Cooking arm, measuring method, and attachment for cooking arm

Abstract

The present technology pertains to a cooking arm, a measurement method, and an attachment for a cooking arm that are configured so that the aroma of a food ingredient to be cooked can be easily measured. The cooking arm according to one embodiment of the present technology: draws in, by using a drawing part, the aroma of a food ingredient to be subjected to a cooking operation performed by the cooking arm; and, in accordance with the cooking operation, measures the aroma drawn in by the drawing part by using an aroma sensor. The present technology can be applied to a system kitchen which has a robotic function.

Description

[Technical Field]

[0001] In particular, the present technology relates to a cooking arm, a measurement method, and an attachment for a cooking arm that enable easy measurement of the aroma of ingredients being cooked. [Background technology]

[0002] The most common method for measuring the aroma of food and other foods is through molecular analysis, such as gas chromatography. Because this method measures each molecule, measuring the aroma requires a certain amount of time and space.

[0003] Because real-time measurement is difficult, conventional scent measurement methods are often used to analyze accumulated data and use the measured scent later.

[0004] In recent years, a device has been proposed that can measure scents in a short time by adsorbing scent-causing substances onto a porous adsorption film and measuring the change in weight. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Special Publication No. 2017-506169 [Patent Document 2] Special Publication No. 2017-536247 Summary of the Invention [Problem to be solved by the invention]

[0006] When trying to measure the aroma of ingredients while they are being cooked, the person cooking needs to point the device at the ingredients each time to measure the aroma.

[0007] The present technology has been developed in light of these circumstances, and makes it possible to easily measure the aroma of ingredients being cooked. [Means for solving the problem]

[0008] The cooking arm according to the first aspect of the present technology is configured to capture the aroma of ingredients being cooked by the cooking arm. , from the connected intake pipe Suction unit and cooking function and the intake pipe An attachment having a detachable part that can be attached and detached; The cooking device further includes an aroma sensor that measures the aroma sucked by the suction unit in accordance with the cooking operation.

[0009] The cooking arm attachment according to the second aspect of the present technology includes: It has cooking functions, a suction unit that absorbs the aroma of ingredients being cooked by the cooking arm; an intake pipe connected to the suction portion; The cooking device includes an aroma sensor that measures the aroma sucked by the suction unit in accordance with the cooking operation, and a detachable unit that is detachable from the cooking arm. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a control system according to an embodiment of the present technology. [Figure 2] FIG. 4 is a diagram showing an example of description content of recipe data. [Figure 3] FIG. 10 is a diagram showing an example of a flow of recreating a dish based on recipe data. [Figure 4] FIG. 1 is a diagram illustrating an example of an arrangement of data processing devices. [Figure 5] FIG. 2 is a perspective view showing the appearance of the cooking robot. [Figure 6] FIG. 2 is an enlarged view of the cooking arm. [Figure 7] FIG. 2 is a diagram showing the appearance of the cooking arm. [Figure 8] 10A and 10B are diagrams illustrating examples of the range of motion of each part of the cooking arm. [Figure 9] FIG. 10 is a diagram illustrating an example of the connection between the cooking arm and the controller. [Figure 10] 10A and 10B are diagrams showing how the cooking arm is attached and detached. [Figure 11] FIG. 2 is a diagram showing an example of the internal configuration of a cooking arm. [Figure 12] FIG. 2 is a diagram showing a schematic diagram of the internal configuration of the cooking arm. [Figure 13] FIG. 10 is a diagram showing another example of mounting the aroma measuring unit. [Figure 14] 10A and 10B are diagrams showing examples of attachments that can be attached to the cooking arm. [Figure 15] 10A and 10B are diagrams illustrating examples of other attachments. [Figure 16] FIG. 10 is a diagram showing how a scent is measured. [Figure 17] FIG. 10 is a diagram showing how a scent is measured. [Figure 18] FIG. 10 is another diagram showing how the scent is measured. [Figure 19] FIG. 10 is a diagram illustrating an example of a cooking system using an aroma measurement function using a cooking arm. [Figure 20] FIG. 10 is a diagram illustrating an example of information included in a cooking process dataset. [Figure 21] FIG. 1 is a diagram illustrating examples of flavor components. [Figure 22] FIG. 10 is a diagram illustrating an example of a flow of generating recipe data. [Figure 23] FIG. 10 is a diagram showing an example of a flow of recreating a dish based on recipe data. [Figure 24] This is a diagram showing the chef's flow and the reproduction flow together. [Figure 25] FIG. 2 is a block diagram illustrating an example of the hardware configuration of a data processing device. [Figure 26] FIG. 2 is a block diagram illustrating an example of a functional configuration of a data processing device. [Figure 27] FIG. 1 is a block diagram showing an example of the configuration of a cooking robot. [Figure 28] 10 is a flowchart illustrating processing of the data processing device. DETAILED DESCRIPTION OF THE INVENTION

[0011] <Overview of this technology> This technology involves installing an aroma sensor on the cooking arm of a cooking robot, which measures the aroma of ingredients being cooked by the cooking arm.

[0012] The cooking robot operates based on recipe data to complete a dish by cooking the food. The recipe data contains information about each cooking step until the dish is completed, for example.

[0013] The aroma measurement by the cooking arm is performed in conjunction with the cooking operation based on the description of the recipe data. For example, the aroma is measured at multiple locations while the cooking arm is moving.

[0014] In addition, cooking refers to the finished product that is produced through cooking. Cooking refers to the process of cooking food and the act (task) of cooking food.

[0015] The aroma measured during cooking in this way can be used to determine whether the cooking robot is cooking as expected in the recipe data.

[0016] Hereinafter, embodiments of the present technology will be described in the following order. 1. Control of cooking robots 2. About scent measurement 3. Example of application of aroma measurement using a cooking arm 4. Configuration and operation of each device 5. Other Examples

[0017] <Control of cooking robots> FIG. 1 is a diagram illustrating an example of the configuration of a control system according to an embodiment of the present technology.

[0018] As shown in Fig. 1, the control system is composed of a data processing device 1 and a cooking robot 2. The cooking robot 2 is equipped with drive devices such as a cooking arm, various sensors, and is a robot equipped with cooking functions. The cooking robot 2 is installed, for example, in a home.

