Chef robot device

Abstract

The invention relates to a chef robot device, which comprises a temperature sensing module, an image identification module, a smell sensing module, a central processing unit and a mechanical arm module, and is characterized in that the temperature sensing module, the image identification module and the smell sensing module respectively sense the temperature, the color and the smell of a food material in a cooking utensil; the temperature sensing unit is used for transmitting a temperature sensing signal, a food material color depth signal and an odor concentration signal to the central processing unit; the central processing unit outputs different action instructions to the mechanical arm module according to different food material states and a trajectory planning model, so that the mechanical arm module can execute a plurality of actions according to the different action instructions to complete the process of making meals; and the chef robot device can improve the food and beverage making quality through continuous learning, so that the manpower problem faced by the catering industry is solved.

Description

Technical Field

[0001] The invention relates to a cooking device, in particular to a chef robot device which can cook food by itself. Background Art

[0002] Food plays an indispensable role in people's daily life. We cook food to get food, and then eat food to get the nutrients needed by the human body every day. Some people even enjoy the cooking process. Although the cooking process seems to have many benefits, most modern people give up spending time and energy to cook food after get off work because of their busy work. Some food even requires a complicated cooking process to complete. Therefore, most modern people choose to eat out or take out food after get off work.

[0003] Although various types of restaurants can meet the dietary needs of most modern people, the restaurants are facing problems such as high talent turnover and long-term labor shortage. Many restaurants lack chefs with rich cooking experience, which leads to unstable food quality and difficulty in retaining customers, and eventually go bankrupt. If the manpower problem continues to be unresolved, the continuous closure of restaurants will further affect the dietary needs of modern people. In order to improve the problem of insufficient manpower in the catering industry, some operators have developed a food delivery robot that can assist food delivery personnel in delivering food. After the kitchen staff places the food on the food delivery robot, they can simply input multiple operating instructions, and the food delivery robot will deliver the food to a specific table according to the multiple operating instructions; or, some operators have developed a noodle making robot. The restaurant only needs to put the noodle ingredients into the noodle making robot and set it through simple operations, and the noodle making robot will continue to make noodles.

[0004] However, the food delivery robots and noodle making robots can only perform single and highly repetitive actions. For catering operators, although these robots that can only perform specific actions have overcome some of the manpower problems, their kitchens still lack manpower to cook ingredients and chefs with rich cooking experience to season the food. As a result, catering stores still have problems such as long serving time and unstable food quality, which affects the reputation of the catering stores and makes their operations difficult. Summary of the invention

[0005] Existing restaurants lack manpower to cook ingredients and chefs with rich cooking experience to season, which results in problems such as long meal serving time and unstable meal quality. In view of this, the present invention proposes a chef robot device, comprising:

[0006] A temperature sensing module, sensing a real-time temperature in a cooking utensil to output a temperature sensing signal;

[0007] an image recognition module, which captures a real-time image of the cooking utensil, performs image recognition to identify the color of an ingredient in the cooking pot, and outputs an ingredient color depth signal according to an ingredient color depth of the ingredient;

[0008] an odor sensing module, sensing an ambient odor around the cooking utensil, performing odor recognition to identify a specific odor and outputting an odor concentration signal according to the concentration of the specific odor;

[0009] a central processing unit, electrically connected to the temperature sensing module, the image recognition module and the odor sensing module, to receive the temperature sensing signal, the food color depth signal and the odor concentration signal, and the central processing unit stores a trajectory planning model and outputs a plurality of action instructions according to the trajectory planning model; and

[0010] a robotic arm module, electrically connected to the central processing unit to receive the plurality of action instructions and execute a plurality of actions;

[0011] When the instantaneous temperature is greater than or equal to the initial cooking temperature, the central processing unit controls the robot arm module to add the food into the cooking utensil and stir-fry the food;

[0012] Among them, when the instantaneous temperature is greater than or equal to an end cooking temperature, the color depth of the food is greater than or equal to an out-of-pot color depth, and the concentration of the specific odor is greater than or equal to a lower limit of the odor concentration, the central processing unit controls the robotic arm module to take the food out of the cooking utensil.

