Food material stir-frying control method based on five-degree-of-freedom mechanical arm and related equipment

Abstract

The embodiment of the invention discloses a food material stir-frying control method and device based on a five-degree-of-freedom mechanical arm, a cooking robot and a computer readable storage medium. According to the application, the food material position and the stir-frying instruction of the food material in the pot can be obtained, and the target orientation angle of the end effector is determined according to the food material position; the five-freedom-degree mechanical arm is adjusted to be in a vertical posture; the five-degree-of-freedom mechanical arm is driven to move based on the target orientation angle, so that the end effector gets close to and faces the food materials; calculating interpolation parameters of the five-degree-of-freedom mechanical arm according to the stir-frying instruction, and driving the five-degree-of-freedom mechanical arm to drive the end effector to execute the stir-frying instruction on the food materials based on the interpolation parameters. According to the embodiment, it is guaranteed that the five-degree-of-freedom mechanical arm can reach any position in the pot, and the situation that the five-degree-of-freedom mechanical arm is blocked or food materials are located at part of positions and cannot be turned over is prevented.

Description

Technical Field

[0001] The embodiments of the present application relate to a cooking robot, and more particularly to a method and device for controlling food stir-frying based on a five-degree-of-freedom robotic arm, a cooking robot, and a computer-readable storage medium. Background Art

[0002] With the rapid development of society, cooking robots have emerged. Traditional cooking robots only use a simple rigid structure stirring part to turn the food in the pot, and their intelligence level is very low.

[0003] A robotic arm is set in the pot of the cooking robot. The spatula as the end effector is connected to the robotic arm, and the position, speed, movement path, etc. of the spatula can be adjusted in all directions to achieve complete anthropomorphic operation, which plays a key role in improving the intelligence of the cooking robot. Among them, it is difficult to reach any position in the pot space by using a five-degree-of-freedom robotic arm to drive the end effector to control the frying of ingredients. Therefore, ensuring that the five-degree-of-freedom robotic arm can reach any position in the pot is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present application provide a method, device, equipment, cooking robot and computer-readable storage medium for controlling food stir-frying based on a five-degree-of-freedom robotic arm to ensure that the five-degree-of-freedom robotic arm can reach any position in the pot.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling food stir-frying based on a five-degree-of-freedom robotic arm, comprising:

[0006] Obtaining the position of the food in the pot and the stir-frying instruction, and determining the target orientation angle of the end effector according to the position of the food;

[0007] Adjusting the five-degree-of-freedom robotic arm to a vertical posture;

[0008] Based on the target orientation angle, the five-degree-of-freedom robotic arm is driven to move so that the end effector approaches and faces the food;

[0009] The interpolation parameters of the five-degree-of-freedom robotic arm are calculated according to the stir-fry instruction, and based on the interpolation parameters, the five-degree-of-freedom robotic arm is driven to drive the end effector to execute the stir-fry instruction on the food.

[0010] In some possible implementations, adjusting the five-degree-of-freedom robotic arm to a vertical posture includes:

[0011] The five joint angles of the five-degree-of-freedom robotic arm are adjusted so that the five-degree-of-freedom robotic arm and the end effector are in a vertical posture as a whole.

[0012] In some possible implementations, making the end effector face the food specifically includes:

[0013] Determine the angle at which the five-degree-of-freedom robotic arm needs to rotate according to the current orientation angle of the five-degree-of-freedom robotic arm and the target orientation angle, and obtain a rotation angle;

[0014] The five-degree-of-freedom robotic arm is rotated according to the rotation angle so that the end effector faces the food.

[0015] In some possible implementations, the step of driving the five-degree-of-freedom robotic arm to move based on the target orientation angle so that the end effector approaches and faces the food includes:

[0016] Driving the five-degree-of-freedom robotic arm to approach the food;

[0017] When the shortest distance between the five-degree-of-freedom robotic arm and the food reaches a preset first threshold, the five-degree-of-freedom robotic arm is driven to rotate according to the target orientation angle until the end effector faces the food, and the first threshold is the shortest straight-line distance between the five-degree-of-freedom robotic arm and the food.