[0019] The data processing device 1 is a device that controls the cooking robot 2. The data processing device 1 is configured with a computer and the like.

[0020] 1, the cooking robot 2 is controlled by the data processing device 1 based on recipe data prepared for each dish. The recipe data contains information about each cooking step.

[0021] The data processing device 1 controls the cooking robot 2 based on the recipe data to make the cooking robot 2 prepare a dish. For example, when recipe data for a certain dish is input as shown by arrow A1, the data processing device 1 controls the cooking operation of the cooking robot 2 by outputting an instruction command based on the description of the recipe data as shown by arrow A2.

[0022] The cooking robot 2 drives each part, such as the cooking arm, according to the command supplied from the data processing device 1, and performs cooking operations for each cooking step. The command includes information for controlling the torque, driving direction, and driving amount of the motor provided on the cooking arm.

[0023] Until the dish is completed, the data processing device 1 sequentially outputs instructions and commands to the cooking robot 2. The cooking robot 2 performs actions according to the instructions and commands, and the dish is eventually completed.

[0024] FIG. 2 is a diagram showing an example of the description content of recipe data.

[0025] As shown in Fig. 2, one recipe data set is made up of multiple cooking step data sets. In the example of Fig. 2, the recipe data set includes a cooking step data set for cooking step #1, a cooking step data set for cooking step #2, ..., a cooking step data set for cooking step #N.

[0026] Each cooking process data set includes cooking operation information, which is information about cooking operations for achieving a cooking process. For example, one cooking process data set is made up of time-series data of cooking operation information for achieving one cooking process.

[0027] The cooking operation information includes ingredient information and operation information.

[0028] The ingredient information is information about ingredients used in the cooking process, including information about the type, amount, and size of the ingredients.

[0029] Ingredients include not only ingredients that have not been cooked at all, but also cooked (prepared) ingredients obtained by a certain cooking process. The ingredient information included in the cooking operation information for a certain cooking process includes information on ingredients that have been through a previous cooking process.

[0030] The operation information is information about the movement of the cooking arm and the like during the cooking process. The information about the movement includes information indicating the type of cooking tool used in cooking.

[0031] For example, the action information for a cooking process of cutting an ingredient includes information indicating the use of a knife as a cooking tool, the cutting position, the number of cuts, the cutting force, angle, speed, etc.

[0032] In addition, the action information for the cooking process of stirring a pot containing liquid as an ingredient includes information indicating the use of a ladle as a cooking tool, and information indicating the amount of force, angle, speed, and time used for stirring.

[0033] Operation information for a cooking process of baking certain ingredients using an oven includes information indicating that the oven is used as a cooking tool, the heat power of the oven, baking time, and the like.

[0034] The operation information for the cooking process of plating includes information on plating, such as the tableware to be used for plating, how the ingredients are arranged, and the color of the ingredients.

[0035] FIG. 3 is a diagram showing an example of the flow of recreating a dish based on recipe data.

[0036] As shown in FIG. 3, the cooking robot 2 reproduces a dish by repeating cooking for each cooking step based on cooking operation information for each time included in the cooking step data set described in the recipe data.

[0037] For example, cooking at each time is performed by having the cooking arm perform the action represented by the action information on the ingredients represented by the ingredient information. One dish is completed through multiple cooking steps, cooking steps #1 to #N.

[0038] FIG. 4 is a diagram showing an example of the arrangement of the data processing device 1. As shown in FIG.

[0039] As shown in A of Fig. 4, the data processing device 1 is provided as, for example, an external device of the cooking robot 2. In the example of A of Fig. 4, the data processing device 1 and the cooking robot 2 are connected via a network 3 such as the Internet.

[0040] The command sent from the data processing device 1 is received by the cooking robot 2 via the network 3. Various data, such as images taken by the camera of the cooking robot 2 and sensor data measured by sensors installed in the cooking robot 2, are sent from the cooking robot 2 to the data processing device 1 via the network 3.

[0041] 4B, the data processing device 1 may be provided inside the housing of the cooking robot 2. In this case, the operation of each part of the cooking robot 2 is controlled according to the instruction commands generated by the data processing device 1.

[0042] The following description will be mainly based on the assumption that the data processing device 1 is provided as an external device to the cooking robot 2.

[0043] Appearance of the cooking robot FIG. 5 is a perspective view showing the appearance of the cooking robot 2.

[0044] 5, the cooking robot 2 is a kitchen-type robot having a horizontally elongated rectangular parallelepiped housing 11. Inside the housing 11, which is the main body of the cooking robot 2, various components are provided.

[0045] A cooking assistance system 12 is provided on the rear side of the housing 11. Each space formed in the cooking assistance system 12 by dividing it with thin plate-like members has a function to assist cooking by the cooking arms 21-1 to 21-4, such as a refrigerator, oven range, and storage.

[0046] Rails are provided on the top plate 11A in the longitudinal direction, and cooking arms 21-1 to 21-4 are provided on the rails. The cooking arms 21-1 to 21-4 can be moved along the rails, which serve as a movement mechanism.

[0047] The cooking arms 21-1 to 21-4 are robot arms formed by connecting cylindrical members at joints. Various cooking tasks are performed by the cooking arms 21-1 to 21-4.

[0048] The space above the top plate 11A is a cooking space where cooking is performed by the cooking arms 21-1 to 21-4.

[0049] 5 shows four cooking arms, the number of cooking arms is not limited to four. Hereinafter, when there is no need to distinguish between cooking arms 21-1 to 21-4, they will be collectively referred to as cooking arm 21.

[0050] FIG. 6 is an enlarged view of the cooking arm 21.

[0051] 6, attachments with various cooking functions are attached to the tip of the cooking arm 21. Various attachments are available for the cooking arm 21, such as an attachment with a manipulator function (hand function) for grasping ingredients or tableware, and an attachment with a knife function for cutting ingredients.

[0052] 6, a knife attachment 31-1, which is an attachment having a knife function, is attached to the cooking arm 21-1. A block of meat placed on the top plate 11A is cut using the knife attachment 31-1.

[0053] A spindle attachment 31-2, which is an attachment used to fix and rotate ingredients, is attached to the cooking arm 21-2.