[0013] When the chef robot device of the present invention is cooking a meal, the central processing unit can determine the temperature, color and smell of the food in the cooking utensil according to the temperature sensing signal, the food color depth signal and the smell concentration signal. The central processing unit outputs different action instructions to the robot arm module according to the different temperatures, colors and smells of the food and the trajectory planning model, so that the robot arm module can perform multiple actions according to different action instructions, thereby completing the entire process of making meals. And the robot arm module simulates and learns the actions of a professional, that is, the information in the trajectory planning model can be continuously corrected and updated, so that the actions of the robot arm module gradually approach the actions of the professional, so that the chef robot device of the present invention improves the stability of making various types of food and beverages, thereby overcoming the manpower problems faced by the catering industry as described in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 : A schematic plan view of the chef robot device of the present invention.

[0015] Figure 2 : A three-dimensional schematic diagram of the chef robot device of the present invention.

[0016] Figure 3 :Circuit block diagram of the chef robot device of the present invention.

[0017] Figure 4 : Flowchart of the chef robot device of the present invention when preparing meals. DETAILED DESCRIPTION

[0018] In order to understand the technical features and practical effects of the present invention in detail and to realize the invention according to the new content, the embodiments shown in the figures are further described in detail as follows:

[0019] See also Figures 1 to 3 The present invention is a chef robot device, which includes a temperature sensing module 10, an image recognition module 20, an odor sensing module 30, a central processing unit 40 and a robotic arm module 50.

[0020] The temperature sensing module 10 is disposed adjacent to a cooking utensil 60 to sense a real-time temperature in the cooking utensil 60 to output a temperature sensing signal S1. For example, the temperature sensing module 10 is a contact temperature sensor, such as a thermocouple sensor; the temperature sensing module 10 is disposed in the cooking utensil 60, for example, the cooking utensil 60 has a pot body and a pot handle, and the temperature sensing module 10 is disposed at the connection between the pot body and the pot handle. When the cooking utensil 60 is heated, the real-time temperature in the cooking utensil 60 will be transmitted to the entire pot body, and the temperature sensing module 10 can utilize this characteristic to sense the real-time temperature in the cooking utensil 60.

[0021] Alternatively, the temperature sensing module 10 is a non-contact temperature sensor, such as a thermal imager; the temperature sensing module 10 is disposed above an opening 62 of the cooking utensil 60 through a bracket 61 to detect the instantaneous temperature in the cooking utensil 60 through the opening 62 and output a thermal image of the cooking utensil 60, the thermal image being the temperature sensing signal S1, wherein Figure 1 The temperature sensing module 10 shown is a non-contact temperature sensor.

[0022] The image recognition module 20 is disposed adjacent to the cooking utensil 60 and is used to capture a real-time image of the cooking utensil, perform image recognition to identify the color of an ingredient in the cooking pot, and output an ingredient color depth signal S2 according to the ingredient color depth of the ingredient. Figure 1 As shown, the image recognition module 20 can also be disposed above the opening 62 via the bracket 61 , and can photograph the internal condition of the cooking utensil 60 through the opening 62 .

[0023] See also Figure 3The image recognition module 20 may further include a lens group 21, an image processor 22 and a comparison feature database 23. The shooting direction of the lens group 21 is toward the opening 62 to shoot the real-time image. The image processor 22 is electrically connected to the lens group 21 and the comparison feature database 23. A plurality of comparison features are stored in the comparison feature database. The image processor 22 has the capabilities of image processing and image recognition.

[0024] Image processing and image recognition are common knowledge in the field. In short, during the training phase of the image recognition module 20, the developer can use the lens group 21 to shoot multiple comparison images of various ingredients in the cooking utensil 60. The image processor 22 will perform image processing on the multiple comparison images to extract multiple comparison features of the multiple comparison images, and store the multiple comparison features in the comparison feature database 23. After repeated training, the image recognition module 20 will have the ability to recognize an ingredient in the cooking utensil 60. When the lens group 21 shoots a real-time image of the cooking utensil 60, the image processor 22 performs image recognition to extract multiple image features of the real-time image, and then compares the multiple image features with the multiple comparison features to identify the ingredient, for example, the color, type, size and other information of the ingredient can be recognized.

