Automatic cooking device and automatic cooking method

Abstract

The present invention provides an automatic cooking device for detecting the rotational position of a stirring component that is freely mounted on and removed from the main body of a container when it rotates. An automatic cooking device (10) includes: a cooking container (300) having a bottomed cylindrical container body (310) for holding food (I) and a stirring member (320) detachably mounted on the container body (310); a container holding unit (200) for rotating the stirring member (320) of the cooking container (300) while holding the cooking container (300); and a control unit (800) for driving control of the container holding unit (200). The automatic cooking device (10) uses the stirring member (320) to stir and cook the food (I) held in the container body (310). The automatic cooking device (10) also includes a rotation position detection mechanism for the stirring member (320) consisting of a detection body (323) disposed on the stirring member (320) and a detection body (730) disposed outside the cooking container (300) for detecting the detection body (323).

Description

Technical Field

[0001] This invention relates to an automatic cooking apparatus and an automatic cooking method, and more particularly to an automatic cooking apparatus and an automatic cooking method for stirring and cooking ingredients stored in a cooking container. The cooking container has a container body for storing ingredients and a stirring component that is detachably installed on the container body and rotates independently of the container body. Background Technology

[0002] In recent years, the automation of cooking operations has been advancing in the catering industry due to various factors such as ensuring the availability of cooking personnel, maintaining cooking skills, and preparing the cooking environment.

[0003] Therefore, an automatic cooking device is known in the past, which includes a container holding unit that holds a bottom cylindrical cooking container, a rotating unit that allows the cooking container held by the container holding unit to rotate freely between the front and rear areas of the cooking table, and a control unit that drives and controls these container holding units and rotating units, and at least stirs and cooks the food stored in the cooking container, wherein the cooking container has a stirring member disposed on the inner bottom surface or inner side surface of the container body and protruding toward the internal space of the container body (e.g., Patent Document 1).

[0004] Patent Document 1: Japanese Patent Application Publication No. 2022-175791

[0005] However, in the aforementioned automatic cooking device, the stirring component rotates as an integral part of the cooking container body. Therefore, depending on the position where the stirring component stops rotating at the end of the stirring cooking process, the stirring component may block the food inside the container body, making it difficult for the person serving the food to remove the food from the container body.

[0006] On the other hand, in order to more realistically and highly reproduce the skill of a cook's trained stirring action and to make the stirring component freely attach and detach from the container body, compared with the above-mentioned automatic cooking device with a cooking container in which the container body and the stirring component rotate as one unit, the automatic cooking device cannot detect the stopping position of the stirring component based on the stopping position of the container body, thus making it more difficult to grasp the rotation position of the stirring component in the automatic cooking device. Summary of the Invention

[0007] Therefore, the present invention solves the above-mentioned problems of the prior art. That is, the purpose of the present invention is to provide an automatic cooking device and an automatic cooking method that can control the rotational position of a stirring component that is freely installed on the container body and rotates independently of the container body when it rotates relative to the container body.

[0008] The invention involved in technical solution 1 solves the above-mentioned problems in the following way: an automatic cooking device includes: a cooking container, having a bottomed cylindrical container body for storing ingredients, and a stirring member that is detachably mounted on the container body and rotates independently of the container body; a container holding unit that rotates the stirring member of the cooking container while holding the cooking container; and a control unit that drives and controls the container holding unit. The automatic cooking device uses the stirring member to stir and cook the ingredients stored in the container body. The automatic cooking device includes a rotation position detection mechanism for the stirring member, which consists of a detection body disposed on the stirring member and a detection body disposed outside the cooking container and detecting the detection body.

[0009] The invention involved in technical solution 2 solves the above-mentioned problem by means of the structure of the automatic cooking device described in technical solution 1, namely, the detected object has a magnet and the detected object is a magnetic sensor.

[0010] The invention involved in technical solution 3, based on the structure of the automatic cooking device described in technical solution 1, further solves the above-mentioned problem in the following way: the container holding unit allows the cooking container to move freely in the front-back direction of the cooking platform on which the container holding unit is arranged, and the detection body is arranged outside the passage range of the cooking container when the cooking container moves in the front-back direction of the cooking platform.

[0011] The invention involved in technical solution 4, based on the structure of the automatic cooking device described in technical solution 1, further solves the above-mentioned problem in the following way: the stirring member has an inner surface opposite to the container body and an outer surface on the side opposite to the inner surface, and the object to be detected is disposed on the outer surface of the stirring member.