[0054] A peeler attachment 31-3, which is an attachment that functions as a peeler for peeling food ingredients, is attached to the cooking arm 21-3.

[0055] The potatoes are lifted by the cooking arm 21-2 using the spindle attachment 31-2, and then peeled by the cooking arm 21-3 using the peeler attachment 31-3. In this way, multiple cooking arms 21 can work together to perform a single task.

[0056] A manipulator attachment 31-4, which is an attachment with a manipulator function, is attached to the cooking arm 21-4. Using the manipulator attachment 31-4, the frying pan with the chicken on it is carried to the space of the cooking assistance system 12, which has an oven function.

[0057] Cooking using such cooking arms 21 can be performed by changing the attachment as needed depending on the type of work. It is also possible to attach the same attachment to multiple cooking arms 21, such as attaching the manipulator attachment 31-4 to each of the four cooking arms 21.

[0058] Cooking by the cooking robot 2 is performed not only using the attachments provided as cooking arm tools as described above, but also using the same tools as humans use in cooking, as appropriate. For example, a knife used by a human can be grasped by the manipulator attachment 31-4, and cooking such as cutting ingredients can be performed using the knife.

[0059] Cooking arm configuration FIG. 7 is a diagram showing the appearance of the cooking arm 21.

[0060] As shown in Figure 7, the cooking arm 21 is generally made up of thin cylindrical members connected by hinges that serve as joints. Each hinge is equipped with a motor or the like that generates the force to drive each member.

[0061] The cylindrical member includes, in order from the tip, a detachable member 51, a relay member 53, and a base member 55.

[0062] The detachable member 51 and the relay member 53 are connected by a hinge portion 52, and the relay member 53 and the base member 55 are connected by a hinge portion .

[0063] A detachable portion 51A to which an attachment is attached and detached is provided at the tip of the detachable member 51. The detachable member 51 functions as a cooking function arm portion that performs cooking by operating the attachment.

[0064] A detachable portion 56 that is attached to a rail is provided at the rear end of the base member 55. The base member 55 functions as a movable arm portion that allows the cooking arm 21 to move.

[0065] FIG. 8 is a diagram showing an example of the range of motion of each part of the cooking arm 21.

[0066] As shown by the ellipse #1, the detachable member 51 is rotatable around the central axis of the circular cross section. The small flat circle at the center of the ellipse #1 indicates the direction of the axis of rotation indicated by the dashed dotted line.

[0067] As shown by the circle #2, the detachable member 51 is rotatable about an axis passing through a fitting portion 51B with the hinge portion 52. The relay member 53 is rotatable about an axis passing through a fitting portion 53A with the hinge portion 52.

[0068] The two small circles shown inside circle #2 indicate the directions of the respective rotation axes (directions perpendicular to the paper surface). The movable range of detachable member 51 about the axis passing through fitting portion 51B and the movable range of relay member 53 about the axis passing through fitting portion 53A are each, for example, a range of 90 degrees.

[0069] The relay member 53 is composed of a separate member 53-1 at the leading end and a member 53-2 at the trailing end. As shown by the ellipse #3, the relay member 53 is rotatable around the central axis of the circular cross section at the connecting portion 53B between the members 53-1 and 53-2. The other movable parts also have basically the same range of motion.

[0070] In this way, the detachable member 51 having the detachable part 51A at its tip, the relay member 53 connecting the detachable member 51 and the base member 55, and the base member 55 having the detachable part 56 connected at its rear end are all rotatably connected by hinges. The movement of each movable part is controlled by a controller in the cooking robot 2 in accordance with instructions and commands.

[0071] FIG. 9 is a diagram showing an example of the connection between the cooking arm and the controller.

[0072] As shown in Fig. 9, the cooking arm 21 and the controller 61 are connected via wires in a space 11B formed inside the housing 11. In the example of Fig. 9, the cooking arms 21-1 to 21-4 and the controller 61 are connected via wires 62-1 to 62-4, respectively. The flexible wires 62-1 to 62-4 bend appropriately depending on the positions of the cooking arms 21-1 to 21-4.

[0073] FIG. 10 shows how the cooking arm 21 is attached and detached.

[0074] 10, the cooking arm 21 is detachable from a rail provided on the top plate 11A. For example, the cooking arm 21 is sold individually. The user can increase the number of cooking arms 21 by purchasing additional ones.

[0075] <About scent measurement> Example of scent sensor installation FIG. 11 is a diagram showing an example of the internal configuration of the cooking arm 21.

[0076] As shown by hatching in FIG. 11, an aroma measuring unit 101 is provided near the base of the base member 55 that constitutes the cooking arm 21 inside.

[0077] A gripper attachment 71, which is an attachment with a gripper function, is attached to the cooking arm 21 shown in Fig. 11. The gripper function is a function to pinch, lift, or move an object, similar to the manipulator function of the manipulator attachment 31-4.

[0078] A thin rod-shaped air duct 112 is provided in the center of the gripper attachment 71. When measuring the aroma of foodstuffs being cooked, the cooking arm 21 is driven to bring the tip of the air duct 112 closer to the foodstuffs to be cooked.

[0079] As indicated by the dashed line, the air blower duct 112 and the aroma measuring unit 101 are connected by a pipe 111. The pipe 111 is inserted through the detachable member 51, the relay member 53, and the base member 55.

[0080] In this way, the cooking arm 21 in FIG. 11 is provided with a function for measuring the aroma of ingredients and the like.

[0081] FIG. 12 is a diagram showing a schematic diagram of the internal configuration of the cooking arm 21.

[0082] 12, the piping 111 is made up of an exhaust pipe 111-1 and an intake pipe 111-2. An exhaust pipe 112-1 and an intake pipe 112-2 are provided inside the blower pipe 112. In FIG. 12, the gripper attachment 71 is not shown.

[0083] The tip end of the exhaust pipe 111-1 is connected to the base end of the exhaust pipe 112-1, and the tip end of the intake pipe 111-2 is also connected to the base end of the intake pipe 112-2.

[0084] The aroma measuring unit 101 is provided with an air blowing unit 121 and an air intake unit 122 .

[0085] The blower 121 rotates a blower fan to generate air, which is sent into the exhaust pipe 111-1 as indicated by the white arrow. The air sent from the blower 121 passes through the insides of the exhaust pipes 111-1 and 112-1 as a flow path and is discharged from the tip of the blower pipe 112.

