Food material distribution state adjusting method, related equipment and cooking robot

Abstract

The embodiment of the invention discloses a food material distribution state adjusting method which is applied to a cooking robot, and the method comprises the steps that real-time state information of food materials in a pot is obtained, and the real-time state information at least comprises the distribution state of the food materials in the pot; according to the real-time state information, determining an execution action on the food material, wherein the execution action comprises at least one of a gathering action, a stirring action and a scattering action; the mechanical arm is driven to move according to the execution action, and corresponding adjustment actions are executed on the food materials in the pot. The embodiment of the invention further discloses corresponding food material distribution state adjusting equipment, the cooking robot and a computer readable storage medium. According to the cooking robot, complete anthropomorphic operation is achieved, and the intelligent degree of the cooking robot is substantially improved.

Description

Technical Field

[0001] Embodiments of the present application relate to a cooking robot, and more particularly to a method and device for adjusting the distribution state of ingredients, 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 piece to perform a single stirring action on the ingredients in the pot to adjust the distribution state of the ingredients in the pot, and their intelligence level is relatively low. Summary of the invention

[0003] The embodiments of the present application provide a method and device for adjusting the distribution state of ingredients, a cooking robot, and a computer-readable storage medium to achieve fully anthropomorphic operation and substantially improve the intelligence level of the cooking robot.

[0004] In a first aspect, an embodiment of the present application provides a method for adjusting a food distribution state, comprising:

[0005] Obtaining real-time status information of the food in the pot, wherein the real-time status information at least includes the distribution status of the food in the pot;

[0006] Determining an execution action for the food according to the real-time status information, the execution action comprising at least one of a gathering action, a stirring action, and a spreading action;

[0007] The robot arm is driven to move according to the execution action, and a corresponding adjustment action is performed on the food in the pot.

[0008] In some possible implementations, determining the execution action on the food according to the real-time status information specifically includes:

[0009] Detect the proportion of food in the pot to the total area of ​​the pot;

[0010] If a≥A, it is determined to perform a gathering action on the food, wherein A is a preset first ratio threshold; and / or

[0011] If A>a>B, it is determined to perform a stirring action on the food, wherein B is a preset second ratio threshold; and / or

[0012] If a≤B, it is determined to perform a scattering action on the food.

[0013] In some possible implementations, driving the mechanical arm to move according to the execution action specifically includes:

[0014] In response to performing a gathering action on the food, driving the mechanical arm to perform a spiral curve motion; and / or

[0015] In response to performing a stirring action on the food, driving the robotic arm to perform Bezier curve motion; and / or

[0016] In response to performing a scattering action on the food, the robot arm is driven to perform a circular curve motion.

[0017] In some possible implementations, driving the mechanical arm to perform a spiral curve motion specifically includes:

[0018] The center position in the pot is obtained, and based on the center position, a spiral curve function is called to calculate the starting point positions of several arc trajectories of the spiral motion of the robot arm to obtain multiple convergence points;

[0019] The driving robot arm sequentially moves in an arc from the gathering point to the center position to gather the food in the pot.

[0020] In some possible implementations, driving the robotic arm to perform Bezier curve motion specifically includes:

[0021] Obtaining the area where the food is located in the pot to obtain the food area;

[0022] Obtaining coordinate points of the edge of the food based on the food area, calling the Bezier curve function to calculate the trajectory of the robotic arm making a curved motion in the food area, and obtaining a stirring trajectory;

[0023] The mechanical arm is driven to stir the food according to the stirring trajectory.

[0024] In some possible implementations, driving the robotic arm to perform circular motion specifically includes:

[0025] Acquire the area where the food is located in the pot, obtain the food area, and generate a circumscribed rectangle of the food area based on the outline of the food area;

[0026] Determine the center position of food distribution based on the circumscribed rectangle, and call the circular curve function to calculate the trajectory of the robot arm making a circular motion around the center position to obtain a scattered trajectory;

[0027] The mechanical arm is driven to move along the scattering trajectory to scatter the food in the pot.

[0028] In some possible implementations, the real-time status information also includes any at least one of the type, shape, temperature, and texture of the food; and / or the distribution status includes the stacking thickness and / or the contact area with the bottom of the pot.

[0029] In a second aspect, an embodiment of the present application further provides a food distribution state adjustment device, 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 distribution state adjustment method as described in any one of the above items.

[0030] In a third aspect, an embodiment of the present application further provides a cooking robot, comprising a robotic arm disposed in a pot, and the food distribution state adjustment device as described above.

