  • the cooking assistance units 31-1 to 31-6 are provided with the front facing the center of the housing 911.
  • each of the cooking assistance units is provided on the side surface surrounding the cooking space so as to be accessible from the cooking space formed when the top plate 921B is lowered.
  • Each cooking assistance unit appears together with the cooking space in response to the top plate 921B descending.
  • the robot kitchen 901 can access a predetermined cooking auxiliary unit by the cooking arm 51 and perform cooking using the cooking auxiliary unit.
  • a groove having a cleaning function and a waste disposal function is also formed in the robot kitchen 901.
  • FIG. 77 is a diagram showing an example of the arrangement of the grooves.
  • the position of the groove 101 when viewed from above is below the vicinity of the boundary between the top plate 921A and the top plate 921B.
  • the groove 101 is formed so as to surround the lowered top plate 921B.
  • FIG. 78 is a diagram showing a cross section of the housing 911.
  • the groove 101 is formed around the lowered top plate 921B at a position lower than the top plate 921B. Since the groove 101 is provided so as to surround the descended top plate 921B, the cooking arm 51 can use the groove 101 to wash attachments and dishes and treat waste from any position on the rail 102. can do.
  • Each configuration described with reference to FIGS. 15 and 16 is also provided in the groove 101 formed in the housing 911.
  • FIG. 79 is a diagram showing the state of waste disposal.
  • the robot kitchen 901 puts the waste on the top plate 921B into the groove 101 by operating the cooking arm 51-1 so as to sweep the surface of the top plate 921B with the tip of the cleaner attachment. be able to.
  • the groove 101 of the robot kitchen 901 may have a function of storing the cooking arm 51.
  • the groove 101 is used as a storage space for the cooking arm 51.
  • the cooking arm 51 is stored in the groove 101 in the sleep mode or according to a cooking process.
  • the robot kitchen 901 has basically the same configuration as the robot kitchen 1, although the shape of the housing and the arrangement of each component are different.
  • each of the functional units described with reference to FIG. 48 is realized by executing a predetermined program, and the above-described processes are performed based on the recipe data. .
  • FIG. 80 is a top view showing an example of the movement of the top board.
  • the top board 21B may move in the horizontal direction as indicated by an arrow A201.
  • the position of the top plate 21A remains fixed.
  • FIG. 81 is a top view showing another example of the movement of the top board.
  • the cooking assistance space may appear in response to the horizontal movement of not only the top plate 21B but also the top plate 21A.
  • the cooking assistance space appears when the top plate 21A on the front side constituting the top plate unit 21 moves horizontally forward and the top plate 21B on the back side moves horizontally rearward.
  • the top plate is composed of two members, at least one of the members moves, so that the cooking assistance space appears.
  • the direction of movement of the top plate 921B which is a part of the top plate portion 921 of the robot kitchen 901, is assumed to be vertically downward. A part of the plate portion 921 may move in another direction.
  • the cooking space and the cooking assistance space are formed by moving a part of the top plate part 921.
  • FIG. 82 is a diagram illustrating an example of the moving direction of the top board.
  • the top plate 921B may be raised as shown by an arrow A221. The position of the top plate 921A remains fixed.
  • the space above the top plate 921A or the space above the top plate 921B is a cooking space where the cooking arm 51 performs cooking.
  • Figs. 83 and 84 are diagrams showing another configuration example of the robot kitchen.
  • the robot kitchen 1001 in FIGS. 83 and 84 has a columnar housing 1011. As shown in FIG. 84, a cover 1012 that can move up and down is provided above the housing 1011.
  • the cover 1012 is a cylindrical cover having a radial length substantially equal to the radial length of the housing 1011.
  • the top plate 1021 of the housing 1011 includes an annular top plate 1021A and a circular top plate 1021B.
  • the top plate 1021B is provided at a position surrounded by the top plate 1021A.
  • a groove 1051 is provided around the top plate 1021B.
  • a rail 1052 is provided around the groove 1051.
  • the top plate 1021A and the top plate 1021B are provided with the groove 1051 and the rail 1052 interposed therebetween.
  • the groove is provided in such a manner that it does not appear when a part of the top plate moves but is always exposed.
  • the cooking arms 51-1 and 51-2 provided on the rail 1052 perform cooking on the top plate 1021B, for example, and arrange the completed dishes on the top plate 1021A.
  • the moving direction of the top plate 1021B when using the cooking assistance unit is, for example, the vertical upward direction as described with reference to FIG.
  • a cooking auxiliary unit provided on the bottom side of the top plate 1021B appears.
  • FIG. 85 is a diagram schematically illustrating an example of the arrangement of the cooking assistance units.
  • the cooking assistance unit having a function of assisting the cooking of the robot kitchen 1001 is provided inside the casing 1011 and arranged in a ring shape.
  • the position of the cooking assistance unit is the position on the bottom side of the top plate 1021A.
