Method for configuring operation schedule for controlling robot device

Abstract

According to an embodiment of the present application, a method for configuring an operation schedule for controlling an operation of a robot device is provided, in which at least one processor for performing at least one command may perform the steps of: controlling an operation of a robot device according to a first cooking schedule, wherein the first cooking schedule includes a section for performing a first task, a section for performing a second task, and a section for performing a third task, all in a first cooking unit; determining a section for performing a first task in a second cooking unit, a section for performing a second task in the second cooking unit, and a section for performing a third task in the second cooking unit; and configuring a second cooking schedule by determining a point in time, at which the robot device performs a cooking operation in the second cooking unit, in consideration of the section for performing the third task in the first cooking unit.

Description

Method for setting up a motion schedule for controlling a robotic device

[0001] The present invention relates to a kitchen cooking automation system using a robotic device, and to a method for automating various cooking operations performed in a kitchen using a modular cooking device.

[0002]

[0003] Kitchen automation technology is being actively developed alongside recent advances in robotics, and is shifting from a simple kitchen assistant to sophisticated robotics that enhances efficiency and safety across the entire kitchen process.

[0004] Conventional kitchen automation technologies related to frying have limitations in that they cannot completely control the heat and oil generated in the kitchen, they cannot provide automation solutions for all stages from the stage of preparing ingredients to the stage of storing them after cooking, and they are limited in their application to only some stages of the cooking process. In addition, there are limitations in the technology for efficiently controlling multiple fryers.

[0005] In particular, there have been cases where robotics was applied to kitchen automation technology related to frying in the past, but this required the introduction of expensive robotic systems, which required significant investment, making it difficult to commercialize and apply in actual industries.

[0006] Accordingly, in kitchen automation technology related to frying, there is a need to develop multi-tasking technology that allows for precise simultaneous control of multiple fryers, and there is a need to develop an automation system that improves safety and hygiene by reducing risks related to heat and oil generated during the frying process. At the same time, there is a need to develop improved kitchen automation technology in terms of cost so that it can be applied to actual industries and commercialized.

[0007]

[0008] An object of the present invention is to provide a cooking automation method using a robotic device and a device for performing the same.

[0009] An object of the present invention is to provide a cooking device for performing an automated cooking operation, to provide a device for applying batter to food ingredients, and to provide an automated cooking system using the batter applying device.

[0010] An object of the present invention is to provide a method for controlling a kitchen automation system and a method for controlling the operation of a robotic device according to the occurrence of an event.

[0011] The problems to be solved by the present invention are not limited to the problems described above, and problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention pertains from this specification and the attached drawings.

[0012]

[0013] A method for setting an operation schedule for controlling an operation of a robotic device disclosed in the present invention may include a step of controlling an operation of the robotic device according to a first cooking schedule, wherein the first cooking schedule includes a section for performing a first task in a first cooking unit, a section for performing a second task, and a section for performing a third task, by at least one processor for performing at least one command; a step of determining a section for performing a first task in a second cooking unit, a section for performing a second task in the second cooking unit, and a section for performing a third task in the second cooking unit; and a step of setting a second cooking schedule by determining a time point for performing a cooking operation by the robotic device in the second cooking unit in consideration of the section for performing the third task in the first cooking unit.

[0014] The solutions to the problems of the present invention are not limited to the solutions described above, and solutions that are not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention pertains from this specification and the attached drawings.

[0015]

[0016] According to this embodiment, by automating the process using robotic technology, human exposure to hazardous environments such as high temperatures and oil splashes can be minimized, thereby ensuring a cleaner and safer workspace, reducing burns and other risks, and providing a more hygienic cooking environment.

[0017] According to this embodiment, by providing a cooking automation system designed to be economically applicable to various cooking tasks, it is possible to increase cost efficiency and functional efficiency at the same time, thereby providing a device that can be supplied to not only large-scale commercial facilities but also small-scale facilities.

[0018] According to this embodiment, an automation solution is provided for the entire cooking process from preparation of ingredients to final storage after cooking, thereby ensuring consistency in food quality and optimizing the workflow to improve productivity.