[0012] The invention involved in technical solution 5, based on the structure of the automatic cooking device described in technical solution 1, further solves the above-mentioned problem in the following way: the container holding unit allows the cooking container to move freely in the front-back direction of the cooking platform on which the container holding unit is arranged; the detection object is disposed near the front end of the stirring member; and the control unit drives and controls the container holding unit so that, in the serving assistance posture that tilts the cooking container forward, the front end of the stirring member is located at the retracted position furthest from the plate placed on the cooking platform.

[0013] The invention involved in technical solution 6 solves the above-mentioned problems in the following way: an automatic cooking method, which is an automatic cooking method based on an automatic cooking device, the automatic cooking device comprising: a cooking container having a bottomed cylindrical container body for holding ingredients, and a stirring component that is detachably mounted to the container body and rotates independently of the container body; a container holding unit that can move freely in the front-to-back direction of the cooking table while holding the cooking container, and causes the stirring component to rotate; a control unit that drives and controls the container holding unit; and a rotation position detection mechanism for the stirring component, consisting of a detection device located near the front end of the stirring component. The automatic cooking method comprises a measuring body and a measuring body disposed outside the cooking container to detect the measured body. The automatic cooking method includes: a rotation position control step in which the control unit controls the rotation position of the stirring member; a stirring cooking step in which the stirring member of the cooking container rotates in a cooking posture in which the cooking container is tilted backward to stir and cook the food contained in the main body of the container; and a serving assist step in which the cooking container is tilted forward to a serving assist posture after the stirring cooking step is completed. The stirring member is configured such that, in the serving assist posture, the front end of the stirring member is in a retracted position furthest from the plate placed on the cooking table.

[0014] The automatic cooking device according to technical solution 1 includes a rotation position detection mechanism for the stirring component, which consists of a detection body disposed on the stirring component and a detection body disposed outside the cooking container and detecting the detection body. The detection body detects the detection body passing through the detection body, and the control unit controls the rotation position of the stirring component. Therefore, regardless of the engagement state between the stirring component and the container holding unit, the control unit can control the rotation position of the stirring component when it rotates relative to the container body, which is detachably mounted on the container body and rotates independently of the container body. As a result, when a person is serving the food after cooking transfers the food from the cooking container to a plate, or when the cooking container is being automatically cleaned, the stirring component can automatically retract to the optimal retraction position that does not affect serving or cleaning.

[0015] The automatic cooking device according to technical solution 2, in addition to the effects produced by the automatic cooking device according to technical solution 1, has the following advantages: since the detected object has a magnet and the detector is a magnetic sensor, the control unit can grasp the rotation position of the stirring component by the change of the magnetic field around the detector. Therefore, compared with the case where the detector detects the detected object optically, the control unit can reliably grasp the rotation position of the stirring component even if the detector or the detected object has oil stains or other stains originating from cooking, and it will not affect personnel performing cooking assistance work around the automatic cooking device. Furthermore, compared with the case where the detector detects the detected object by an eddy current proximity sensor, the detection performance can be ensured even if the relative distance between the detector and the stirring component is separated, thus increasing the freedom of device design for the automatic cooking device.

[0016] The automatic cooking device of the invention according to technical solution 3, in addition to the effects produced by the automatic cooking device of the invention according to technical solution 1, is positioned outside the passage range of the cooking container when the cooking container moves up and down in the front and back direction of the cooking table. Therefore, even if the container holding unit makes the cooking container move up and down in the front and back direction, the cooking container will not interfere with the detection body. Thus, the container holding unit can make the cooking container move up and down in the front and back direction and easily take various postures.

[0017] The automatic cooking device of the invention according to technical solution 4, in addition to the effects produced by the automatic cooking device of the invention according to technical solution 1, is provided on the outer surface of the stirring component. Therefore, when the automatic cooking device stirs and cooks the food, the food, seasonings, etc. are not easy to adhere to the food, thereby inhibiting the food from being contaminated by the food.

[0018] According to the automatic cooking device of the invention involved in technical solution 5, in addition to the effects produced by the automatic cooking device of the invention involved in technical solution 1, the detection object is disposed near the front end of the stirring component, and the control unit drives the container holding unit so that in the serving assistance posture of tilting the cooking container forward, the front end of the stirring component is located in the retracted position furthest from the plate placed on the cooking table. Therefore, in the serving assistance posture, the front end of the stirring component is located on the upper side, so that when the person serving the food puts the food in the cooking container into the plate, the person serving the food can reliably and easily take out the food in the cooking container.