  • five cooking assistance units are provided.
  • one of the five cooking assistance units is stored in the storage portion 1031 provided on the bottom side of the top plate 1021B.
  • the cooking assistance unit stored in the storage unit 1031 rises in conjunction with the rise of the top plate 1021B, and appears on the surface of the robot kitchen 1001.
  • Switching of the cooking auxiliary unit is realized by exchanging the cooking auxiliary unit stored in the storage unit 1031.
  • housing 1011 Inside the housing 1011, there are provided rails and motors for guiding the respective cooking assistance units to the storage unit 1031 and retracting the cooking auxiliary units from the storage unit 1031 to a predetermined original position. Further, a rail and a motor for vertically moving the storage unit 1031 storing the cooking assistance unit are provided inside the housing 1011.
  • FIG. 86 is a diagram illustrating an example of movement of the cooking assistance unit.
  • the cooking assistance unit guided to the storage unit 1031 as shown by the arrow A231 and stored in the storage unit 1031 rises together with the top plate 1021B as shown by the arrow A232, and appears at a position higher than the top plate 1021A.
  • the cooking arm 51 can cook using the cooking auxiliary unit.
  • FIG. 87 is a diagram showing a state when the robot kitchen 1001 is being washed.
  • the surface of the top plate 1021A and the surface of the cooking assistance unit are cleaned by the cooking arm 51 using a cleaner attachment or the like. This makes it possible to prevent water used for cleaning from scattering around.
  • Figs. 88 and 89 are diagrams illustrating another configuration example of the robot kitchen.
  • the robot kitchen 1101 shown in FIGS. 88 and 89 is provided so as to be fitted into a concave portion of a wall.
  • the cooking assistance system 31 is provided on the front wall W11 while being embedded in the wall W11.
  • the robot kitchen 1101 has a horizontally long rectangular parallelepiped housing 1111. As shown in FIG. 89, a groove 1151 is provided in a longitudinal direction on a top plate 1121 forming the upper surface of the housing 1111. A rail is provided along the edge of the groove 1151, and the cooking arm 51 is movable.
  • FIG. 90 is a diagram showing a state when the robot kitchen 1101 is washed.
  • the surface of the top plate 1121 and the surface of the cooking auxiliary unit are cleaned by the cooking arm 51 using a cleaner attachment or the like. This also makes it possible to prevent water used for cleaning from scattering around.
  • FIG. 91 is a diagram showing a configuration example of a control system.
  • the control system in FIG. 91 is configured by connecting the robot kitchen 1 and the cooking control server 1201 via a network such as the Internet.
  • the robot kitchen 1 and the cooking control server 1201 communicate via a network.
  • the processing of the robot kitchen 1 as described above is performed by the cooking control server 1201, which is a device external to the robot kitchen 1. That is, at least a part of the functional units of the controller 201 described with reference to FIG. 48 is realized in the cooking control server 1201 by executing a predetermined program.
  • the cooking control server 1201 receives the information transmitted from the robot kitchen 1 and controls the operation of the cooking arm 51 based on the recipe data, thereby causing the robot kitchen 1 to perform each cooking operation.
  • the cooking control server 1201 functions as a control device that controls the behavior of the robot kitchen 1.
  • control device that controls the behavior of the robot kitchen 1 may be provided outside the robot kitchen 1.
  • FIG. 92 to FIG. 96 are diagrams showing attachments by function. The attachment described above is partially included.
  • Attachments 701 to 704 shown in FIG. 92 are attachments having a heating function. Each attachment is heated by the heat supplied from the cooking arm 51.
  • the attachment 701 corresponds to the universal bar attachment 654 described above.
  • the attachment 701 has a function of heating the rod-shaped portion and measuring the temperature.
  • the attachment 702 is an attachment used as a mount for a tool such as an iron plate to be heated.
  • the attachment 702 has a function of heating the attached tool.
  • a circular iron plate 702A is shown as a tool for the attachment 702.
  • Attachment 703 is an attachment used for performing heating cooking on the iron plate portion at the tip.
  • the attachment 704 is an attachment used for performing heating cooking at the stitch portion at the tip.
  • Attachments 705 to 707 shown on the left side of FIG. 93 are attachments having a function of jetting water. Water supplied from the cooking arm 51 gushes from each attachment.
  • Attachments 707 to 710 shown on the right side in FIG. 93 are attachments having compression and suction functions. Air is ejected by the pressure applied from the cooking arm 51. Further, suction of air or water is performed by the suction force transmitted from the cooking arm 51.
  • Attachment 705 is an attachment used to squirt compressed water from one spout and cut food with the water.
  • Attachment 706 is an attachment used for washing or the like by ejecting compressed water from a plurality of ejection ports in a shower shape.
  • the attachment 707 corresponds to the cleaner attachment 658 described above.
  • the attachment 707 has a function of ejecting and sucking water.