[0018] In some possible implementations, the step of driving the five-degree-of-freedom robotic arm to move based on the food position and the target orientation angle so that the end effector approaches and faces the food includes:

[0019] According to the target orientation angle, the five-degree-of-freedom robotic arm is driven to rotate until the end effector faces the food;

[0020] The five-degree-of-freedom robotic arm is driven to approach the food until the shortest distance between the five-degree-of-freedom robotic arm and the food reaches a preset first threshold.

[0021] In some possible implementations, the following are included:

[0022] Calculating whether the distance between the end of the five-degree-of-freedom robotic arm and the pot wall or the food when the end reaches the target position is greater than a preset second threshold, wherein the second threshold is greater than half of the lateral length of the end effector in the horizontal direction and greater than the longitudinal length of the end effector in the vertical direction;

[0023] If yes, first drive the five-degree-of-freedom robotic arm to approach the food first, and then rotate until the end effector faces the food;

[0024] If not, first drive the five-degree-of-freedom robotic arm to rotate until the end effector faces the food, and then approach the food.

[0025] In some possible implementations, the position of the ingredients in the pot includes position coordinates and a distribution state, and the distribution state includes multiple pieces of stacking and a single piece of tiling.

[0026] In the third aspect, an embodiment of the present application also provides a food stir-frying control device based on a five-degree-of-freedom robotic arm, comprising a memory and a processor, wherein the processor is used to execute instructions stored in the memory so that the control device executes the food stir-frying control method based on a five-degree-of-freedom robotic arm as described in any of the above items.

[0027] In a fourth aspect, an embodiment of the present application further provides a cooking robot, comprising a robotic arm disposed in a pot, and a food stir-frying control device based on the five-degree-of-freedom robotic arm as described above.

[0028] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the food stir-frying control method based on a five-degree-of-freedom robotic arm as described in any one of the above items.

[0029] The present application obtains the position of ingredients and stir-fry instructions of ingredients in the pot, and determines the target orientation angle of the end effector according to the position of the ingredients; adjusts the five-degree-of-freedom robotic arm to a vertical posture; drives the five-degree-of-freedom robotic arm to move based on the target orientation angle, so that the end effector approaches and faces the ingredients; calculates the interpolation parameters of the five-degree-of-freedom robotic arm according to the stir-fry instructions, and drives the five-degree-of-freedom robotic arm based on the interpolation parameters to drive the end effector to execute the stir-fry instructions on the ingredients, thereby controlling the five-degree-of-freedom robotic arm to adjust the angle and approach according to the position of the ingredients, ensuring that the five-degree-of-freedom robotic arm can reach any position in the pot, and preventing the five-degree-of-freedom robotic arm from being obstructed or the ingredients being located in a certain position and unable to be flipped. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 It is a flow chart of a method for controlling food stir-frying based on a five-degree-of-freedom robotic arm provided in an embodiment of the present application;

[0032] Figure 2 yes Figure 1 A detailed flow chart of step S130 in an embodiment;

[0033] Figure 3 yes Figure 1 A detailed flow chart of another embodiment of step S130;

[0034] Figure 4 This is another flow chart of the method for controlling food stir-frying based on a five-degree-of-freedom robotic arm provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described in detail by way of implementation methods with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, but not all of the embodiments. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0036] It should be noted that: in the accompanying drawings, the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions; in the description of the present application, the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; in the description of the present application, "first", "second", etc. are only used to distinguish each other, rather than to indicate their importance and order, etc.

[0037] In the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a movable connection, or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal communication of two components, etc. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] Reference Figure 1 A schematic flow chart of a method for controlling food stir-frying based on a five-degree-of-freedom robotic arm provided in an embodiment of the present application, the method comprising steps S110 to S140.