[0019] According to this embodiment, a sophisticated control system capable of simultaneously managing multiple fryers can be provided, thereby enabling efficient cooking of a large quantity of food without deterioration in quality.

[0020] The effects of the invention are not limited to the effects described above, and effects not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention pertains from this specification and the attached drawings.

[0021]

[0022] FIG. 1 is a drawing for explaining a kitchen cooking automation system according to one embodiment.

[0023] FIG. 2 is a drawing for explaining the configuration of a user terminal according to one embodiment.

[0024] Figure 3 is a drawing for explaining the configuration of a cooking device according to one embodiment.

[0025] FIG. 4 is a drawing for explaining an automated method for cooking fried food according to one embodiment.

[0026] FIGS. 5 and 6 are drawings for explaining the arrangement and interaction of a plurality of modules constituting an automated frying cooking system according to one embodiment.

[0027] Fig. 7 is a drawing for exemplarily explaining a cooking device according to one embodiment.

[0028] FIGS. 8 to 11 are drawings for explaining a dough module according to one embodiment.

[0029] Fig. 12 is a drawing for explaining the arrangement of the dough module and the movement path of the food material according to one embodiment.

[0030] FIGS. 13 and 14 are drawings for explaining a method of coupling a dough module to a mounting part and a method of sensing material discharged from the dough module according to one embodiment.

[0031] FIG. 15 is a drawing for explaining a method of sensing material discharged from a dough module according to another embodiment.

[0032] FIG. 16 is a drawing for explaining a method for monitoring food ingredients fed into a frying module according to one embodiment.

[0033] FIG. 17 is a drawing for explaining a method for determining an operation error of a cooking device based on a sensing value according to one embodiment.

[0034] FIG. 18 is a drawing for explaining a method of performing a frying operation in a kitchen cooking automation system according to one embodiment.

[0035] FIGS. 19 and 20 are drawings for explaining a gripper of a robot device according to one embodiment.

[0036] FIG. 21 is a drawing for explaining a method of arranging a basket within a frying module according to one embodiment.

[0037] FIGS. 22 and 23 are drawings for explaining a kitchen cooking automation system according to another embodiment.

[0038] FIG. 24 and FIG. 25 are drawings for explaining the operation process of a kitchen automation system according to another embodiment.

[0039] Figures 26 and 27 are drawings for explaining the operation of an orthogonal robot according to another embodiment.

[0040] Figures 28 to 30 are drawings for explaining the configuration of an orthogonal robot according to one embodiment.

[0041] Figures 31 to 33 are drawings for exemplarily explaining an operation method of an orthogonal robot according to one embodiment.

[0042] Figure 34 is a drawing for explaining an automation system according to one embodiment.

[0043] Figure 35 is a flowchart illustrating the operation of an automated system according to one embodiment.

[0044] FIG. 36 is a flowchart illustrating a specific method for controlling the operation of a robotic device by an automated system according to one embodiment.

[0045] Fig. 37 is a drawing for explaining a method for outputting monitoring information of an automated system according to one embodiment.

[0046] Figure 38 is a diagram illustrating an example of output of monitoring information according to one embodiment.

[0047] Fig. 39 is a flowchart for explaining a method for outputting monitoring information of an automated system according to one embodiment.

[0048] Figure 40 is a drawing for explaining a robot control method according to one embodiment.

[0049] FIG. 41 is a flowchart illustrating a method for controlling the operation of a robotic device according to one embodiment.

[0050] FIG. 42 is a flowchart illustrating a method for determining when a control unit applies a reset motion schedule to a robot device according to one embodiment.

[0051] FIG. 43 is a diagram illustrating a first embodiment in which a control unit according to one embodiment determines a point in time at which an operation is performed in response to an event occurrence.

[0052] FIG. 44 is a drawing for explaining a cooking operation performed by a robotic device according to one embodiment.

[0053] FIG. 45 is a drawing for explaining a task performed by a robot device according to one embodiment.

[0054] FIG. 46 is a diagram illustrating a scheduling method for a robotic device to perform cooking operations in multiple cooking sections according to one embodiment.

[0055] FIG. 47 is a drawing illustrating a method for performing cooking operations in multiple cooking sections by multiple robotic devices according to one embodiment.