  • Attachment 708 is an attachment used to absorb and measure liquid.
  • the attachment 709 is an attachment used for lather cooking by discharging air or the like.
  • the attachment 710 is an attachment used for sucking water or the like.
  • Attachments 711 to 714 shown in FIG. 94 are attachments having a function of sandwiching an object by driving an actuator (motor).
  • the actuator in each attachment is driven according to the control signal supplied from the cooking arm 51.
  • the attachment 711 is an attachment used for grasping an object strongly. For example, a greater number of finger parts are provided on the attachment 711 than are provided on the manipulator attachment 651.
  • the attachment 712 corresponds to the manipulator attachment 651 described above.
  • the attachment 712 has a function of grasping an object.
  • Attachment 713 is an attachment used for grasping an object with the tip of two elongated rod-like portions like a tongue.
  • the attachment 714 is an attachment used to cut an object with two blades, like scissors.
  • the attachments 715 and 716 shown in FIG. 95 are attachments having a function of rotating themselves, similarly to the spindle attachment 656 described above. According to the control signal supplied from the cooking arm 51, the actuator in each attachment is driven and rotated.
  • Attachment 715 is an attachment used to stir and lather ingredients.
  • the attachment 716 is an attachment used to stir and mix food ingredients.
  • the attachments 717 to 726 shown in FIG. 96 are attachments having a function of generating ultrasonic vibration. According to the control signal supplied from the cooking arm 51, the motor in each attachment is driven, and vibration is generated.
  • the attachment 717 is an attachment used for cutting foods, like the knife attachment 653.
  • the attachment 718 is an attachment used for cutting or turning over a food material like a small hand.
  • the attachment 719 corresponds to the spatula attachment 652 described above.
  • the attachment 720 corresponds to the peeler attachment 657 described above.
  • Attachment 721 is an attachment used for scooping boiled pasta like a pasta server.
  • Attachment 722 is an attachment used to stir soup or the like in a pot by vibration.
  • the attachment 723 is an attachment used to apply vibration to a mass of meat such as steak meat to make it soft.
  • the attachments 724 and 725 are attachments used for scooping foods and the like, like a ladle.
  • the attachment 726 is an attachment used as a mount for various kitchen tools such as cutlery.
  • a spoon 726A, a fork 726B, a wine opener 726C, a chopstick 726D, and a brush 726E are shown as tools for the attachment 726.
  • Such attachments can be grouped and managed by function. For example, the priority is set for each unit or for each group according to the frequency of use in cooking performed according to the recipe data.
  • the user can purchase the attachment alone or in groups by function. By setting the priority, the user can identify and purchase an attachment with a high priority or a group of attachments with a high priority.
  • FIG. 97 is a block diagram illustrating a configuration example of hardware of a computer that executes the series of processes described above by a program.
  • a CPU Central Processing Unit 2001
  • a ROM Read Only Memory
  • RAM Random Access Memory
  • the input / output interface 2005 is further connected to the bus 2004.
  • the input / output interface 2005 is connected to an input unit 2006 including a keyboard and a mouse, and an output unit 2007 including a display and a speaker.
  • the input / output interface 2005 is connected to a storage unit 2008 including a hard disk or a non-volatile memory, a communication unit 2009 including a network interface, and a drive 2010 for driving the removable media 2011.
  • the CPU 2001 loads, for example, a program stored in the storage unit 2008 into the RAM 2003 via the input / output interface 2005 and the bus 2004, and executes the program. Is performed.
  • the program executed by the CPU 2001 is recorded on, for example, the removable medium 2011 or provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital broadcasting, and is installed in the storage unit 2008.
  • the program executed by the computer may be a program in which processing is performed in chronological order in the order described in this specification, or may be performed in parallel or at a necessary timing such as when a call is made. It may be a program that performs processing.
  • a system means a set of a plurality of components (devices, modules (parts), etc.), and it does not matter whether all components are in the same housing. Therefore, a plurality of devices housed in separate housings and connected via a network, and one device housing a plurality of modules in one housing are all systems. .
  • the present technology can take a configuration of cloud computing in which one function is shared by a plurality of devices via a network and processed jointly.
  • each step described in the above-described flowchart can be executed by a single device, or can be shared and executed by a plurality of devices.
  • one step includes a plurality of processes
  • the plurality of processes included in the one step can be executed by one device or can be shared and executed by a plurality of devices.
  • the present technology can also have the following configurations.