[0025] The odor sensing module 30 is disposed near the periphery of the cooking utensil 60 to sense an ambient odor around the cooking utensil 60, perform odor recognition to identify a specific odor and output an odor concentration signal S3 according to the concentration of the specific odor. Specifically, when the food in the cooking utensil 60 is heated, the components in the food (such as starch, protein, etc.) will produce a chemical reaction after being heated to emit an odor, such as Menard reaction; the odor sensing module 30 is used to sense the odor and identify the specific odor from the odor. The specific odor can be, for example, a burnt smell or a wok smell (wok smell) generated by cooking (rice) with a high fire. For example, the odor sensing module 30 can be an impedance electronic nose, a piezoelectric electronic nose, a field effect electronic nose or an optical electronic nose.

[0026] Since odor molecules move in the air through diffusion, that is, the closer to the odor source, the higher the concentration of the odor, in order to improve the sensing ability of the odor sensing module 30, it is better to Figure 1 As shown, the odor sensing module 30 can also be disposed above the opening 62 through the bracket 61. When the food is heated and emits an odor, the odor sensing module 30 can quickly sense the specific odor and reflect the heating status of the food through the specific odor.

[0027] How the odor sensing module 30 identifies odors is common knowledge in the art. For example, the odor sensing module 30 is an impedance electronic nose. In short, the odor sensing module 30 includes a sensing chip, and the surface of the sensing chip is coated with a polymer material. The polymer material has a special electronic configuration and is conductive. When an odor molecule of a measured gas contacts the polymer material, the polymer material will expand or contract due to a chemical reaction, causing a change in the conductive path and thus changing its impedance value. Different odor types and concentrations will cause the polymer material to produce different impedance data. By comparing the impedance data with a pre-established database, signal processing and analysis, a pattern or electronic fingerprint of the measured gas will be generated to identify the type and concentration of the measured gas.

[0028] See also Figure 3 The central processing unit 40 electrically connects the temperature sensing module 10, the image recognition module 20 and the odor sensing module 30 to receive the temperature sensing signal S1, the food color depth signal S2 and the odor concentration signal S3 respectively, and the central processing unit 40 stores a trajectory planning model and outputs a plurality of action instructions S4 according to the trajectory planning model. For example, the central processing unit 40 includes at least one microprocessor (MCU), at least one memory and other electronic components, and serves as the data processing core of the chef robot device. The trajectory planning model will be further described later in conjunction with how the robotic arm module 50 is trained.

[0029] The robot arm module 50 is electrically connected to the central processing unit 40 to receive the plurality of action instructions S4, and can perform a plurality of actions according to the plurality of action instructions S4. For example, the plurality of actions include a plurality of temperature control actions and a plurality of cooking actions. The plurality of temperature control actions include, for example, increasing / decreasing the heating power of the cooking utensil. The plurality of cooking actions include, for example, placing the food in the cooking utensil 60, stir-frying the food, and taking the food out of the cooking utensil. Figure 1 and Figure 2 Taking stir-frying the food as an example, the robotic arm module 50 includes two robotic arms, and as mentioned above, the cooking utensil 60 includes a pot body and a pot handle. The multiple action instructions S4 can make one of the two robotic arms grasp the pot handle and the other of the two robotic arms grasp a spatula, and wave the spatula to stir-fry the food in the cooking utensil 60 (not shown).

[0030] Regarding how the robotic arm module 50 is trained to perform the above-mentioned temperature control actions or cooking actions, in short, during the training stage of the robotic arm module 50, the developers wear a smart glove on the left and right hands of a professional (such as a chef), and the smart glove includes multiple sensors (such as locators) that can sense the movements of the left and right hands of the professional, such as grasping movements, grasping force and other information; then through a recording device, such as a training lens or a sensing device, a three-dimensional motion trajectory of the smart glove (the multiple sensors) in a three-dimensional space is captured, and the three-dimensional motion trajectory is input into the trajectory planning model of the central processing unit 40. The trajectory planning model will analyze and process the three-dimensional motion trajectory. This part is common knowledge in the field and will not be elaborated on. After data processing and analysis, the trajectory planning model outputs multiple action instructions S4 corresponding to a cooking process (such as stir-frying) to the robotic arm module 50. The robotic arm module 50 will be able to simulate the actions of the professional according to the multiple action instructions S4, and correct the data analysis and processing parameters of the trajectory planning model according to the actions simulated by the robotic arm module 50.