[0031] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the method for adjusting the food distribution state as described in any one of the above items.

[0032] The embodiment of the present application obtains real-time status information of the ingredients in the pot, and the real-time status information at least includes the distribution status of the ingredients in the pot; determines the execution action for the ingredients according to the real-time status information, and the execution action includes any at least one of a gathering action, a stirring action and a spreading action; drives the mechanical arm to move according to the execution action, and performs corresponding adjustment actions on the ingredients in the pot, thereby realizing multi-posture and all-round adjustment of the distribution status of the ingredients in the pot, achieving fully anthropomorphic operation, and playing a key role in substantially improving the intelligence level of the cooking robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] 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.

[0034] Figure 1 It is a flow chart of a food turning control method provided in an embodiment of the present application;

[0035] Figure 2 yes Figure 1 A detailed flow chart of step S130 in the first embodiment;

[0036] Figure 3 yes Figure 1 A detailed flow chart of the second embodiment of step S130;

[0037] Figure 4 yes Figure 1 A detailed flow chart of step S130 in the third embodiment;

[0038] Figure 5It is a schematic diagram of the trajectory of the mechanical arm performing spiral curve motion in the embodiment of the present application. DETAILED DESCRIPTION

[0039] 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.

[0040] 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.

[0041] 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.

[0042] Reference Figure 1 This is a flow chart of a method for adjusting the distribution state of ingredients provided in an embodiment of the present application. The method includes steps S110 to S130.

[0043] Step S110, obtaining real-time status information of the food in the pot, wherein the real-time status information at least includes the distribution status of the food in the pot;

[0044] In some possible implementations, the image of the pot can be collected by a visual sensor such as a surveillance camera, and the distribution of the ingredients in the pot can be identified in real time using an image recognition algorithm. For example, the real-time status information of the ingredients in the pot can be identified by a detection algorithm such as OpenCV. The real-time status information at least includes the distribution status of the ingredients in the pot.

[0045] In some possible implementations, the distribution state of the food may be characterized by parameters such as the proportion of the food occupying the area in the pot and / or the stacking thickness.

[0046] Step S120: determining an action to be performed on the food according to the real-time status information, wherein the action to be performed includes at least one of a gathering action, a stirring action, and a spreading action;

[0047] In some possible implementations, the execution action on the food can be determined according to the real-time status information of the food, and the area ratio a of the food in the pot to the total area of ​​the pot can be identified. When a is greater than or equal to the preset first ratio threshold A, that is, a≥A, it indicates that the distribution of the food in the pot is too diffuse, and the closer the food is to the center of the pot, the stronger the heating is. In order to prevent the food near the edge from being heated too weakly and causing uneven heating of the food in the pot, it is necessary to gather the food in the pot, so it is determined to perform a gathering action on the food; when a is less than the preset first ratio threshold A and a is greater than the preset second ratio threshold B, that is, A>a>B, it indicates that the distribution of the food in the pot is in a moderate state, and it is not necessary to gather the food at this time, but it is necessary to prevent the heated side of the food from being continuously heated and causing the pot to stick, so it is necessary to stir the food, so it is determined to perform a stirring action on the food; when a is less than or equal to the second ratio threshold B, that is, a≤B, it indicates that the distribution of the food in the pot is too tight, and in order to prevent the overlapping food from being heated unevenly due to the stacking of food, it is determined to perform a scattering action on the food. The first ratio threshold A and the second ratio threshold A can be customized according to actual conditions.

[0048] For example, when the ingredients are loose, soft, small solids such as beans, diced vegetables, and meat slices, when they are too diffusely distributed in the pot, the beans, diced vegetables, or meat slices that are far away from the center of the pot will be heated too weakly, so the ingredients need to be gathered together; when their distribution in the pot is moderate, the ingredients need to be stirred to prevent the side of the ingredients close to the bottom of the pot from being continuously heated and causing the pot to stick; when their distribution in the pot is too crowded, the ingredients need to be scattered to prevent the ingredients from overlapping and causing uneven heating.

[0049] Step S130: driving the robotic arm to move according to the execution action, and performing corresponding adjustment actions on the food in the pot.

[0050] In some specific embodiments, driving the mechanical arm to move according to the execution action specifically includes: in response to performing the gathering action on the food, driving the mechanical arm to perform a spiral curve motion, wherein the spiral curve motion is as follows: Figure 5 As shown; and / or, in response to performing a stirring action on the food, the robotic arm is driven to perform a Bezier curve motion; and / or, in response to performing a scattering action on the food, the robotic arm is driven to perform a circular curve motion.