[0086] When the tip of air duct 112 is brought close to the food, the air discharged from air duct 112 hits the surface of the food, generating an airflow around the food. The airflow generated around the food contains the aroma of the food (substances that cause the aroma).

[0087] Intake unit 122 reduces the air pressure inside intake unit 122 by rotating the intake fan, and performs intake as indicated by the outlined arrow. Air near the tip of air supply pipe 112, containing the aroma of ingredients, passes through the interiors of intake pipes 112-2 and 111-2 and is taken into intake unit 122. In this way, intake unit 122 functions as a suction unit that sucks in the aroma of ingredients.

[0088] A scent sensor 123 is provided inside intake section 122 near the connection portion with intake pipe 111-2. The air taken in by intake section 122 flows into scent sensor 123.

[0089] The scent sensor 123 is a sensor that measures scents by adsorbing scent-causing substances onto a porous adsorption film and measuring weight and electrical changes. A signal representing the scent measurement results by the scent sensor 123 is supplied to the controller 124. A sensor that measures scents by other methods may also be provided as the scent sensor 123.

[0090] The controller 124 provided in the aroma measuring unit 101 controls the air blowing unit 121, the air intake unit 122, and the aroma sensor 123 under the control of the controller 61 on the cooking robot 2 side.

[0091] For example, when it is time to measure the aroma of ingredients being cooked, controller 124 causes air blower 121 to start blowing air and air intake unit 122 to start drawing air. Controller 124 also causes aroma sensor 123 to start measuring the aroma. The recipe data also includes information indicating the timing to measure the aroma.

[0092] The controller 124 outputs scent data representing the scent measurement results based on the signal supplied from the scent sensor 123. The scent data output from the controller 124 is supplied to the controller 61, and transmitted from the controller 61 to the data processing device 1.

[0093] In this way, by capturing the air blown onto the food, it is possible to efficiently measure the aroma of the food.

[0094] FIG. 13 is a diagram showing another example of how the aroma measuring unit 101 is mounted.

[0095] 13, the position of the aroma measuring unit 101 can be set at a position other than near the base of the base member 55. In the example of FIG. 13, the aroma measuring unit 101 is provided inside the detachable member 51.

[0096] By providing the aroma measuring unit 101 inside the detachable member 51, it is possible to reduce the distance between the food material and the aroma sensor 123.

[0097] FIG. 14 shows examples of attachments that can be attached to the cooking arm 21.

[0098] Instead of the gripper-type gripper attachment 71, an attachment 72 provided with only an air blower pipe 112 may be used to measure the scent, as shown in FIG. 14A.

[0099] 14B, aroma measurement may be performed using a shaker-type attachment 73. For example, liquid ingredients are placed in the attachment 73, and the aroma of the liquid is measured. When measuring the aroma of ingredients placed in the attachment 73, the cooking arm 21 shakes the attachment 73.

[0100] FIG. 15 is a diagram showing an example of another attachment.

[0101] 15 is an attachment that includes an aroma measurement unit 101. A detachable part that is detachable from detachable part 51A provided at the tip of detachable member 51 is provided at the base side of attachment 74.

[0102] An air duct 112 is attached to the aroma measuring unit 101 inside the attachment 74. In this manner, the aroma measuring unit 101 may be provided in an attachment for the cooking arm 21.

[0103] For example, the attachment 74 is attached to the cooking arm 21 at the timing when the aroma of the food being cooked is to be measured, and is used to measure the aroma.

[0104] The air duct 112 may be provided as a replaceable part for each attachment.

[0105] This makes it possible to measure the aroma of food ingredients while the air duct 112 is in contact with the food ingredients, for example by inserting the air duct 112 into soup in a pot. After the aroma measurement is completed, the air duct 112 is replaced with a new one, and the aroma of other food ingredients is measured.

[0106] Example of scent measurement FIG. 16 is a diagram showing how the scent is measured.

[0107] 16, cooking arm 21-2 is performing cooking operations while cooking arm 21-1 is measuring aroma. Gripper attachment 71 is attached to cooking arm 21-1, and the tip of air duct 112 is directed toward the surface of the soup in the pot.

[0108] Since the tip of the air duct 112 can be freely moved within the movable range of the cooking arm 21-1, it is possible to switch positions and measure the aroma of the target ingredient at multiple positions, as shown in Figure 17.

[0109] Furthermore, since the operation of other cooking arms 21 can be identified based on the description of the recipe data, it is possible to measure the aroma of ingredients obtained by the operation of other cooking arms 21 after the operation of the other cooking arms 21 has finished, without interfering with the operation of the other cooking arms 21.

[0110] FIG. 18 is another diagram showing how the scent is measured.

[0111] In particular, in the case of stews and other simmered dishes, the aroma changes in complex ways depending on the seasonings mixed in. In this case, multiple cooking arms 21 can work together to perform cooking operations and measure aromas.

[0112] In the example of Figure 18, cooking arm 21-1 measures the aroma, and cooking arm 21-2 adds seasoning. Cooking arm 21-3 performs a stirring action. By linking multiple cooking arms 21 in this way, it becomes possible to measure the change in aroma caused by mixing the seasoning immediately after that change occurs.

[0113] In this way, the cooking arm 21 equipped with the aroma measuring unit 101 makes it possible to measure the aroma of any position on the food material at any timing.

[0114] It is said that the two factors that have the greatest effect on aroma during cooking are "time" and "heat." For example, when cooking steak, the composition of the meat changes depending on the time and heat, which in turn changes the aroma.

[0115] By constantly measuring the aroma in real time while the meat is being grilled and feeding the measurement results back into the cooking process, optimal cooking can be achieved based on changes in the aroma.

[0116] For example, recipe data for steak meat contains information about aroma data at each time from the start of grilling. The cooking robot 2 measures the aroma at each time from the start of grilling, and adjusts the grilling time and temperature based on whether the measured aroma matches the aroma described in the recipe data.

[0117] A cooking operation is performed to adjust the aroma measured by the aroma measurement unit 101 so that it approaches the aroma described in the recipe data. The cooking operation to adjust the aroma is performed until the difference between the aroma measured by the aroma measurement unit 101 and the aroma described in the recipe data becomes equal to or less than a threshold value.