[0031] After repeated above processes, the multiple action instructions S4 generated by the trajectory planning model will be more accurate, making the actions performed by the robot arm module 50 more similar to the actions of the professional. Preferably, for example, when the professional performs the stir-frying action, he not only uses his hands, but also his upper arms and lower arms. Therefore, in the training stage of the robot arm module 50, in addition to the smart gloves, a smart kit is further provided on the upper arms, lower arms and elbows of both sides of the professional. The smart kit also includes multiple sensors (such as locators) to fully record the complete three-dimensional motion trajectory of the professional's hands and arms when performing the cooking action.

[0032] In addition, when the robot arm module 50 learns to simulate the actions of the professional, the temperature sensing module 10, the image recognition module 20 and the odor sensing module 30 also respectively sense the real-time temperature, the real-time image and the concentration of the specific odor of the cooking utensil 60 in each process of the professional making a meal, and record the aforementioned sensing values ​​as multiple threshold values ​​in the central processing unit 40. When the chef robot device makes the meal by itself, the central processing unit 40 can determine whether the state in the cooking utensil 60 is the same as that when the professional makes the meal based on the multiple threshold values. For example, the central processing unit 40 stores a starting cooking temperature, which is set according to the temperature in the cooking utensil 60 when the professional starts cooking an ingredient when making the meal, wherein the cooking starting temperature set in the central processing unit 40 for different ingredients is also different.

[0033] For a more detailed description of the chef robot device of the present invention, please refer to Figure 4 The following is an explanation of the chef robot device making a meal and the flowchart of making the meal, wherein the judgment and control process in the flowchart is implemented by the central processing unit 40.

[0034] Step P10: The central processing unit 40 controls the robot arm module 50 to execute the multiple temperature control actions to heat the cooking utensil 60 so that the instant temperature gradually rises.

[0035] Step P11: The central processing unit 40 determines whether the instantaneous temperature is greater than or equal to the starting cooking temperature according to the temperature sensing signal S1, wherein the starting cooking temperature is stored in the central processing unit 40; when the instantaneous temperature is greater than or equal to the starting cooking temperature, it indicates that the food can be added to the cooking utensil 60, and when the instantaneous temperature does not reach the starting cooking temperature, it indicates that the temperature in the cooking utensil 60 is still insufficient and the food cannot be added.

[0036] Step P20: When the instantaneous temperature is greater than or equal to the starting cooking temperature, the central processing unit 40 controls the robotic arm module 50 to perform the multiple cooking actions to add the ingredients into the cooking utensil 60 and stir-fry the ingredients.

[0037] Step P21: If the instantaneous temperature has not yet reached the starting cooking temperature, the central processing unit 40 improves the heating efficiency of the cooking utensil 60. Specifically, the central processing unit 40 controls the robotic arm module 50 to perform the multiple temperature control actions to increase the firepower of heating the cooking utensil 60. For example, the cooking utensil 60 is heated by a gas stove, and the multiple temperature control actions will include turning the firepower knob of the gas stove, or the cooking utensil 60 is heated by an induction cooker, and the multiple temperature control actions include pressing different firepower control buttons on the induction circuit.

[0038] Step P30: The central processing unit 40 determines the following three points according to the temperature sensing signal S1, the food color depth signal S2 and the odor concentration signal S3:

[0039] Whether the instantaneous temperature is greater than or equal to a cooking end temperature;

[0040] Whether the color depth of the food is greater than or equal to the color depth of the food when it is out of the pot;

[0041] Whether the concentration of the specific odor is greater than or equal to a lower limit of odor concentration.

[0042] When the above three points are achieved at the same time, it means that the food has been fully heated, its surface color has reached the standard for being ready to be taken out of the pot, and the food emits a burnt aroma due to the heating; and when one of them is not achieved, it means that the food has not yet reached the standard for being ready to be taken out of the pot. The end cooking temperature, the color depth of the food being taken out of the pot, and the lower limit of the odor concentration are all stored in the central processing unit 40, and preferably, the end cooking temperature is greater than the start cooking temperature. The setting method of the end cooking temperature, the color depth of the food being taken out of the pot, and the lower limit of the odor concentration are the same as the setting method of the start cooking temperature mentioned above, and will not be repeated here.