[0019] According to the automatic cooking method of the invention involved in technical solution 6, since the stirring component rotation position detection mechanism is provided, which consists of a detection body disposed on the stirring component and a detection body disposed outside the cooking container and detecting the detection body, the detection body passing through the detection body is detected by the detection body, and the control unit grasps the rotation position of the stirring component. Therefore, regardless of the engagement state between the stirring component and the container holding unit, the rotation position of the stirring component, which is detachably installed on the container body and rotates independently of the container body, can be grasped when it rotates relative to the container body.

[0020] Furthermore, the aforementioned automatic cooking method includes a rotation position control step in which the control unit controls the rotation position of the stirring component, and a serving assistance step in which the cooking container is tilted forward to a serving assistance position after the stirring cooking step is completed. The stirring component is configured such that, in the serving assistance position, the front end of the stirring component is in a retracted position furthest from the plate placed on the cooking table. Therefore, in the serving assistance position, the front end of the stirring component is positioned on the upper side, so that when the person serving the food transfers the food from the cooking container to the plate, the person serving the food can reliably and easily remove the food from the cooking container. Attached Figure Description

[0021] Figure 1 This is a perspective view of an automatic cooking device 10 as an embodiment of the present invention.

[0022] Figure 2 yes Figure 1 The diagram shows the system configuration of the automatic cooking device 10.

[0023] Figure 3 yes Figure 1 The diagram shows the hardware configuration of the control unit 800.

[0024] Figure 4 yes Figure 1 Left view of the automatic cooking device 10 shown.

[0025] Figure 5 Is towards Figure 1 The cooking container 300 shown is in its main view when ingredients are added.

[0026] Figure 6 yes Figure 5 A partial cross-sectional view of the left side of the automatic cooking device 10 shown.

[0027] Figure 7 yes Figure 6 Enlarged view of Part VII.

[0028] Figure 8 yes Figure 1 Left view of the automatic cooking device 10 in its serving assist position.

[0029] Figure 9 This is a schematic diagram showing the rotation range of the stirring component 320 in the cleaning posture. Detailed Implementation

[0030] The automatic cooking apparatus of the present invention comprises: a cooking container having a bottomed cylindrical container body for holding food ingredients, and a stirring member detachably mounted to the container body and rotating independently of the container body; a container holding unit for rotating the stirring member of the cooking container while holding the cooking container; and a control unit for driving and controlling the container holding unit. The automatic cooking apparatus uses the stirring member to stir and cook the food ingredients held in the container body. The automatic cooking apparatus also includes a rotation position detection mechanism for the stirring member, which consists of a detection object disposed on the stirring member and a detection object disposed outside the cooking container for detecting the detection object. As long as the rotation position of the stirring member, which is detachably mounted to the container body and rotates independently of the container body, can be determined relative to the container body when it rotates, the specific implementation can be any way.

[0031] For example, the automatic cooking device of the present invention is mainly installed in the store of a restaurant, but the automatic cooking device of the present invention is not limited to this, and can also be installed in convenience stores, food courts, public institutions, homes, etc.

[0032] For example, the ingredients cooked by the automatic cooking device of the present invention can be any ingredients such as rice, noodles, vegetables, fish, grains, and various seasonings.

[0033] For example, in the automatic cooking apparatus of this embodiment, there may be a container heating unit that induction heats the cooking container to heat and cook the food stored in the cooking container, but it may also cook the food stored in the cooking container by stirring without heating it.

[0034] For example, in the automatic cooking apparatus of this embodiment, from the viewpoint of simplifying maintenance and construction, it is preferable to combine the container holding unit and the stirring member by magnetic coupling, so that the stirring member can be freely attached to and detached from the container body, thereby allowing the container holding unit to rotate the stirring member. However, as long as the stirring member can rotate through the container holding unit without being affected by the rotation of the container body when the container body rotates through the container holding unit, the specific structure for allowing the stirring member to be freely attached to and detached from the container body can be any structure.

[0035] For example, the detection of the object by the detector is preferably based on magnetic force, but it can also be optical detection using lasers or detection based on eddy currents.

[0036] Example 1

[0037] The following is based on Figures 1 to 9 The automatic cooking apparatus 10, which is an embodiment of the present invention, will be described below.

[0038] <1. Basic Structure of Automatic Cooking Devices>

[0039] First, based on Figures 1 to 4 The basic structure of the automatic cooking device 10 will be explained.

[0040] Figure 1 This is a perspective view of an automatic cooking apparatus 10 as an embodiment of the present invention. Figure 2 yes Figure 1 The system configuration diagram of the automatic cooking device 10 shown is as follows. Figure 3 yes Figure 1 The diagram shown illustrates the hardware configuration of the control unit 800. Figure 4 yes Figure 1 Left view of the automatic cooking device 10 shown.

[0041] In addition, Figure 4 The ingredients are omitted.

[0042] First, such as Figure 1 As shown, the automatic cooking device 10 is positioned on the ground F in a movable manner.

[0043] Furthermore, the automatic cooking device 10 includes: a cooking platform 100 serving as a base; a container holding unit 200 placed on the cooking platform 100; a cooking container 300 held by the container holding unit 200 for free rotation; a container heating unit 400 placed on the cooking platform 100 for induction heating of the cooking container 300; a container cleaning unit 500 and a scraping unit 600 disposed on the cooking platform 100; a lid 700 for freely opening and closing the opening of the cooking container 300; and a control unit 800 placed on the cooking platform 100 for integrated control of the automatic cooking device 10 as a whole. The automatic cooking device 10 automatically cooks dishes by stirring and cooking the ingredients stored in the cooking container 300.

[0044] The cooking countertop 100 includes: a plurality of casters 110 disposed on the bottom surface; a washing basin 120 formed in the front area of ​​the top surface 100A; and a plate holder 130 for opening and closing the washing basin 120 and for holding plates, etc.

[0045] The plate stand 130 has: a serving plate 131 that can be slidably closed in the left and right direction to close the opening of the washing tub 120 and to hold plates for holding food that has been stirred and cooked; and a plate storage member 132 for storing the serving plate 131 and temporarily placing plates, etc.

[0046] The container holding unit 200 has a handle 210 that is held by the user of the automatic cooking device 10, such as Figure 4 As shown, the cooking container 300 can move freely up and down in the front and back direction of the cooking table 100 through the operation of the user of the automatic cooking device 10.

[0047] Hereinafter, the posture of the cooking container 300 that is closest to the container heating unit 400 as shown in P1 is called the "cooking posture", the posture of the cooking container 300 with its side surface 311 tilted forward as shown in P2 is called the "serving assistance posture", and the posture of the cooking container 300 with its opening facing downward and placed in the washing tank 120 as shown in P3 is called the "washing posture".

[0048] In addition, inside the container holding unit 200, there is a posture holding component that maintains the undulating posture of the container holding unit 200, and there is also a posture detection sensor that detects the cooking posture P1 and the cleaning posture P3.

[0049] The container heating unit 400 is placed on the rear side of the washing tub 120 and heats the side surface 311 of the cooking container 300 by induction heating.

[0050] The container cleaning unit 500 is installed inside the washing tank 120 and sprays rinsing water, etc., onto the cooking container 300.

[0051] The scraping unit 600 is installed in the washing tank 120 to remove scorched dirt and other grime that adheres to the cooking container 300.

[0052] like Figure 1 As shown, the cover 700 has: an arm 710 mounted on the control unit 800; and a cover body 720 disposed on the arm 710 and rotatable around a cover central axis 711 extending in the left and right direction.

[0053] Most of the lid body 720 is mesh so that the interior of the cooking container 300 can be seen when the opening of the cooking container 300 is closed.

[0054] The control unit 800 has an operation panel 810 for operation and an emergency stop button 820 for emergency stopping the cooking action performed by the automatic cooking device 10. Based on the input to the operation panel 810, it performs drive control of each unit.

[0055] In addition, such as Figure 2 As shown, the control unit 800 is connected to the container holding unit 200, the container heating unit 400, the container cleaning unit 500, and the cover 700, and controls the drive of these units, etc.

[0056] like Figure 3As shown, the control unit 800 also includes at least a processor 830, a main storage device 840, an auxiliary storage device 850, and a network interface 860.

[0057] Each component constituting the control unit 800 is connected via a bus 870, which serves as a data transmission path between the components.

[0058] In addition, the processor 830 is implemented by CPU (Central Processing Unit), GPU (Graphics Processing Unit), etc., and performs various processes according to the programs stored in the main storage device and the auxiliary storage device.

[0059] The main storage device 840 is composed of SRAM (Static RAM (Random Access Memory)), DRAM (Dynamic RAM) or flash memory, etc., and temporarily stores the data required for computation and processing by the control unit 800.

[0060] The auxiliary storage device 850 is implemented using removable media such as HDD (Hard Disk Drive), SSD (Solid State Drive), memory card, or ROM (Read Only Memory), and has a recording medium.

[0061] The network interface 860 communicates with other terminals, systems, etc. via communication networks, including the Internet.

[0062] <2. Details of the cooking container>

[0063] Next, based on Figure 1 , Figures 4 to 7 Details of the cooking container 300 are explained below.

[0064] Figure 5 Is towards Figure 1 The image shows the front view of the cooking container 300 when ingredients are added to it. Figure 6 yes Figure 5 A partial cross-sectional view of the left side of the automatic cooking device 10 shown. Figure 7 yes Figure 6 Enlarged view of Part VII.

[0065] In addition, Figure 5 In the middle, a plate D is placed on a container plate 131 of a plate placement stage 130. Figure 6 Ingredient I is omitted from the text.

[0066] The cooking container 300 can be easily attached to and detached from the container holding unit 200, such as... Figure 5 and Figure 6 As shown, it has: a bottomed cylindrical container body 310 for storing food ingredient I; and a stirring component 320 that is detachably mounted on the bottom of the container body 310 and stirs the food ingredient I stored in the container body 310.

[0067] The container body 310 is driven by the container body of the container holding unit 200 via the drive motor 220 (see reference). Figure 2 The power transmitted, such as Figure 6 The container body, as shown, rotates freely around the rotation axis AC of the container body extending in the depth direction of the container body 310.

[0068] In the stirring component 320, a magnetized strong magnetic body is provided on the bottom side, and a magnetic coupling mechanism is formed between the magnetized strong magnetic body and the front end of the stirring component rotation shaft (not shown) provided in the container holding unit 200.

[0069] The stirring component 320 is driven by the stirring component of the container holding unit 200 via the drive motor 230 (see reference). Figure 2 The power transmitted through the magnetic coupling mechanism allows the container body to rotate freely around the rotation axis AC of the container body, and rotates independently of the container body 310.

[0070] Therefore, the automatic cooking device 10 of this embodiment can make the stirring member 320 rotate at a higher speed than the container body 310, or rotate at a lower speed than the container body 310.

[0071] like Figure 6 As shown, the stirring component 320 consists of a cylindrical base 321 mounted on the container body 310 and a scraper 322 assembled on the side surface of the base 321.

[0072] Scraper 322 is used to bend flat plates into complex shapes, such as... Figure 5 and Figure 7 As shown, it has an inner surface 322a opposite to the bottom surface 312 of the container body 310, and an outer surface 322b opposite to the inner surface 322a.

[0073] <3. Rotation position detection mechanism for stirring component 320>

[0074] According to the cooking container 300 described above, since the stirring component 320 is not axially symmetrical with respect to the rotation axis AC of the container body, in order to more realistically and highly reproduce the skill of a cook's trained stirring action, the control unit 800 needs to detect and grasp the rotation position of the stirring component 320 and control the rotation of the stirring component 320.

[0075] Furthermore, since the stirring component 320 rotates independently of the container body 310, the control unit 800 cannot estimate the rotation position of the stirring component 320 based on the rotation position of the container body 310, and needs to directly detect the rotation position of the stirring component 320.

[0076] Therefore, based on Figure 7 The rotation position detection mechanism of the stirring component 320 is explained.

[0077] In the automatic cooking device 10 of this embodiment, such as Figure 7 As shown, the object to be tested 323 is disposed on the outer surface 322b near the front end of the scraper 322 of the stirring component 320.

[0078] The object to be tested 323 consists of a cuboid housing 323a mounted on the scraper 322, a magnet 323b housed in the housing 323a, and a protective cover 323c protecting the magnet 323b.

[0079] A detection object that detects the magnetic force generated by the object being tested 323 (magnet 323b), such as Figure 7 As shown, a magnetic sensor 730 is configured to be built into the arm 710 of the cover 700.

[0080] like Figure 4 As shown, the magnetic sensor 730 is disposed outside the passage range S of the cooking container 300 when the user of the automatic cooking device 10 moves the cooking container 300 up and down in the front-to-back direction of the cooking table 100 (i.e., when the posture of the cooking container 300 changes from the cooking posture P1 to the cleaning posture P3), that is, disposed outside the cooking container 300.

[0081] And, as Figure 2 As shown, the magnetic sensor 730 is connected to the control unit 800 and sends various signals to the control unit 800.

[0082] Therefore, the control unit 800 controls the motors of the container holding unit 200, the container heating unit 400, etc., based on the signal from the magnetic sensor 730.

[0083] <4. Automatic cooking method based on automatic cooking device 10>

[0084] Next, based on Figure 4 and Figure 5 , Figure 8 and Figure 9 The automatic cooking method of the automatic cooking device 10 as described above in this embodiment will be described.

[0085] Here, based on Figure 4 and Figure 5 , Figure 8 and Figure 9 Each step will be explained.

[0086] Figure 8 yes Figure 1 The left view of the automatic cooking device 10 in the serving assist position shown. Figure 9 This is a schematic diagram showing the rotation range of the stirring component 320 in the cleaning posture.

[0087] <Steps to master the rotation position>

[0088] When the stirring component 320 is installed on the container body 310 which is held by the container holding unit 200 of the automatic cooking device 10, the rotation position mastering step is performed as an initial setting.

[0089] In the rotation position detection step, when the posture detection sensor of the container holding unit 200 detects that the cooking container 300 is in the cooking posture P1 state, the control unit 800 uses the power from the container holding unit 200 to rotate the stirring component 320.

[0090] Then, the control unit 800 stores the rotation phase of the stirring component of the container holding unit 200 when the detected body 323 (i.e., the front end of the stirring component 320) is closest to the detected body 730 as the retraction position of the stirring component 320 (the position where the front end of the stirring component 320 is located at the top of the stirring component 320).

[0091] That is, the rotation position control step is the step in which the control unit 800 controls the rotation position of the stirring component 320 by the rotation phase of the drive motor 230 via the stirring component of the container holding unit 200.

[0092] The automatic cooking method of the automatic cooking device 10 based on this embodiment is performed after the rotation position mastering step.

[0093] Furthermore, the automatic cooking method is performed in the following order: (1) stirring cooking step, (2) serving auxiliary step, and (3) container cleaning step.

[0094] <4.1. Stirring and Cooking Steps>

[0095] During the stirring and cooking step, the control unit 800 detects whether the cooking container 300 is in a certain position. Figure 4 and Figure 5 The cooking posture shown is P1.

[0096] When the cooking container 300 is in the cooking posture P1, the control unit 800 controls the container heating unit 400 to perform induction heating on the cooking container 300, and at the same time drives the container holding unit 200 to make the container body 310 of the cooking container 300 rotate, and makes the stirring component 320 rotate independently of the container body 310 to stir and heat the food I.

[0097] The rotation control of the cooking container 300 (container body 310, stirring component 320) by the container holding unit 200 and the heating control of the cooking container 300 by the container heating unit 400 are based on the dishes cooked in the automatic cooking device 10 and on the cooking program stored in the control unit 800.

[0098] <4.2. Serving Assistance Steps>

[0099] After the food ingredient I is stirred and cooked, the control unit 800 causes the stirring component of the container holding unit 200 to rotate by a drive motor, causing the stirring component 320 to swing clockwise and counterclockwise several times, and then rotates the stirring component 320 to the retracted position.

[0100] With the stirring component 320 rotated to the retracted position, the user of the automatic cooking device 10 rotates the container holding unit 200 forward via the handle 210, causing the cooking container 300 to tilt forward. Figure 4 and Figure 8 The dressage-assisted posture shown is P2.

[0101] The person serving the dish (who may also be the same person as the user of the automatic cooking device 10) takes out the dish from the cooking container 300 in the serving assist position P2.

[0102] In the dressage-assisted pose P2, such as Figure 8 As shown, since the stirring member 320 is in the retracted position, the front end of the stirring member 320 is furthest away from the plate D of the holding plate 131 placed on the plate holding platform 130.

[0103] That is, it includes: a rotation position control step in which the control unit 800 controls the rotation position of the stirring member 320; and a serving assistance step in which the cooking container 300 is tilted forward from the cooking position P1 to the serving assistance position P2 after the stirring cooking step is completed. The stirring member 320 is configured such that, in the serving assistance position P2, the front end of the stirring member 320 is in a retracted position furthest from the plate D placed on the cooking table 100. Therefore, in the serving assistance position P2, the front end of the stirring member 320 is positioned on the upper side, so that when the person serving the food puts the food in the cooking container 300 onto the plate, the person serving the food can reliably and easily remove the food from the cooking container 300.

[0104] <4.3. Container Cleaning Steps>

[0105] After the person serving the food removes the food from the cooking container 300 in the serving aid position P2, the user of the automatic cooking device 10 uses the handle 210 to rotate the container holding unit 200 further forward, causing the cooking container 300 to tilt forward. Figure 4 The cleaning posture shown is P3.

[0106] At this time, the inner surface of the container body 310 comes into contact with the scraping unit 600.

[0107] Then, when the posture detection sensor of the container holding unit 200 detects that the cooking container 300 has entered the cleaning posture P3, the container holding unit 200 causes the container body 310 to rotate and sprays rinsing water from the container cleaning unit 500 toward the container body 310.

[0108] This allows for the removal of dirt adhering to the container body 310.

[0109] At this time, in order to reliably clean the stirring component 320, so that the stirring component 320 is in a state such as Figure 9 The stirring component 320 swings within the safe rotation range P shown. This safe rotation range P is the range within which the stirring component 320 will not interfere with the container cleaning unit 500 and the scraping unit 600 when the cooking container 300 is lifted from the cleaning posture P3.

[0110] Furthermore, since the rotation position of the stirring component 320 is controlled such that the front end of the stirring component 320 is located at the position furthest from the plate D of the container plate 131 placed on the plate platform 130 in the container auxiliary posture P2, the control unit 800 controls the rotation position of the stirring component 320 in the cleaning posture P3 following the container auxiliary posture P2.

[0111] Therefore, the automatic cooking device 10 of this embodiment can make the stirring component 320 swing within a safe rotation range P through drive control by the control unit 800.

[0112] <5. Effects of the automatic cooking device 10>

[0113] The automatic cooking apparatus 10, as an embodiment of the present invention described above, includes a rotation position detection mechanism for the stirring member 320, comprising a detection body 323 disposed on the stirring member 320 and a detection body 730 disposed outside the cooking container 300 and detecting the detection body 323. The detection body 730 detects the detection body 323 passing through the detection body 730, and the control unit 800 controls the rotation position of the stirring member 320. Therefore, regardless of the engagement state between the stirring member 320 and the container holding unit 200, the rotation position of the stirring member 320, which is detachably mounted on the container body 310, when it rotates, can be controlled.

[0114] Furthermore, the object to be detected 323 has a magnet 323b, and the detector is a magnetic sensor 730. Thus, the control unit 800 can determine the rotational position of the stirring component 320 by the change in the magnetic field around the magnetic sensor. Therefore, compared with the case where the detector detects the object to be detected 323 optically, even if the detector or the object to be detected 323 has oil or other stains from cooking, it can not only reliably determine the rotational position of the stirring component 320, but also will not affect personnel performing cooking assistance work around the automatic cooking device 10. In addition, compared with the case where the detector detects the object to be detected 323 by an eddy current proximity sensor, the detection performance can be ensured even if the relative distance between the detector and the stirring component is separated. Therefore, the degree of freedom in the device design of the automatic cooking device 10 can be improved.

[0115] Furthermore, since the magnetic sensor 730 is positioned outside the passage range S of the cooking container 300 when it undulates in the front-back direction of the cooking table 100, the cooking container 300 will not interfere with the magnetic sensor 730 even if the container holding unit 200 undulates in the front-back direction. Thus, the container holding unit 200 can easily adopt various postures by undulating the cooking container 300 in the front-back direction.

[0116] Furthermore, since the test object 323 is disposed on the outer surface 322b of the stirring member 320, when the automatic cooking device 10 stirs and cooks the food I, the food I, seasonings, etc. are not easily attached to the test object 323, thereby inhibiting the test object 323 from being contaminated by the food I, etc.

[0117] <Variation Example>

[0118] The automatic cooking apparatus described above is an embodiment of the present invention, but the automatic cooking apparatus of the present invention is not limited to the automatic cooking apparatus 10 of the above embodiment.