[0118] For example, when the same aroma as that described in the recipe data, which indicates the timing to stop grilling, is detected from meat during cooking, cooking is completed.

[0119] Furthermore, cooking steak involves adding seasonings such as wine, salt, and pepper. By detecting the change in aroma when each seasoning is added, it becomes possible to select the type of seasoning to add, adjust the timing of adding the seasoning, and adjust the amount of seasoning based on the change in aroma.

[0120] Selection of the type of seasoning and adjustment of the timing and amount of seasoning may be performed based on information described in recipe data, or may be performed based on a prediction model generated in advance by deep learning, etc. In the latter case, for example, data processing device 1 is provided with a prediction model that receives aroma data measured on meat being cooked as input and outputs the type of seasoning, the timing and amount of seasoning to be added.

[0121] In this way, cooking operations performed based on recipe data are adjusted appropriately based on the aroma of the ingredients being cooked, making it possible to appropriately control cooking operations based on aromas that cannot be determined from appearance.

[0122] The temperature of the air blown onto the food may be adjusted depending on the temperature of the food, such as blowing hot air onto hot food to measure the aroma, and blowing cold air onto cold food to measure the aroma.

[0123] In this way, by mounting the aroma measuring unit 101 on the cooking arm 21, it becomes possible to easily measure the aroma of the food material being cooked.

[0124] <Example of application of aroma measurement using a cooking arm> Cooking system configuration FIG. 19 is a diagram showing an example of a cooking system using an aroma measurement function with a cooking arm.

[0125] As shown in FIG. 19, the cooking system is composed of a chef-side component that cooks food and a reproduction-side component that reproduces the food prepared by the chef.

[0126] The chef-side configuration is, for example, a configuration installed in a restaurant, and the replica-side configuration is, for example, a configuration installed in an ordinary home. As the replica-side configuration, a cooking robot 2 is prepared.

[0127] The cooking system in FIG. 19 is a system in which the same dish as that prepared by a chef is reproduced by a cooking robot 2 as a component on the reproduction side.

[0128] As shown by the arrow, recipe data is provided from the chef-side configuration to the reproduction-side configuration including the cooking robot 2. The recipe data describes information about the dish prepared by the chef, including the ingredients of the dish.

[0129] In the configuration for reproducing, the cooking robot 2's cooking actions are controlled based on the recipe data to reproduce the dish. For example, the cooking robot 2 is made to perform cooking actions to achieve the same cooking steps as the chef, thereby reproducing the dish.

[0130] Although a chef is shown as the cook who cooks, the cooking system in Figure 19 can be applied to any person who cooks, regardless of whether they are called a chef, cook, etc., or their role in the kitchen.

[0131] 19 shows only the configuration of one chef, the cooking system may include multiple chef configurations installed in multiple restaurants, etc. The configuration on the reproduction side is provided with recipe data for a specific dish made by a specific chef selected by the person eating the dish reproduced by the cooking robot 2, for example.

[0132] FIG. 20 is a diagram illustrating an example of information included in the cooking process dataset.

[0133] As shown in the speech bubble in Figure 20, the cooking process data set included in the recipe data (Figure 2) includes the cooking operation information described above and flavor information, which is information about the ingredients used in the cooking process and the flavor of the ingredients after the cooking process.

[0134] FIG. 21 is a diagram showing examples of flavor components.

[0135] The deliciousness that humans sense in their brains, or "flavor," is primarily composed of a combination of the taste perceived by the human sense of taste, the aroma perceived by the human sense of smell, and the texture perceived by the human sense of touch, as shown in Figure 21.

[0136] The flavor information that makes up the cooking process dataset includes taste data measured by a taste measuring instrument, aroma data measured by an aroma measuring instrument, and texture data measured by a texture measuring instrument. Texture includes the elasticity, viscosity, temperature, etc. of ingredients.

[0137] In this way, the cooking process data set is constructed by linking information representing the ingredients used in the cooking process and the flavor of the ingredients produced through the cooking process to cooking operation information.

[0138] The flavor information does not include three types of data: taste data, aroma data, and texture data; rather, the flavor information includes at least aroma data.

[0139] FIG. 22 is a diagram showing an example of the flow of generating recipe data.

[0140] As shown in FIG. 22, cooking by a chef is usually performed by cooking ingredients, tasting the ingredients after cooking, and adjusting the flavor, which is repeated for each cooking step.

[0141] For example, flavor can be adjusted by adding salt if the food is not salty enough, or by squeezing lemon juice if the food is not sour enough. For aroma, adjustments can be made by adding chopped herbs or cooking the ingredients. For texture, adjustments can be made by softening the ingredients by pounding them if they are hard, or by increasing the simmering time.

[0142] The cooking action information constituting the cooking process data set is generated based on the sensing results of sensing the actions of the chef who cooks using ingredients and the actions of the chef who adjusts the flavor.

[0143] Furthermore, the flavor information is generated based on the results of sensing the flavor of the ingredients after cooking.

[0144] In the example of Figure 22, as shown by arrows A1 and A2, cooking action information constituting the cooking process data set for cooking process #1 is generated based on the sensing results of the cooking actions performed by the chef as cooking process #1 and the chef's actions to adjust the flavor.

[0145] Furthermore, as indicated by arrow A3, flavor information constituting the cooking step data set for cooking step #1 is generated based on the results of sensing the flavor of the ingredients after cooking in cooking step #1.

[0146] After cooking step #1 is completed, the next cooking step, cooking step #2, is carried out.

[0147] Similarly, as shown by arrows A11 and A12, cooking action information constituting the cooking process data set for cooking process #2 is generated based on the sensing results of the cooking actions performed by the chef for cooking process #2 and the chef's actions to adjust the flavor.

[0148] Furthermore, as indicated by arrow A13, flavor information constituting the cooking step data set for cooking step #2 is generated based on the results of sensing the flavor of the ingredients after cooking in cooking step #2.

[0149] A dish is completed through a number of such cooking steps. When the dish is completed, recipe data is generated that describes the cooking step data set for each cooking step.