[0051] like Figure 2 As shown, in one embodiment, step S130 includes:

[0052] Step S210, obtaining the center position in the pot, and based on the center position, calling the spiral curve function to calculate the starting point positions of several arc trajectories of the spiral motion of the robot arm, to obtain multiple convergence points;

[0053] Step S220: driving the robot arm to perform circular motion from the gathering point toward the center position in sequence to gather the food in the pot.

[0054] In some possible implementations, in order to gather the ingredients in the pot, it is necessary to first determine the center position of the pot, and then determine the starting point position of controlling the mechanical arm to connect the spatula and other cooking media to make a spiral curve movement toward the center position. Figure 5 As shown, based on the center position O in the pot, the spiral curve function is called to calculate the starting point positions of several arc trajectories of the spiral motion of the robot arm, and multiple gathering points A1, A2, A3, A4, A5, and A6 are obtained. Finally, the robot arm is driven to make circular motions from the gathering points A1, A2, A3, A4, A5, and A6 to the center position in sequence to gather the food in the pot.

[0055] like Figure 3 As shown, in one embodiment, step S130 further includes:

[0056] Step S310, obtaining the area where the food is located in the pot to obtain the food area;

[0057] Step S320: obtaining the coordinate points of the edge of the food based on the food area, calling the Bezier curve function to calculate the trajectory of the robotic arm making a curved motion in the food area, and obtaining the stirring trajectory;

[0058] Step S330: driving the robotic arm to stir the food according to the stirring trajectory.

[0059] In some possible implementations, in order to achieve stirring of the ingredients in the pot, it is necessary to first determine the area of ​​the ingredients in the pot, so as to determine the stirring trajectory of driving the mechanical arm connected to the spatula and other cooking media to stir the ingredients. Specifically, the area of ​​the ingredients in the pot is obtained based on the visual sensor to obtain the food area; then the coordinate points of the edge of the ingredients are obtained based on the food area, and the trajectory of the spatula and other cooking media connected to the mechanical arm to make curved motion in the food area is calculated by the Bezier curve function to obtain the stirring trajectory of the ingredients in the pot; finally, the mechanical arm is driven to stir the ingredients according to the stirring trajectory. Among them, the Bezier curve is a mathematical curve applied to graphic applications. The definition of the Bezier curve includes: starting point, end point (starting point and end point are also called anchor point), control point, and is divided into second order, third order, fourth order, etc. according to the number of control points, among which the second order Bezier curve is a curve with only one control point. By adjusting the control point, the shape of the Bezier curve will change.

[0060] like Figure 4 As shown, in one embodiment, step S130 further includes:

[0061] Step S410: Acquire the area where the food is located in the pot to obtain the food area, and generate a circumscribed rectangle of the food area based on the outline of the food area;

[0062] Step S420: determining the center position of the food distribution based on the circumscribed rectangle, and calling the circular curve function to calculate the trajectory of the robot arm making a circular motion around the center position to obtain a scattered trajectory;

[0063] Step S430: driving the robot arm to move along the scattering trajectory to scatter the ingredients in the pot.

[0064] In some possible implementations, in order to scatter the ingredients in the pot, it is necessary to first obtain an image of the ingredients in the pot through a visual sensor, then determine the area where the ingredients are located in the pot through image recognition, and obtain the ingredient area; generate a circumscribed rectangle of the ingredient area based on the outline of the ingredient area, and determine the center position of the ingredient area based on the circumscribed rectangle; then, based on the center position of the circumscribed rectangle and the ingredient area, call a circular curve function to calculate the trajectory of a robotic arm connected to a cooking medium such as a spatula making a circular motion around the center position in the ingredient area, and obtain a scattering trajectory for the ingredients in the pot; finally, drive the robotic arm to move along the scattering trajectory to achieve the purpose of scattering the ingredients.

[0065] In some possible implementations, the real-time status information of the food in the pot also includes any at least one of the food type, shape, temperature, and texture; and / or the distribution state includes the stacking thickness and / or the contact area with the bottom of the pot. For example, the food types may be liquid, viscous, semi-solid or small particle states, hard large solid particles, and soft small-sized solid particles. Among them, for liquid, viscous, and semi-solid food, stirring action is mainly required; while for small particle states, hard large solid particles, and soft small-sized solid particles, it is necessary to determine whether to perform a gathering action, a stirring action, or a spreading action.