[0043] Among them, multiple judgments (not shown) are continuously performed between step 20 and step 30 to determine whether the cooking temperature of the food is appropriate. For example, the multiple judgments include the following steps:

[0044] When the instantaneous temperature is greater than or equal to the start cooking temperature, the central processing unit periodically determines whether the instantaneous temperature is greater than a temperature setting value at a preset time interval;

[0045] Among them, when it is determined that the instantaneous temperature is lower than the temperature setting value, the central processing unit 40 controls the robot arm module 50 to increase the firepower for heating the cooking utensil 60; corresponding to the actual cooking process, that is, professionals find that the firepower for stir-frying the ingredients is insufficient and increase the firepower.

[0046] When the instantaneous temperature is greater than or equal to the start cooking temperature, the central processing unit periodically determines whether the instantaneous temperature is greater than a temperature setting value at a preset time interval;

[0047] When it is determined that the instantaneous temperature is greater than the temperature setting value, the central processing unit 40 controls the robotic arm module 50 to reduce the firepower for heating the cooking utensil 60; corresponding to the actual cooking process, professionals reduce the firepower to stew the food.

[0048] Among them, the preset time can be adjusted according to different ingredients. For example, if the ingredient is an ingredient that is easy to burn or overheat, and its starting cooking temperature is 50 degrees Celsius, the preset time can be set to 15 seconds, and the temperature setting value is 85 degrees Celsius. That is, during the process of the robotic arm module 50 frying the ingredient, the central real-time unit determines whether the temperature in the cooking utensil 60 is suitable for frying the ingredient based on the real-time temperature every 15 seconds. If it is not enough, the firepower is increased, otherwise, the firepower is reduced.

[0049] Step P40: When the instantaneous temperature is greater than or equal to the end cooking temperature, the color depth of the food is greater than or equal to the color depth of the food out of the pot, and the concentration of the specific odor is greater than or equal to the lower limit of the odor concentration, the central processing unit 40 controls the robotic arm module 50 to perform the multiple cooking actions to take the food out of the cooking utensil 60.

[0050] In one embodiment of the present invention, before the robotic arm module 50 takes the food out of the cooking utensil 60, the robotic arm module 50 also performs the multiple cooking actions to add at least one seasoning into the cooking utensil 60 to season the food; in another embodiment of the present invention, before the robotic arm module 50 takes the food out of the cooking utensil 60, the robotic arm module 50 also performs the multiple temperature control actions to stop heating the cooking utensil 60.

[0051] Step P41: When the instantaneous temperature is lower than the end cooking temperature, the color depth of the food is lower than the color depth of the food out of the pot, or the concentration of the specific odor is lower than the lower limit of the odor concentration, the central processing unit 40 controls the robotic arm module 50 to perform the multiple temperature control actions to increase the firepower for heating the cooking utensil 60.

[0052] In addition, in one embodiment of the present invention, when the specific concentration is greater than or equal to an upper limit of the odor concentration, it indicates that the food is overheated or burnt, and the central processing unit 40 determines whether the food is overheated or burnt according to the color depth of the food. When the color depth of the food is less than a preset color depth, it indicates that the food is overheated, and the central processing unit 40 controls the robotic arm module 50 to reduce the heating power of the cooking utensil 60; when the color depth of the food is greater than a preset color depth, it indicates that the food is burnt, and the central processing unit 40 controls the robotic arm module 50 to take the food out of the cooking utensil 60.

[0053] The chef robot device of the present invention senses the temperature, color and smell of an ingredient in a cooking utensil 60 through a temperature sensing module 10, an image recognition module 20 and an odor sensing module 30, and transmits a temperature sensing signal S1, an ingredient color depth signal S2 and an odor concentration signal S3 to a central processing unit 40 respectively. The central processing unit 40 stores a trajectory planning model and can output multiple action instructions S4 to a robotic arm module 50 according to the trajectory planning model, so that the robotic arm module 50 can perform multiple cooking actions and multiple temperature control actions according to the multiple action instructions S4. When the chef robot device of the present invention is cooking a meal, the central processing unit can output different action instructions S4 according to the temperature sensing signal S1, the food color depth signal S2 and the odor concentration signal S3, so that the robotic arm module 50 can complete the entire process of making the meal; and the robotic arm module 50 learns the actions of a professional by simulating, that is, the information in the trajectory planning model can be continuously corrected and updated, so that the actions of the robotic arm module 50 gradually become closer to the actions of the professional, so that the chef robot device of the present invention can improve the stability of making various types of food and beverages, thereby overcoming the manpower problem faced by the catering industry as described in the prior art.