[0150] Below, we will mainly explain the case where one cooking process is composed of three cooking actions: cooking, tasting, and adjustment. However, the unit of cooking actions included in one cooking process can be set arbitrarily. One cooking process may be composed of cooking actions that do not involve tasting or adjusting the flavor after tasting, or it may be composed of only adjusting the flavor. In this case as well, flavor sensing is performed for each cooking process, and flavor information obtained based on the sensing results is included in the cooking process data set.

[0151] The timing of flavor sensing can be set arbitrarily, rather than sensing flavor after each cooking step. For example, flavor sensing may be performed repeatedly during each cooking step. In this case, the cooking step data set will include time-series data of flavor information.

[0152] Flavor information may not be included in all cooking process data sets, but each time flavor measurement is performed at any timing, flavor information may be included in the cooking process data set along with information on the cooking operation being performed at that timing.

[0153] FIG. 23 is a diagram showing an example of the flow of recreating a dish based on recipe data.

[0154] As shown in Figure 23, the cooking robot 2 reproduces a dish by cooking based on the cooking operation information included in the cooking process data set described in the recipe data, measuring the flavor of the ingredients after cooking, and adjusting the flavor, repeating this process for each cooking process.

[0155] The flavor is adjusted by, for example, adding work so that the flavor measured by a sensor provided on the cooking robot 2 side approaches the flavor represented by the flavor information. Details of flavor adjustment by the cooking robot 2 will be described later.

[0156] For example, the measurement and adjustment of flavor may be repeated multiple times in one cooking process. That is, each time an adjustment is made, the flavor of the adjusted ingredients is measured, and the flavor is adjusted based on the measurement results.

[0157] In the example of Figure 23, as shown by arrow A21, the cooking action of the cooking robot 2 is controlled based on the cooking action information constituting the cooking step data set for cooking step #1, and the cooking robot 2 performs the same action as the chef's action for cooking step #1.

[0158] After the cooking robot 2 performs the same actions as the chef in cooking step #1, the flavor of the cooked ingredients is measured, and the cooking robot 2 controls the adjustment of the flavor based on the flavor information that constitutes the cooking step data set for cooking step #1, as shown by arrow A22.

[0159] If the flavor measured by the sensor provided on the cooking robot 2 side matches the flavor represented by the flavor information, the flavor adjustment is complete and cooking step #1 is also completed. For example, not only if they match perfectly, but also if the difference between the flavor measured by the sensor provided on the cooking robot 2 side and the flavor represented by the flavor information is below a threshold, the two are determined to match.

[0160] For example, when the aroma measured by the aroma measuring unit 101 mounted on the cooking arm 21 matches the aroma represented by the flavor information, the aroma adjustment is completed and cooking step #1 is also completed. For example, not only when they match perfectly, but also when the difference between the aroma measured by the aroma measuring unit 101 and the aroma represented by the flavor information is equal to or less than a threshold, the two are determined to match.

[0161] After cooking step #1 is completed, the next cooking step, cooking step #2, is carried out.

[0162] Similarly, as indicated by arrow A31, the cooking action of the cooking robot 2 is controlled based on the cooking action information constituting the cooking step data set for cooking step #2, and the cooking robot 2 performs the same action as the chef's action for cooking step #2.

[0163] After the cooking robot 2 performs the same actions as the chef in cooking step #2, the flavor of the cooked ingredients is measured, and the cooking robot 2 controls the adjustment of the flavor based on the flavor information that constitutes the cooking step data set for cooking step #2, as shown by arrow A32.

[0164] When the flavor measured by the sensor provided on the cooking robot 2 side matches the flavor represented by the flavor information, the flavor adjustment is completed and cooking step #2 is also completed.

[0165] After going through these multiple cooking processes, the dish prepared by the chef is reproduced by Cooking Robot 2.

[0166] FIG. 24 is a diagram showing the chef's flow and the reproduction's flow together.

[0167] As shown on the left side of Fig. 24, a dish is completed through multiple cooking steps, cooking steps #1 to #N, and recipe data describing the cooking step data set for each cooking step is generated. The recipe data is generated by a device such as a server that collects and analyzes the measurement results of the chef's actions.

[0168] On the other hand, on the reproduction side, one dish is reproduced based on the recipe data generated by the chef's cooking, through a plurality of cooking steps #1 to #N, which are the same as the cooking steps performed on the chef's side.

[0169] Since the cooking robot 2 adjusts the flavor for each cooking step, the final dish will have the same or a similar flavor as the dish made by a chef. In this way, a dish with the same flavor as the dish made by a chef can be reproduced with high reproducibility based on the recipe data.

[0170] The aroma measurement function using the aroma measurement unit 101 is used to determine on each occasion whether the flavor of the ingredients obtained by the cooking operations performed when recreating a dish matches the flavor of the ingredients prepared by the chef, as represented by the flavor information described in the recipe data.

[0171] <Configuration and operation of each device> Configuration of data processing device 1 FIG. 25 is a block diagram showing an example of the hardware configuration of the data processing device 1.

[0172] 25, the data processing device 1 is configured by a computer. A CPU (Central Processing Unit) 201, a ROM (Read Only Memory) 202, and a RAM (Random Access Memory) 203 are connected to one another by a bus 204.

[0173] An input / output interface 205 is further connected to the bus 204. An input unit 206 including a keyboard, a mouse, etc., and an output unit 207 including a display, a speaker, etc. are connected to the input / output interface 205.

[0174] Furthermore, the input / output interface 205 is connected to a storage unit 208 including a hard disk or nonvolatile memory, a communication unit 209 including a network interface, and a drive 210 for driving a removable medium 211 .

[0175] In the computer configured as above, the CPU 201 loads a program stored in the storage unit 208 into the RAM 203 via the input / output interface 205 and the bus 204 and executes the program, thereby performing various processes.

[0176] FIG. 26 is a block diagram showing an example of the functional configuration of the data processing device 1.

[0177] At least some of the functional units shown in FIG. 26 are realized by the CPU 201 in FIG. 25 executing a predetermined program.

[0178] 26, a command generation unit 221 is realized in the data processing device 1. The command generation unit 221 is made up of a recipe data acquisition unit 231, a robot state estimation unit 232, a control unit 233, and a command output unit 234.

[0179] The recipe data acquisition unit 231 acquires recipe data generated by a device (not shown) by analyzing the cooking actions of the chef, and outputs the data to the control unit 233.