  • a detachable unit that is detachable from a cooking arm that moves along a moving mechanism provided in the cooking system, A cooking unit for performing cooking according to the cooking process in accordance with the operation of the cooking arm.
  • the cooking unit attachment according to (1) wherein the cooking unit has a predetermined cooking function according to a type of the cooking arm attachment.
  • the cooking arm attachment according to (2) wherein the cooking unit is connected to a control unit that controls a cooking function of the cooking unit.
  • the cooking function of the cooking unit includes at least one of a cooking or washing function using water, a cooking or washing function using air, a cooking function using oil, and a cooking function using gas.
  • the attachment for a cooking arm according to (2) or (3) including any one of the above.
  • the cooking function of the cooking unit includes a temperature adjustment function of adjusting a temperature.
  • Patent Document 1 discloses that cooking is performed by monitoring the cooking process of a human chef and duplicating the operation and cooking process of the chef using two articulated robot hands that imitate human hands (palms). An automatic cooking robot to reproduce is described.
  • Patent Literature 1 aims to completely omit cooking performed by humans using cooking utensils used by humans.
  • the robot kitchen according to the first aspect of the present technology not only improves cooking efficiency by allowing a human to share part or all of a cooking process with a robot while receiving interactive support from the robot, but also improves cooking efficiency. It focuses on making it enjoyable.
  • the robot kitchen is a device that autonomously performs various types of processing, but it is naturally possible to perform processing in accordance with external instructions.
  • the autonomous process refers to a process performed according to sensing data or the like without depending on a user instruction.
  • the robot kitchen can also perform processing according to a user's instruction.
  • the robot kitchen when cooking is not performed, integrates cooking-related items such as a cooking arm / attachment / transport robot in a housed state, thereby providing a surrounding environment. It is possible to dissolve into the.
  • the robot kitchen according to the first aspect of the present technology can provide a new user experience by supporting a human at a necessary timing after recognizing a cooking environment and a user characteristic. .
  • the new user experience includes a new cooking experience in which a human and a robot kitchen cooperate in cooking, and a new dining experience in which a person eats a dish made by such cooking.
  • the cooking environment includes the number and number of people who cook, the number and number of people who eat food, the content of the food (recipe), the status of ingredients, and the like.
  • the user characteristics include a lifestyle / preference of the user.
  • a cooking system includes a plurality of cooking arms that perform cooking using an attachment that can be exchanged according to a cooking function, a moving mechanism of the cooking arm, and a groove mechanism that can store the cooking arm.
  • the main focus is on being able to switch between a state in which cooking by the cooking arm is possible and a state in which the cooking arm is stored according to the movement of the top plate.
  • the cooking system according to the second aspect of the present technology improves the appearance of the storage system by hiding the cooking arm and the cooking auxiliary unit when the top plate is closed. It is possible.
  • the cooking system according to the second aspect of the present technology has a function of assisting cooking, such as a temperature adjustment function, on the top plate itself, and performs cooking with a quality desired by the user and efficiently. Is what you can do.
  • a cooking system forms a cooking space at a position considered to be safe for a user even when a plurality of cooking arms perform cooking, and includes a cooking assistance unit adjacent to the cooking space. It is arranged.
  • the cooking arm and the attachment according to the third aspect of the present technology are robot arms that imitate human hands, and instead of performing cooking using cooking utensils used by humans, a cooking function (cleaning function, (Including a cleaning function), and focuses on cooking by a plurality of cooking arms using the attachment.
  • the cooking arm and the attachment according to the third aspect of the present technology can flexibly realize multifunctionalization in the cooking process by switching the attachment according to the cooking or the cooking process.
  • the transport robot according to the fourth aspect of the present technology adjusts the angle and length of the support arm to change the form into a state that can be stored inside the cooking system, and to carry along with the cooking process.
  • the main focus is on adaptively controlling the top plate on which the goods are loaded so as to maintain a horizontal state.
  • the transport robot according to the fourth aspect of the present technology has a function of assisting cooking, such as a temperature adjustment function, on the top plate itself, and can efficiently transport the product with the quality desired by the user. Is to do so.
  • a transport robot provides a new user experience by supporting a human at a necessary timing after recognizing a degree of progress of a cooking process and a meal, a cooking environment, and user characteristics. Is made possible.