[0066] The embodiment of the present application obtains real-time status information of the ingredients in the pot, wherein the real-time status information includes at least the distribution status of the ingredients in the pot; determines an execution action for the ingredients based on the real-time status information, wherein the execution action includes any at least one of a gathering action, a stirring action, and a spreading action; drives the mechanical arm to move according to the execution action, and performs corresponding adjustment actions on the ingredients in the pot, thereby enabling the cooking robot to perform corresponding adjustment actions on the ingredients in the pot based on the real-time status information of the ingredients, so as to prevent uneven heating of the ingredients in the pot, and avoid problems such as sticking to the pot or inconsistent cooking of the ingredients.

[0067] An embodiment of the present application also provides a food distribution state adjustment device, 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 distribution state adjustment method described in the above embodiments.

[0068] The embodiment of the present application also provides a cooking robot, comprising a mechanical arm arranged in a pot, and the food distribution state adjustment device as described above, wherein the mechanical arm is a multi-degree-of-freedom mechanical arm, which can be adjusted according to actual conditions.

[0069] In some possible implementations, the adopted robotic arm is a five-degree-of-freedom robotic arm.

[0070] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the food distribution state adjustment method as described above.

[0071] 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.

[0072] 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 adjusting the distribution state of ingredients, applied to a cooking robot with a mechanical arm in a pot, characterized in that: The method comprises: Obtaining real-time status information of the food in the pot, wherein the real-time status information at least includes the distribution status of the food in the pot; Determining an execution action for the food according to the real-time status information, the execution action comprising at least one of a gathering action, a stirring action, and a spreading action; The robot arm is driven to move according to the execution action, and a corresponding adjustment action is performed on the food in the pot.

2. The method for adjusting the food distribution state according to claim 1, characterized in that: The step of determining the execution action on the food according to the real-time status information specifically includes: Detect the proportion of food in the pot to the total area of ​​the pot; If a≥A, it is determined to perform a gathering action on the food, wherein A is a preset first ratio threshold; and / or If A>a>B, it is determined to perform a stirring action on the food, wherein B is a preset second ratio threshold; and / or If a≤B, it is determined to perform a scattering action on the food.

3. The method for adjusting the food distribution state according to claim 2, characterized in that: The driving the mechanical arm to move according to the execution action specifically includes: In response to performing a gathering action on the food, driving the mechanical arm to perform a spiral curve motion; and / or In response to performing a stirring action on the food, driving the robotic arm to perform Bezier curve motion; and / or In response to performing a scattering action on the food, the robot arm is driven to perform a circular curve motion.

4. The method for adjusting the food distribution state according to claim 3, characterized in that: The driving of the mechanical arm to perform spiral curve motion specifically includes: The center position in the pot is obtained, and based on the center position, a spiral curve function is called to calculate the starting point positions of several arc trajectories of the spiral motion of the robot arm to obtain multiple convergence points; The driving robot arm sequentially moves in an arc from the gathering point to the center position to gather the food in the pot.

5. The method according to claim 3, characterized in that: The driving of the robot arm to perform Bezier curve motion specifically includes: Obtaining the area where the food is located in the pot to obtain the food area; Obtaining coordinate points of the edge of the food based on the food area, calling the Bezier curve function to calculate the trajectory of the robotic arm making a curved motion in the food area, and obtaining a stirring trajectory; The mechanical arm is driven to stir the food according to the stirring trajectory.

6. The method for adjusting the food distribution state according to claim 3, characterized in that: The driving of the robotic arm to perform circular motion specifically includes: Acquire the area where the food is located in the pot, obtain the food area, and generate a circumscribed rectangle of the food area based on the outline of the food area; Determine the center position of food distribution based on the circumscribed rectangle, and call the circular curve function to calculate the trajectory of the robot arm making a circular motion around the center position to obtain a scattered trajectory; The mechanical arm is driven to move along the scattering trajectory to scatter the food in the pot.

7. The method for adjusting the distribution state of food materials according to any one of claims 1 to 6, characterized in that: The real-time status information also includes any at least one of the food type, shape, temperature, and texture; and / or the distribution status includes the stacking thickness and / or the contact area with the bottom of the pot.

8. A food distribution state adjustment device, 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 control device executes the food distribution state adjustment method as described in any one of claims 1-7.

9. A cooking robot, characterized in that: It comprises a mechanical arm arranged in the pot, and the food distribution state adjustment device as claimed 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 a processor, the processor executes the method for adjusting the distribution state of ingredients according to any one of claims 1 to 7.

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