[0119] For example, as long as the front end of the stirring component is in the retracted position furthest from the plate placed on the cooking counter when the cooking container is tilted forward to the serving position, the timing for controlling the rotation of the front end of the stirring component to the retracted position furthest from the plate placed on the cooking counter can be any time.

[0120] For example, in this embodiment, the cleaning of the cooking container 300 is initiated when the posture detection sensor of the container holding unit 200 detects that the cooking container 300 has entered the cleaning posture P3, but it can also be initiated based on input to the operation panel 810 of the control unit 800.

[0121] Explanation of reference numerals in the attached figures

[0122] 10…Automatic cooking device; 100…Cooking table; 100A…Top surface; 110…Casers; 120…Washing basin; 130…Plate holder; 131…Serving plate; 132…Plate storage component; 200…Container holding unit; 210…Handle; 220…Drive motor for container body; 230…Drive motor for stirring component; 300…Cooking container; 310…Container body; 311…Side surface; 312…Bottom surface; 320…Stirring component; 321…Base; 322…Scraper; 322a…Inner surface; 322b…Outer surface; 323…Subject to be detected; 323a…Shell; 323b…Magnet; 323c…Protective cover; 400… Container heating unit; 500… Container cleaning unit; 600… Scraping unit; 700… Lid; 710… Arm; 711… Lid central axis; 720… Lid body; 730… Magnetic sensor (detector); 800… Control unit; 810… Operation panel; 820… Emergency stop button; 830… Processor; 840… Main storage device; 850… Auxiliary storage device; 860… Network interface; 870… Bus; F… Ground; I… Ingredients; D… Plate; AC… Container body central axis; P1… Cooking posture; P2… Serving auxiliary posture; P3… Cleaning posture; S… Passage range of cooking container; P… Safe rotation range.

Claims

1. An automatic cooking apparatus comprising: a cooking container, a bottomed cylindrical container body for holding food ingredients, and a stirring component detachably mounted to the container body and rotating independently of the container body; a container holding unit for rotating the stirring component of the cooking container while holding the cooking container; and a control unit for driving and controlling the container holding unit, wherein the automatic cooking apparatus utilizes the stirring component to stir and cook the food ingredients held in the container body, characterized in that... A rotational position detection mechanism for the stirring component is provided, comprising a detection object disposed on the stirring component and a detection object disposed outside the cooking container to detect the detection object.

2. The automatic cooking device according to claim 1, characterized in that, The object being tested has a magnet. The detection device is a magnetic sensor.

3. The automatic cooking device according to claim 1, characterized in that, The container holding unit allows the cooking container to move freely in the front-to-back direction of the cooking station where it is located. The detector is positioned outside the range of the cooking container when the cooking container undulates in the front-to-back direction of the cooking table.

4. The automatic cooking device according to claim 1, characterized in that, The stirring component has: an inner surface opposite to the container body, and an outer surface on the opposite side of the inner surface. The object to be tested is disposed on the outer surface of the stirring component.

5. The automatic cooking device according to claim 1, characterized in that, The container holding unit allows the cooking container to move freely in the front-to-back direction of the cooking station where it is located. The object to be tested is positioned near the front end of the stirring component. The control unit drives the container holding unit so that, in a serving assist posture that tilts the cooking container forward, the front end of the stirring component is located in a retracted position furthest from the plate placed on the cooking table.

6. An automatic cooking method based on an automatic cooking device, the automatic cooking device comprising: a cooking container having a bottomed cylindrical container body for holding ingredients, and a stirring component detachably mounted to the container body and rotating independently of the container body; a container holding unit that can move freely up and down in the front-to-back direction of a cooking platform while holding the cooking container, and causing the stirring component to rotate; a control unit that drives and controls the container holding unit; and a rotation position detection mechanism for the stirring component, comprising a detection object disposed near the front end of the stirring component and a detection object disposed outside the cooking container and detecting the detection object. The automatic cooking method is characterized by having: The control unit controls the rotation position of the stirring component through the following steps: A stirring cooking step in which the stirring component of the cooking container rotates while the cooking container is tilted backward, thereby stirring and cooking the ingredients contained in the main body of the container; and After the stirring and cooking step is completed, the cooking container is tilted forward to a serving position in a serving assistance step. The stirring component is configured such that, in the serving assist posture, the front end of the stirring component is in a retracted position furthest from the plate placed on the cooking table.

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