Abstract

La présente invention concerne une fixation de bras de cuisson qui permet de fournir de nouvelles expériences de cuisson. Cette fixation de bras de cuisson est pourvue d'une unité de fixation qui peut être fixée de manière amovible à un bras de cuisson qui se déplace le long d'un mécanisme de déplacement disposé dans un système de cuisson, et d'une unité de cuisson qui, conformément au fonctionnement du bras de cuisson, cuit selon un programme de cuisson. Cette technique peut être appliquée à une cuisine de système ayant une fonction de robot.
PCT/JP2019/036900 2018-10-05 2019-09-20 Fixation pour bras de cuisson WO2020071147A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018189921A JP2022002552A (ja) 2018-10-05 2018-10-05 調理アーム用アタッチメント
JP2018-189921 2018-10-05

Publications (1)

Publication Number Publication Date
WO2020071147A1 true WO2020071147A1 (fr) 2020-04-09

Family

ID=70054853

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/036900 WO2020071147A1 (fr) 2018-10-05 2019-09-20 Fixation pour bras de cuisson

Country Status (2)

Country Link
JP (1) JP2022002552A (fr)
WO (1) WO2020071147A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004174625A (ja) * 2002-11-25 2004-06-24 Sony Corp ロボット装置の手構造及びロボット装置並びに駆動装置及び駆動方法
US20050193901A1 (en) * 2004-02-18 2005-09-08 Buehler David B. Food preparation system
US7174830B1 (en) * 2003-06-05 2007-02-13 Dawei Dong Robotic cooking system
JP2009297880A (ja) * 2008-06-17 2009-12-24 Panasonic Corp 物品管理システム及び物品管理方法及び物品管理プログラム
WO2018165105A1 (fr) * 2017-03-06 2018-09-13 Miso Robotics, Inc. Assistant de cuisine robotique pour la préparation d'articles alimentaires dans une cuisine commerciale et procédés associés

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004174625A (ja) * 2002-11-25 2004-06-24 Sony Corp ロボット装置の手構造及びロボット装置並びに駆動装置及び駆動方法
US7174830B1 (en) * 2003-06-05 2007-02-13 Dawei Dong Robotic cooking system
US20050193901A1 (en) * 2004-02-18 2005-09-08 Buehler David B. Food preparation system
JP2009297880A (ja) * 2008-06-17 2009-12-24 Panasonic Corp 物品管理システム及び物品管理方法及び物品管理プログラム
WO2018165105A1 (fr) * 2017-03-06 2018-09-13 Miso Robotics, Inc. Assistant de cuisine robotique pour la préparation d'articles alimentaires dans une cuisine commerciale et procédés associés

Also Published As

Publication number Publication date
JP2022002552A (ja) 2022-01-11

Similar Documents

Publication Publication Date Title
WO2020071146A1 (fr) Bras de cuisson, système de cuisson
US11117253B2 (en) Methods and systems for food preparation in a robotic cooking kitchen
US8820219B2 (en) Food preparation system
WO2020071148A1 (fr) Corps mobile de transport
WO2020071151A1 (fr) Système de préparation d'aliments
WO2020071150A1 (fr) Système de préparation d'aliments
JP7338633B2 (ja) 調理システム、および調理システムの制御方法、並びにプログラム
WO2020071147A1 (fr) Fixation pour bras de cuisson
Pereira et al. Towards Foodservice Robotics: a taxonomy of actions of foodservice workers and a critical review of supportive technology
WO2021024828A1 (fr) Bras de cuisson, procédé de mesure et accessoire pour bras de cuisson
CN112068526B (zh) 用于在机器人烹饪厨房中制备食物的方法和系统
Crenshaw The giving of food

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19869656

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19869656

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP