Automatic cooking device and automatic cooking program

Abstract

To provide an automatic cooking device and an automatic cooking program which can automatically perform cooking while adjusting heating time.SOLUTION: An automatic cooking device 1 comprises a robot 2 which performs cooking by using a cooking utensil 8, a control unit 3 which controls the robot 2, and a storage unit 4 which stores a cooking method for a predetermined dish. The cooking utensil 8 includes a temperature sensor 84 which measures the temperature of a food material 9. The control unit 3 calculates heating time of the food material 9 on the basis of the temperature sensor 84.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to an automatic cooking device installed in a restaurant or the like that automatically cooks according to an order, and an automatic cooking program installed in the automatic cooking device.

Background Art

[0002] In recent years, in restaurants and the like, in view of the future shortage of human resources, technologies for automating cooking have been developed. For example, Patent Document 1 introduces a technology of a cooking support robot system in which, when an order is received, a robot selects ingredients, cooks a hamburger, and transfers it to a wrapping position.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, even when a robot cooks, there is a desire to provide a delicious dish similar to that cooked by a human. However, for example, in the case of egg dishes, since the heating time is important, there has been a problem that a robot cannot determine the state of heat penetration.

[0005] Therefore, an object of the present disclosure is to provide an automatic cooking device that can automatically cook while adjusting the heating time, and an automatic cooking program installed in the automatic cooking device.

Means for Solving the Problems

[0006] In order to solve the above problems, the automatic cooking device of the present disclosure has the following features. (1) A robot that performs cooking using cooking utensils, control means for controlling the robot, and storage means for storing a cooking method for a predetermined dish, wherein the cooking utensils include measurement means for measuring the temperature of the food material, and the control means calculates the heating time of the food material based on the temperature measured by the measurement means.

[0007] (2) In the case of (1), it includes a landmark disposed near the cooking utensils, the robot includes reading means for reading the landmark, and the landmark includes discrimination information for discriminating the type of cooking utensils.

[0008] (3) In the case of (1) or (2), the robot includes photographing means for photographing the cooking state, the cooking method includes a reference image obtained by previously photographing a reference cooking state, and the control means controls the robot based on the reference image and the image from the camera.

[0009] Further, in order to solve the above problems, the automatic cooking program of the present disclosure is characterized in that when executed on a computer, the computer functions as the control means described in any one of (1) to (3).

Effect of the Invention

[0010] According to the automatic cooking apparatus of the present disclosure, since the temperature of the food material is measured by the temperature sensor and the heating time is calculated, particularly when the food material is an egg, it can be heated moderately and a delicious dish can be provided.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0012] Hereinafter, an embodiment in which the present disclosure is embodied in an automatic cooking device will be described with reference to the drawings.

[0013] The automatic cooking device 1 shown in FIGS. 1 to 3 includes a robot 2 that performs cooking using a cooking utensil 8, a camera 5, a control unit 3 that controls the robot 2, a storage unit 4 that stores a cooking method for a predetermined dish, a plurality of landmarks 7 respectively disposed in the vicinity of the cooking utensil 8, and an input unit 6 for inputting an order. An automatic cooking program is installed in the automatic cooking device 1. The camera 5, the control unit 3, the storage unit 4, and the input unit 6 can be mounted on the robot 2 or provided separately from the robot 2.

[0014] The automatic cooking device 1 has a container stand 11 for placing a container 81 and a pan stand 12 for placing a pan 82. Holders 84a and 12a for preventing positional displacement of the container 81 and the pan 82 are provided on the temperature sensor 84 and the pan stand 12. Further, a container receiving hole 11a for receiving the bottom of the container 81 and preventing positional displacement of the container 81 is provided in the container stand 11.

[0015] The cooking utensil 8 includes a container 81 for accommodating food ingredients 9, a pan 82 such as a frying pan for heating the food ingredients 9, a stove 83 using IH (Induction Heating), gas, etc., and a temperature sensor 84 which is a measuring means for measuring the temperature of the food ingredients. The food ingredients 9 include, for example, sauce, eggs, chicken, etc. The dishes mainly include, for example, egg dishes such as oyakodon and tonkatsu-don with egg.

[0016] The cooking method includes food identification information for identifying the food ingredients 9 used in cooking, cooking procedure information that is the cooking procedure, and a reference image that has previously captured a reference cooking state. The food identification information includes, for example, food ingredient images obtained by photographing each food ingredient. Further, the food identification information includes information for confirming the quantity of the food ingredients 9. The reference image includes, for example, an image of the degree of doneness of chicken being cooked, an image of the condition of an egg, etc.

[0017] The landmark 7 is disposed in the vicinity of the cooking appliance 8. Specifically, it is provided on the container stand 11, the pot stand 12, the stove 83, and the temperature sensor 84, respectively. The landmark 7 includes cooking appliance identification information for identifying the cooking appliance 8. Since it is configured to grasp the position of the cooking appliance 8 via the landmark 7, the layout of the cooking appliances 8 around the robot 2 can be made versatile. For example, it is easy to introduce the robot 2 into a new store, and it can also flexibly respond to layout changes within the store.

[0018] The robot 2 includes a hand 21 and an interface 22 for connecting to external devices such as the temperature sensor 84.

[0019] The hand 21 includes a gripper 211 for gripping the handle of the pot 82 and the container 81, and a rod-shaped member 212 capable of pressing the switch button 83a of the stove 83. The gripper 211 has a first gripping portion 211a (see Fig. 4(a)) for gripping the handle of the pot 82 and a second gripping portion 211b (see Fig. 4(b)) for gripping the container 81. The rod-shaped member 212 is provided so as to protrude laterally from the hand 21. By providing the gripper 211 and the rod-shaped member 212 on the hand 21, the switch button 83a of the container 81, the pot 82, and the stove 83, each having a different shape, can be operated only by the hand 21, thereby enhancing productivity. Further, since it is configured to physically press the switch button 83a of the stove 83, a wired connection between the robot 2 and the stove 83 is not required, and the degree of freedom of the layout can be improved.

[0020] The camera 5 functions as a reading means for reading the landmark 7. Specifically, the camera 5 photographs the landmark 7 and acquires the position information of the landmark 7 and the cooking appliance identification information. The position information of the landmark 7 is acquired based on the position of the camera 5 that photographed the landmark 7. Further, the camera 5 functions as a photographing means for photographing the food ingredients 9 and the cooking state stored in the container 81.

[0021] The storage unit 4 stores, in addition to the cooking method of a predetermined dish, food ingredient information which is information about food ingredients and cooking appliance information which is information about cooking appliances. The food ingredient information includes food ingredient identification information. The cooking appliance information includes cooking appliance identification information.

[0022] The control unit 3 includes a heating time calculation unit 41 that calculates the heating time of the food ingredient 9 based on the temperature of the food ingredient 9 measured by the temperature sensor 84. By feeding back the temperature of the food ingredient 9 using the heating time calculation unit 41, the heating time can be finely adjusted.

[0023] The control unit 3 grasps the positions of the respective cooking appliances 8 based on the position information of the landmark 7 and the cooking appliance identification information. For example, based on the position information of the landmark 7 on the pot stand 12 and the cooking appliance identification information, the position obtained by shifting the position information in a predetermined three-dimensional direction is grasped as the handle position of the pot 82.

[0024] Here, the "position information" is represented by three-dimensional coordinate positions. The three-dimensional coordinate position (hereinafter referred to as the reference position) serving as a reference for each landmark 7 is registered in the storage unit 4 in advance. The control unit 3 grasps each inclination in the three dimensions (xyz directions) of the position information of the landmark 7 acquired from the camera 5 with respect to the reference position, performs recalculation for the inclination amount, and corrects the operation of the robot 2 for the inclination amount.

[0025] Incidentally, the stove 83 has strong heating power near the ring band. If eggs are quickly put into the entire pot 82, uneven heating is likely to occur. Therefore, in the present disclosure, the control unit 3 controls the robot 2 to adjust the inclination of the container 81 according to the input amount of the food ingredient 9, and changes the input speed of the food ingredient 81. Further, the container 81 is controlled to move in a circular motion above the pot 82, and the input position of the food ingredient 9 is changed. Furthermore, at a predetermined timing, the pot 82 is controlled to tilt and rotate. Specifically, when putting in eggs, at first, put in more eggs and gradually decrease the amount. Also, put the eggs in a circular motion from the inner peripheral part of the pot 82 toward the central part. By putting in the eggs in this way, the eggs can reach every part of the pot 82 evenly. Then, by tilting and rotating the pot 82 at a predetermined timing, there is an effect that the heat input is made uniform.

[0026] Furthermore, the control unit 3 inputs an image of the food ingredient 9 stored in the container 81 from the camera 5, compares the image with the food ingredient identification information, and confirms the type and amount of the food ingredient 9.

[0027] In addition, the control unit 3 controls the robot 2 based on the reference image and the image of the camera 5. For example, the control unit 3 compares the reference image and the image of the camera 5 to judge the degree of doneness of the chicken or the condition of the eggs, etc., and shifts the cooking procedure to the next stage.

[0028] The input unit 6 can select a touch panel, a tablet, etc. Alternatively, the camera 5 can also function as the input unit 6. For example, an order can also be input by showing an order form to the camera 5. The input unit 6 is configured to cooperate with an order system to ensure the traceability of products.

[0029] Next, the cooking process by the automatic cooking device 1 configured as described above will be described with reference to FIGS. 5 and 6. It is assumed that the container 81 containing the foodstuff 9 is placed on the container stand 11 and the pot 82 is placed on the pot stand 12 in advance by a person. In the following description, the "discharge stand" refers to a stand for placing the emptied container 81 or the used pot 82.

[0030] As a preliminary preparation, the control unit 3 checks the operation of the robot 2 (S1). When the camera 5 photographs the landmark 7 of the stove 83, the control unit 3 determines the position of the stove 83 (S2). Here, the control unit 3 waits until an order is received. In the operation check, for example, the gripper 211 is test-run to confirm that the gripper 211 operates normally. The preliminary preparation may be performed for each order or at predetermined time intervals during an order.

[0031] When an order is input, the robot 2 starts cooking (S3). First, the camera 5 photographs the landmark 7 of the pot stand 12, and the control unit 3 determines the position of the pot 82 (S4). Then, the robot 2 grips the handle of the pot 82 and sets the pot 82 on the stove 83 (FIG. 5(a), S5).

[0032] Subsequently, the camera 5 photographs the landmark 7 of the container stand 11, and the control unit 3 determines the position of the container 81 (S6). At this time, the camera 5 photographs the container 81, and the control unit 3 confirms that the type and amount of the foodstuff 9 are appropriate. When the type of the foodstuff 9 is sauce and the amount of the sauce is appropriate, the robot 2 grips the container 81 and pours the sauce into the pot 82 (FIG. 5(b), S7). The robot 2 places the emptied container 81 on the discharge stand. The robot 2 presses the switch button 83a of the stove 83 to turn on the stove 83 (S8). The time from the start of heating the sauce to the input of the chicken is managed by the timer 42 of the control unit 3 (FIG. 5(c)).

[0033] The camera 5 photographs the landmark 7 of the container stand 11, and the control unit 3 grasps the position of the container 81 (S9). The camera 5 photographs the landmark 7 of the temperature sensor 84, and the control unit 3 grasps the position of the temperature sensor 84 (S10). At this time, the camera 5 photographs the container 81, and when the type of the food material 9 is melted eggs and the amount of the eggs is appropriate, the robot 2 grips the container 81 and sets the container 81 on the temperature sensor 84 (S11). The temperature sensor 84 measures the temperature of the eggs, and the control unit 3 acquires the temperature of the eggs from the temperature sensor 84.

[0034] The camera 5 photographs the landmark 7 of the container stand 11, and the control unit 3 grasps the position of the container 81 (S12). At this time, the camera 5 photographs the container 81, and when the type of the food material 9 is chicken cut into a predetermined size and the amount of the chicken is appropriate, the robot 2 grips the container 81 and puts the chicken into the pan 82 (Fig. 5(d), S13). When putting the chicken into the pan 82, the robot 2 repeats the operation of shaking the container 81 several times (Fig. 5(e)). By shaking the container 81 several times, the chicken remaining in the container 81 can be shaken off into the pan 82. The robot 2 places the empty container 81 on the dispensing table. The time from the input of the chicken to the input of the eggs is managed by the timer 42 of the control unit 3. When the timer 42 ends, the camera 5 photographs the cooking state, compares the image of the camera 5 with the reference image to confirm the cooking state, and proceeds to the next process.

[0035] The robot 2 grips the container 81 of the eggs arranged on the temperature sensor 84 and puts the eggs into the pan 82 (S14). At this time, the inclination of the container 81 is adjusted, and the eggs are put in first in a larger amount and gradually in a smaller amount. The adjustment of the inclination may change the inclination in about three steps, or may change the inclination seamlessly. Also, at this time, the eggs are put into the center while drawing a circle from the inner peripheral part of the pan 82 (Fig. 5(f)). When the input of the eggs is completed, the robot 2 pulls up the container 81 and then returns the inclination. This is because if the container 81 is pulled up after returning the inclination, the eggs may spill out of the pan 82.

[0036] While the egg is being heated, the robot 2 operates the pan 82 (Fig. 5(g), S15). Specifically, the robot 2 rotates the pan 82 while tilting it. At this time, it operates so as to hold the pan 82 at the very position where it does not move away from the stove 83 more precisely than when a human operates the pan 82. By operating in this way, uneven heat penetration can be suppressed. The heating time of the egg is calculated by the heating time calculation unit 41 based on the temperature of the egg and is managed by the timer 42 of the control unit 3. When the timer 42 ends, the cooking state is photographed by the camera 5, the cooking state is confirmed by comparing the image of the camera 5 with the template image, and the pan 82 is moved from the stove 83 to the serving table. When the dish in the pan 82 is placed on the rice in the bowl, the oyakodon is completed (Fig. 5(h), S16). Here, for example, if a plurality of orders have been received and not all cooking has been completed (S17: No), the next cooking is started (S4). On the other hand, if all cooking has been completed (S17: Yes), the process ends (S18).

[0037] Therefore, according to the automatic cooking apparatus 1 of this embodiment, since the heating time can be adjusted according to the temperature of the egg, the semi-cooked state of the egg can be precisely reproduced, and a stable and high-quality oyakodon can be made. In addition, since the landmark 7 is provided, it is possible to easily cope with changes in the layout and to absorb misalignment of the cooking utensils 8 and the temperature sensor 84 and operate accurately.

[0038] Note that the present disclosure is not limited to the above embodiment. For example, as shown below, it is also possible to appropriately change the shape and configuration of each part without departing from the gist of the present disclosure and implement it. (1) Cause the camera 5 to read a two-dimensional barcode and automatically switch the cooking method to that of other dishes. (2) Photograph the pan 82 placed on the pan stand 12 with the camera 5 and perform pattern matching or the like so that the handle can be surely grasped even when the shape of the handle is deformed due to deterioration or the like.

Explanation of Signs

[0039] 1 Automatic cooking apparatus 2 Robot 3 Control Unit 4 Memory Unit 5 Camera 6 Input Unit 7 Landmark 8 Cooking Utensil 9 Food Ingredients 11 Container Stand (a: Container Storage Hole) 12 Pot Stand (a: Holder) 21 Hand 211 Gripper 212 Rod-shaped Member 22 Interface 41 Heating Time Calculation Unit 42 Timer 81 Container 82 Pot 83 Stove (a: Switch Button) 84 Temperature Sensor (a: Holder)

Claims

1. A robot that performs cooking using cooking utensils, control means for controlling the robot, and storage means for storing a cooking method for a predetermined dish. The cooking utensil includes measuring means for measuring the temperature of the food. The control means calculates the heating time of the food based on the temperature measured by the measuring means. An automatic cooking device characterized by this.

2. It is provided with a landmark disposed near the cooking utensil. The robot includes reading means for reading the landmark. The automatic cooking device according to claim 1, wherein the landmark includes discrimination information for discriminating the type of the cooking utensil.

3. The robot is provided with photographing means for photographing the cooking state. The cooking method includes a reference image obtained by previously photographing a cooking state as a reference. The control means controls the robot based on the reference image and the image of the camera. The automatic cooking device according to claim 1.

4. An automatic cooking program that, when executed on a computer, causes the computer to function as the control means according to any one of claims 1 to 3.

Images