[0039] Step S110, obtaining the position of the food in the pot and the stir-frying instruction, and determining the target orientation angle of the end effector according to the position of the food;

[0040] In some possible implementations, the image in the pot is collected by a visual sensor such as a surveillance camera, and the position of the ingredients in the pot is identified in real time using an image recognition algorithm. For example, the position of the ingredients in the pot is identified by a detection algorithm such as YOLO. At the same time, the stir-frying instructions for the ingredients in the pot are received through a transmission medium such as a human-computer interaction unit. Then, the target orientation angle of the end effector is determined according to the position of the ingredients. Among them, the position of the ingredients in the pot includes position coordinates and distribution states, and the distribution states include multiple blocks stacking and single block tiling.

[0041] Step S120, adjusting the five-degree-of-freedom robotic arm to a vertical posture;

[0042] In some possible implementations, in order to avoid obstruction when the five-degree-of-freedom robot arm drives the end effector to flip the food, the five-degree-of-freedom robot arm and the end effector are adjusted to a vertical posture as a whole, so as to facilitate insertion into the pot. The five joint angles of the five-degree-of-freedom robot arm are adjusted so that the five-degree-of-freedom robot arm and the end effector are in a vertical posture as a whole.

[0043] Step S130, driving the five-degree-of-freedom robotic arm to move based on the target orientation angle, so that the end effector approaches and faces the food;

[0044] In some possible implementations, in order to flip the food, the five-degree-of-freedom robotic arm is driven to move according to the target orientation angle so that the end effector approaches and faces the food. In order to make the end effector face the food, the required rotation angle of the five-degree-of-freedom robotic arm is calculated based on the target orientation angle and the current orientation angle of the five-degree-of-freedom robotic arm to obtain the rotation angle; then the five-degree-of-freedom robotic arm is controlled to rotate according to the rotation angle so that the end effector connected to the five-degree-of-freedom robotic arm faces the food.

[0045] like Figure 2 As shown, in some possible implementations, step S130 includes:

[0046] Step S210, driving the five-degree-of-freedom robotic arm to approach the food;

[0047] Step S220: When the shortest distance between the five-degree-of-freedom robotic arm and the food reaches a preset first threshold, the five-degree-of-freedom robotic arm is driven to rotate according to the target orientation angle until the end effector faces the food, and the first threshold is the shortest straight-line distance between the five-degree-of-freedom robotic arm and the food.

[0048] In some possible implementations, the five-degree-of-freedom robotic arm is driven to flip the food, and the five-degree-of-freedom robotic arm can be first driven to approach the food, and when the shortest distance between the five-degree-of-freedom robotic arm and the food reaches a preset first threshold, the five-degree-of-freedom robotic arm is driven to rotate according to the target orientation angle until the end effector faces the food. The first threshold is the shortest straight-line distance between the five-degree-of-freedom robotic arm and the food, which can be determined by the user according to actual conditions.

[0049] like Figure 3 As shown, in some possible implementations, step S130 includes:

[0050] Step S310, determining the angle at which the five-degree-of-freedom robotic arm needs to rotate according to the current orientation angle of the five-degree-of-freedom robotic arm and the target orientation angle, and obtaining a rotation angle;

[0051] Step S320: rotating the five-degree-of-freedom robotic arm according to the rotation angle so that the end effector faces the food.

[0052] In some possible implementations, the five-degree-of-freedom robotic arm is driven to flip the food, and the five-degree-of-freedom robotic arm can be first driven to rotate according to the target orientation angle until the end effector faces the food; and then the five-degree-of-freedom robotic arm is driven to approach the food until the shortest distance between the five-degree-of-freedom robotic arm and the food reaches a preset first threshold.

[0053] like Figure 4 As shown, in some possible implementations, the method includes:

[0054] Step S410, calculating whether the distance between the end of the five-degree-of-freedom robotic arm and the pot wall or the food when the end reaches the target position is greater than a preset second threshold, wherein the second threshold is greater than half of the horizontal length of the end effector in the horizontal direction and greater than the longitudinal length of the end effector in the vertical direction;

[0055] Step S421: If yes, first drive the five-degree-of-freedom robotic arm to approach the food, and then rotate until the end effector faces the food;

[0056] Step S422: If not, first drive the five-degree-of-freedom robotic arm to rotate until the end effector faces the food, and then approach the food.

[0057] In some possible embodiments, considering that the end of the five-degree-of-freedom robotic arm may be obstructed by the pot wall or food when it reaches the target position, resulting in the five-degree-of-freedom robotic arm being unable to drive the end effector to flip the food, it is calculated whether the distance between the end of the five-degree-of-freedom robotic arm and the pot wall or food when it reaches the target position is greater than a preset second threshold, wherein the second threshold is greater than half of the lateral length of the end effector in the horizontal direction and greater than the longitudinal length of the end effector in the vertical direction; if the distance between the end of the five-degree-of-freedom robotic arm and the pot wall or food when it reaches the target position is greater than the preset second threshold, it indicates that the five-degree-of-freedom robotic arm is far away from the pot wall or food, and continuing to approach the food will not be obstructed by the pot wall or food, and the five-degree-of-freedom robotic arm can be driven to approach the food first, and then rotated to face the food; if the distance between the end of the five-degree-of-freedom robotic arm and the pot wall or food when it reaches the target position is not greater than the preset second threshold, it indicates that the five-degree-of-freedom robotic arm is close to the pot wall or food, and the five-degree-of-freedom robotic arm can be driven to rotate until the end effector faces the food, and then the five-degree-of-freedom robotic arm can be driven to approach the food.

[0058] Step S140, calculating interpolation parameters of the five-degree-of-freedom robotic arm according to the stir-fry instruction, and driving the five-degree-of-freedom robotic arm to drive the end effector to execute the stir-fry instruction on the food based on the interpolation parameters.

[0059] In this embodiment, the interpolation method is used to drive the five-degree-of-freedom robotic arm to change its posture, specifically including: calculating the interpolation parameters of the five-degree-of-freedom robotic arm according to the stir-fry instruction, and driving the five-degree-of-freedom robotic arm to drive the end effector to stir-fry the food in a straight line based on the interpolation parameters.

[0060] The embodiment of the present application obtains the position of the ingredients in the pot and the stir-fry instruction, and determines the target orientation angle of the end effector according to the position of the ingredients; adjusts the five-degree-of-freedom robotic arm to a vertical posture; drives the five-degree-of-freedom robotic arm to move based on the target orientation angle, so that the end effector approaches and faces the ingredients; calculates the interpolation parameters of the five-degree-of-freedom robotic arm according to the stir-fry instruction, and drives the five-degree-of-freedom robotic arm based on the interpolation parameters to drive the end effector to execute the stir-fry instruction on the ingredients, thereby controlling the five-degree-of-freedom robotic arm to adjust the angle and approach according to the position of the ingredients, ensuring that the five-degree-of-freedom robotic arm can reach any position in the pot, and preventing the five-degree-of-freedom robotic arm from being obstructed or the ingredients being located in a certain position and unable to be flipped.

[0061] An embodiment of the present application also provides a food stir-frying control device based on a five-degree-of-freedom robotic arm, comprising a memory and a processor, wherein the processor is used to execute instructions stored in the memory so that the control device executes the food stir-frying control method based on the five-degree-of-freedom robotic arm as described above.

[0062] An embodiment of the present application also provides a cooking robot, including a robotic arm arranged in a pot, and the food stir-frying control device based on the five-degree-of-freedom robotic arm as described above.

[0063] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor executes the food stir-frying control method based on the five-degree-of-freedom robotic arm as described above.

[0064] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented with hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of a computer program from one place to another. The storage medium can be any available medium that a general or special-purpose computer can access.