[0180] The robot state estimation unit 232 receives images and sensor data transmitted from the cooking robot 2. The cooking robot 2 periodically transmits images taken by its own camera and sensor data measured by sensors installed at predetermined positions on the cooking robot 2. The images taken by the cooking robot 2's camera show the surroundings of the cooking robot 2.

[0181] In addition, aroma data measured by the aroma measuring unit 101 of the cooking arm 21 is transmitted from the cooking robot 2.

[0182] The robot state estimation unit 232 analyzes the images and sensor data including aroma data transmitted from the cooking robot 2 to estimate the state of the cooking robot 2's surroundings, such as the state of the cooking arm 21 and the state of the ingredients, as well as the state of the cooking process. Information indicating the state of the cooking robot 2's surroundings estimated by the robot state estimation unit 232 is supplied to the control unit 233.

[0183] The control unit 233 generates an instruction command for controlling the cooking robot 2 based on the cooking process data set described in the recipe data supplied from the recipe data acquisition unit 231. For example, an instruction command for causing the cooking arm 21 to perform an operation represented by the cooking operation information included in the cooking process data set is generated.

[0184] The instruction command is generated based on the surrounding state of the cooking robot 2 estimated by the robot state estimation unit 232. The instruction command generated by the control unit 233 is supplied to the command output unit 234.

[0185] The command output unit 234 transmits the instruction command generated by the control unit 233 to the cooking robot 2.

[0186] Cooking Robot 2 Configuration FIG. 27 is a block diagram showing an example of the configuration of the cooking robot 2.

[0187] The cooking robot 2 is configured by connecting each unit to a controller 61 (FIG. 9) that serves as a control device for controlling the operation of the cooking robot 2. Among the components shown in FIG. 27, the same components as those described above are denoted by the same reference numerals. Duplicate explanations will be omitted where appropriate.

[0188] In addition to the cooking arm 21, a camera 251, a sensor 252, and a communication unit 253 are connected to the controller 61.

[0189] The controller 61 is configured by a computer having a CPU, ROM, RAM, flash memory, etc. The controller 61 executes a predetermined program using the CPU and controls the overall operation of the cooking robot 2. The controller 61 may also configure the data processing device 1.

[0190] For example, the controller 61 controls the communication unit 253 to transmit the image captured by the camera 251 and the sensor data measured by the sensor 252 to the data processing device 1.

[0191] In the controller 61, a predetermined program is executed, whereby an instruction command acquisition unit 261 and an arm control unit 262 are realized.

[0192] The command acquisition unit 261 acquires a command that is sent from the data processing device 1 and received by the communication unit 253. The command acquired by the command acquisition unit 261 is supplied to the arm control unit 262.

[0193] The arm control unit 262 controls the operation of the cooking arm 21 in accordance with the command acquired by the command acquisition unit 261.

[0194] The camera 251 captures the surroundings of the cooking robot 2 and outputs the captured images to the controller 61. The camera 251 is provided in various positions, such as in front of the cooking assistance system 12 or at the tip of the cooking arm 21.

[0195] The sensor 252 is configured by various sensors such as a temperature and humidity sensor, a pressure sensor, an optical sensor, a distance sensor, a human presence sensor, a positioning sensor, a vibration sensor, etc. Measurement by the sensor 252 is performed at a predetermined cycle. Sensor data indicating the measurement results by the sensor 252 is supplied to the controller 61.

[0196] The camera 251 and the sensor 252 may be provided at a position away from the housing 11 of the cooking robot 2.

[0197] The communication unit 253 is a wireless communication module such as a wireless LAN module, a mobile communication module compatible with LTE (Long Term Evolution), etc. The communication unit 253 communicates with the data processing device 1 and external devices such as a server on the Internet.

[0198] As shown in FIG. 27, the cooking arm 21 is provided with a motor 271 and a sensor 272 in addition to the aroma measuring unit 101.

[0199] A motor 271 is provided at each joint of the cooking arm 21. The motor 271 rotates around its axis under the control of the arm control unit 262. An encoder that measures the amount of rotation of the motor 271, a driver that adaptively controls the rotation of the motor 271 based on the measurement results from the encoder, and the like are also provided at each joint. The motor 271 functions as a drive unit that controls the drive of the cooking arm 21.

[0200] The sensor 272 is composed of, for example, a gyro sensor, an acceleration sensor, a touch sensor, etc. The sensor 272 measures the angular velocity, acceleration, etc. of each joint while the cooking arm 21 is moving, and outputs information indicating the measurement results to the controller 61. Sensor data indicating the measurement results of the sensor 272 is also sent from the cooking robot 2 to the data processing device 1 as appropriate.

[0201] Operation of the data processing device 1 The processing of the data processing device 1 will be described with reference to the flowchart of Fig. 28. Here, the adjustment of flavor will be described with a focus on the adjustment of aroma.

[0202] In step S1, the recipe data acquisition unit 231 acquires recipe data for a predetermined dish.

[0203] In step S2, the control unit 233 selects one cooking step based on the cooking step data set described in the recipe data, and generates an instruction command for performing the cooking operations included in the selected cooking step. For example, the cooking step data set is selected in the order of the cooking steps, and the cooking operations included in the selected cooking step are selected in the order of execution.

[0204] In step S3, the control unit 233 causes the cooking robot 2 to perform a cooking operation according to the description of the cooking operation information. The command output unit 234 transmits an instruction command to the cooking robot 2 to cause the cooking robot 2 to perform the cooking operation.

[0205] In step S4, the control unit 233 measures the flavor of the cooked ingredients. The command output unit 234 sends a command to the cooking robot 2 to drive the cooking arm 21 and measure the aroma of the ingredients.

[0206] In the cooking robot 2, the cooking arm 21 is moved in accordance with the instruction command, and the aroma is measured by the aroma measuring unit 101. Aroma data representing the measured aroma is transmitted from the aroma measuring unit 101 to the data processing device 1.

[0207] In step S5, the control unit 233 determines whether the flavor of the cooked ingredients matches the flavor represented by the flavor information included in the recipe data. Here, if the aroma of the cooked ingredients matches the aroma represented by the flavor information, the flavor is determined to match. The flavor may also be determined to match if all of the taste, aroma, and texture that constitute the flavor match the values ​​represented by the flavor information.