[0054] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A chef robot device, characterized in that: Include: A temperature sensing module, sensing a real-time temperature in a cooking utensil to output a temperature sensing signal; an image recognition module, which captures a real-time image of the cooking utensil, performs image recognition to identify the color of an ingredient in the cooking pot, and outputs an ingredient color depth signal according to an ingredient color depth of the ingredient; an odor sensing module, sensing an ambient odor around the cooking utensil, performing odor recognition to identify a specific odor and outputting an odor concentration signal according to the concentration of the specific odor; a central processing unit, electrically connected to the temperature sensing module, the image recognition module and the odor sensing module, to receive the temperature sensing signal, the food color depth signal and the odor concentration signal, and the central processing unit stores a trajectory planning model and outputs a plurality of action instructions according to the trajectory planning model; and a robotic arm module, electrically connected to the central processing unit to receive the plurality of action instructions and execute a plurality of actions; When the instantaneous temperature is greater than or equal to the initial cooking temperature, the central processing unit controls the robot arm module to add the food into the cooking utensil and stir-fry the food; Among them, when the instantaneous temperature is greater than or equal to an end cooking temperature, the color depth of the food is greater than or equal to an out-of-pot color depth, and the concentration of the specific odor is greater than or equal to a lower limit of the odor concentration, the central processing unit controls the robotic arm module to take the food out of the cooking utensil.

2. The chef robot device according to claim 1, characterized in that: When the instantaneous temperature is greater than or equal to the start cooking temperature, the central processing unit periodically determines whether the instantaneous temperature is greater than a temperature setting value at a preset time interval; When it is determined that the instantaneous temperature is less than the temperature setting value, the central processing unit controls the robotic arm module to increase the firepower for heating the cooking utensil.

3. The chef robot device according to claim 1, characterized in that: When the instantaneous temperature is greater than or equal to the start cooking temperature, the central processing unit periodically determines whether the instantaneous temperature is greater than a temperature setting value at a preset time interval; When it is determined that the instantaneous temperature is greater than the temperature setting value, the central processing unit controls the robotic arm module to reduce the firepower for heating the cooking utensil.

4. The chef robot device according to claim 1, characterized in that: When the instantaneous temperature is lower than the starting cooking temperature, the central processing unit controls the robot arm module to heat the cooking utensil.

5. The chef robot device according to claim 1, characterized in that: When the concentration of the specific odor is greater than or equal to an upper limit of the odor concentration and the color depth of the food is less than a preset color depth, the central processing unit controls the robot arm module to reduce the firepower for heating the cooking utensil.

6. The chef robot device according to claim 1, characterized in that: When the concentration of the specific odor is greater than or equal to an upper limit of the odor concentration and the color depth of the food is greater than a preset color depth, the central processing unit controls the robot arm module to take the food out of the cooking utensil.

7. The chef robot device according to claim 1, characterized in that: The image recognition module includes a lens group, an image processor and a comparison feature database. The lens group is used to shoot the real-time image. The image processor is electrically connected to the lens group and the comparison feature database. The comparison feature database stores a plurality of comparison features. When the image recognition module performs image recognition, the image processor extracts a plurality of image features of the real-time image, and then compares the plurality of image features with the plurality of comparison features to recognize the food.

8. The chef robot device according to claim 1, characterized in that: Before the robotic arm module takes the food out of the cooking utensil, the central processing unit further controls the robotic arm module to add at least one seasoning into the cooking utensil and stop heating the cooking utensil.

9. The chef robot device according to claim 1, characterized in that: In a training phase of the robot arm module, a smart glove is worn on the left and right hands of a professional, and a three-dimensional motion trajectory of the smart glove in a three-dimensional space is captured by a recording device to input the three-dimensional motion trajectory into the trajectory planning model.

10. The chef robot device according to claim 1, characterized in that: When the instantaneous temperature is lower than the end cooking temperature, the color depth of the food is lower than the color depth of the food out of the pot, or the concentration of the specific odor is lower than the lower limit of the odor concentration, the central processing unit controls the robotic arm module to increase the firepower for heating the cooking utensil.

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