[0065] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A method for controlling food frying based on a five-degree-of-freedom robotic arm, which is applied to a cooking robot equipped with a five-degree-of-freedom robotic arm in a pot, and is characterized in that: include: Obtaining the position of the food in the pot and the stir-frying instruction, and determining the target orientation angle of the end effector according to the position of the food; Adjusting the five-degree-of-freedom robotic arm to a vertical posture; Based on the target orientation angle, the five-degree-of-freedom robotic arm is driven to move so that the end effector approaches and faces the food; The interpolation parameters of the five-degree-of-freedom robotic arm are calculated according to the stir-fry instruction, and based on the interpolation parameters, the five-degree-of-freedom robotic arm is driven to drive the end effector to execute the stir-fry instruction on the food.

2. The method for controlling food frying based on a five-degree-of-freedom robotic arm according to claim 1, characterized in that: The step of adjusting the five-degree-of-freedom robotic arm to a vertical posture comprises: The five joint angles of the five-degree-of-freedom robotic arm are adjusted so that the five-degree-of-freedom robotic arm and the end effector are in a vertical posture as a whole.

3. The method for controlling food frying based on a five-degree-of-freedom robotic arm according to claim 1, characterized in that: The step of making the end effector face the food material specifically comprises: Determine the angle at which the five-degree-of-freedom robotic arm needs to rotate according to the current orientation angle of the five-degree-of-freedom robotic arm and the target orientation angle, and obtain a rotation angle; The five-degree-of-freedom robotic arm is rotated according to the rotation angle so that the end effector faces the food.

4. The method for controlling food frying based on a five-degree-of-freedom robotic arm according to claim 1, characterized in that: The step of driving the five-degree-of-freedom robotic arm to move based on the target orientation angle so that the end effector approaches and faces the food includes: Driving the five-degree-of-freedom robotic arm to approach the food; When the shortest distance between the five-degree-of-freedom robotic arm and the food reaches a preset first threshold, the five-degree-of-freedom robotic arm is driven to rotate according to the target orientation angle until the end effector faces the food, and the first threshold is the shortest straight-line distance between the five-degree-of-freedom robotic arm and the food.

5. The method for controlling food frying based on a five-degree-of-freedom robotic arm according to claim 1, characterized in that: The step of driving the five-degree-of-freedom robotic arm to move based on the food position and the target orientation angle so that the end effector approaches and faces the food includes: According to the target orientation angle, the five-degree-of-freedom robotic arm is driven to rotate until the end effector faces the food; The five-degree-of-freedom robotic arm is driven to approach the food until the shortest distance between the five-degree-of-freedom robotic arm and the food reaches a preset first threshold.

6. The method for controlling food frying based on a five-degree-of-freedom robotic arm according to claim 4 or 5, characterized in that: include: Calculating whether the distance between the end of the five-degree-of-freedom robotic arm and the pot wall or the food when the end reaches the target position is greater than a preset second threshold, wherein the second threshold is greater than half of the lateral length of the end effector in the horizontal direction and greater than the longitudinal length of the end effector in the vertical direction; If yes, first drive the five-degree-of-freedom robotic arm to approach the food first, and then rotate until the end effector faces the food; If not, first drive the five-degree-of-freedom robotic arm to rotate until the end effector faces the food, and then approach the food.

7. The method for controlling food frying based on a five-degree-of-freedom robotic arm according to claim 1, characterized in that: The position of the ingredients in the pot includes position coordinates and distribution status, and the distribution status includes multiple pieces of stacking and single piece tiling.

8. A food stir-fry control device based on a five-degree-of-freedom robotic arm, characterized in that: It includes a memory and a processor, and the processor is used to execute instructions stored in the memory so that the posture solving device executes the food stir-frying control method based on a five-degree-of-freedom robotic arm as described in any one of claims 1-7.

9. A cooking robot, characterized in that: It includes a robotic arm arranged in the pot, and the food stir-frying control device based on the five-degree-of-freedom robotic arm as described in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the processor executes the food stir-frying control method based on a five-degree-of-freedom robotic arm as described in any one of claims 1 to 7.

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