[0208] If it is determined in step S5 that the flavors do not match, the control unit 233 adjusts the flavor in step S6. The command output unit 234 transmits to the cooking robot 2 a command related to an operation for adjusting the aroma of the ingredients, such as by driving the cooking arm 21.

[0209] As mentioned above, the aroma is adjusted by adjusting the baking time and temperature, as well as by adding specific seasonings to the ingredients, adjusting the timing of adding the seasonings, or adjusting the amount of seasoning.

[0210] After the flavor adjustment is performed in step S6, the process returns to step S4, and the above-described processing is repeated until it is determined that the flavors match.

[0211] If it is determined in step S5 that the flavor of the cooked ingredients matches the flavor represented by the flavor information included in the recipe data, the process proceeds to step S7.

[0212] In step S7, the control unit 233 determines whether all the cooking steps have been completed, and if it determines that all the cooking steps have not been completed, the process returns to step S2 and repeats the above-described process. The same process is repeated for the next cooking step.

[0213] On the other hand, if it is determined in step S7 that all cooking steps have been completed, the dish is complete and the reproduction process ends.

[0214] In this way, the entire cooking process is carried out while adjusting the aroma of the ingredients based on the aroma measured by the aroma measuring unit 101 of the cooking arm 21, making it possible to recreate a dish that matches or has a similar aroma to the dish prepared by a chef.

[0215] <Other examples> Computer configuration example The above-described series of processes can be executed by hardware or software. When the series of processes is executed by software, the program constituting the software is installed in a computer incorporated in dedicated hardware or a general-purpose personal computer.

[0216] The program to be installed is provided by being recorded on removable media 211 shown in FIG. 25, which may be an optical disk (CD-ROM (Compact Disc-Read Only Memory), DVD (Digital Versatile Disc), etc.) or a semiconductor memory. Alternatively, the program may be provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital broadcasting. The program can be installed in advance in ROM 202 or storage unit 208.

[0217] The program executed by the computer may be a program that processes in chronological order according to the order described in this specification, or may be a program that processes in parallel or at the required timing, such as when called.

[0218] In this specification, a system refers to a collection of multiple components (devices, modules (components), etc.), regardless of whether all the components are contained in the same housing. Therefore, multiple devices housed in separate housings and connected via a network, and a single device housed in a single housing with multiple modules, are both systems.

[0219] The effects described in this specification are merely examples and are not limiting, and other effects may also be present.

[0220] The embodiments of the present technology are not limited to the above-described embodiments, and various modifications are possible without departing from the spirit of the present technology.

[0221] For example, this technology can be configured as cloud computing, in which a single function is shared and processed collaboratively by multiple devices via a network.

[0222] Furthermore, each step described in the above flowchart can be executed by one device, or can be shared and executed by multiple devices.

[0223] Furthermore, when one step includes multiple processes, the multiple processes included in that one step can be executed by one device or can be shared and executed by multiple devices. [Explanation of symbols]

[0224] 1 Data processing device, 2 Cooking robot, 21-1 to 21-4 Cooking arm, 61 Controller, 101 Aroma measurement unit, 121 Air blower, 122 Air intake unit, 123 Aroma sensor, 124 Controller, 221 Command generation unit, 231 Recipe data acquisition unit, 232 Robot state estimation unit, 233 Control unit, 234 Command output unit, 251 Camera, 252 Sensor, 253 Communication unit, 261 Instruction command acquisition unit, 262 Arm control unit

Claims

1. a suction unit that sucks in the aroma of ingredients being cooked by the cooking arm through a connected suction pipe; A detachable portion to which an attachment having a cooking function and the intake pipe can be detached; an aroma sensor that measures the aroma sucked by the suction unit in accordance with the cooking operation; A cooking arm equipped with

2. The cooking operation is performed according to recipe data in which information on cooking steps is described.

2. The cooking arm of claim 1.

3. The recipe data is data that links aroma information that represents an aroma measured according to the progress of cooking by a chef with cooking action information that represents the cooking action to be performed by the cooking arm.

3. The cooking arm of claim 2.

4. The cooking operation is performed so that the aroma measured by the aroma sensor approaches the aroma represented by the aroma information included in the recipe data.

4. The cooking arm of claim 3.

5. The cooking operation is performed so that the difference between the aroma measured by the aroma sensor and the aroma represented by the aroma information included in the recipe data is equal to or smaller than a threshold value.

5. The cooking arm of claim 4.

6. The apparatus further includes a control unit that controls the operation of the suction unit and the aroma sensor in accordance with the recipe data.

3. The cooking arm of claim 2.

7. The cooking apparatus further includes a driving unit that controls the driving of the cooking arm according to the recipe data.

7. The cooking arm of claim 6.

8. The cooking apparatus further includes an air blowing unit that blows air onto the food in accordance with the cooking operation.

2. The cooking arm of claim 1.

9. The aroma sensor measures the aroma based on an electrical change or a weight change caused by the gas sucked by the suction unit.

2. The cooking arm of claim 1.

10. The cooking arm is A first arm member; A second arm member; a hinge portion that rotatably connects the first arm member and the second arm member; The cooking arm of claim 1 .

11. The suction unit is configured as the attachment.

11. The cooking arm of claim 10.

12. the first arm member includes a detachable portion to which the attachment can be attached, The second arm member has a detachable part that is detachable from an arm moving part that moves along a moving mechanism provided in the cooking robot.

12. The cooking arm of claim 11.

13. An attachment having a cooking function and an intake pipe is detachably attached, A suction portion connected to the intake pipe; Scent sensor and A cooking arm comprising: The aroma of the food being cooked by the cooking arm is sucked in through the intake pipe by the suction unit, The aroma absorbed by the suction unit is measured by the aroma sensor in accordance with the cooking operation. Measurement method.

14. In the cooking arm attachment having a cooking function, a suction unit that absorbs the aroma of ingredients being cooked by the cooking arm; an intake pipe connected to the suction portion; an aroma sensor that measures the aroma sucked by the suction unit in accordance with the cooking operation; A detachable part that is detachable from the cooking arm; A cooking arm attachment equipped with

Images