[0056] FIG. 48 is a drawing for explaining the arrangement and interaction of a plurality of modules constituting an automated frying cooking system according to one embodiment.

[0057] Fig. 49 is a drawing for explaining a dough module according to one embodiment.

[0058] FIG. 50 and FIG. 51 are drawings for explaining the opening and closing operation of the guide plate according to one embodiment.

[0059] Figure 52 is a drawing for explaining a material storage module according to one embodiment.

[0060] Fig. 53 is a drawing for explaining a dough module according to another embodiment.

[0061]

[0062] The above-described purposes, features, and advantages of the present application will become more apparent through the following detailed description, taken in conjunction with the accompanying drawings. However, as the present application is susceptible to various modifications and various embodiments, specific embodiments will be illustrated in the drawings and described in detail below.

[0063] Throughout the specification, identical reference numbers, in principle, indicate identical components. Furthermore, components with identical functions within the scope of the same concept shown in the drawings of each embodiment are described using the same reference numbers, and redundant descriptions thereof will be omitted.

[0064] If a detailed description of a known function or configuration related to this application is deemed to unnecessarily obscure the gist of this application, such detailed description will be omitted. Furthermore, numbers (e.g., "first," "second," etc.) used throughout the description of this specification are merely identifiers used to distinguish one component from another.

[0065] In addition, the suffixes "module" and "part" for components used in the following examples are given or used interchangeably only for the convenience of writing the specification, and do not have distinct meanings or roles in themselves.

[0066] In the examples below, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0067] In the examples below, terms such as “include” or “have” mean that a feature or component described in the specification is present, and do not preclude the possibility that one or more other features or components may be added.

[0068] For convenience of explanation, the sizes of components in the drawings may be exaggerated or reduced. For example, the sizes and thicknesses of each component shown in the drawings are arbitrarily shown for convenience of explanation, and the present invention is not necessarily limited to what is shown.

[0069] In some embodiments, where implementations are otherwise feasible, the order of specific processes may differ from the order described. For example, two processes described in succession may be performed substantially simultaneously, or in a reverse order from the order described.

[0070] In the following examples, when components are said to be connected, this includes not only cases where the components are directly connected, but also cases where components are interposed between the components and are indirectly connected.

[0071] For example, when it is said in this specification that components, etc. are electrically connected, it includes not only cases where the components, etc. are directly electrically connected, but also cases where components, etc. are interposed in between and are indirectly electrically connected.

[0072]

[0073] FIG. 1 is a diagram illustrating a kitchen cooking automation system according to one embodiment. Referring to FIG. 1, the kitchen cooking automation system according to one embodiment may include a cooking device (100), a central server (200), and a user terminal (300).

[0074] A kitchen cooking automation system according to one embodiment may be provided to automate the cooking process, increase efficiency, and ensure consistent quality by utilizing various technologies.

[0075] A cooking device (100) according to one embodiment may be a kitchen appliance capable of autonomously performing various cooking tasks and / or steps. The cooking device (100) may be equipped with various sensors and actuators to adjust cooking parameters such as temperature, time, and cooking method (e.g., frying operation) in real time.

[0076] The cooking device (100) may include a multi-tasking function, thereby enabling it to perform operations that process various cooking processes simultaneously or control multiple cooking devices simultaneously.

[0077] The cooking device (100) may be modular and may be an assembly of various modules. A more detailed description of the modules constituting the cooking device (100) and the operating method will be described later with reference to the drawings.

[0078] According to one embodiment, a central server (200) may perform a function of overall coordination of the kitchen cooking automation system. The central server (200) may obtain order details from a user terminal (300) and, based on the information, generate a control signal to enable the cooking device (100) to operate.

[0079] The central server (200) can analyze order details obtained from the user terminal (300), thereby predicting customer preferences or providing recommendations for future orders. Furthermore, the central server (200) can customize recipes to enable more personalized cooking through the aforementioned analysis.

[0080] The central server (200) can monitor the operating status of a plurality of cooking devices (100), and through the monitoring operation, can determine whether a functional problem has occurred in the cooking device (100) and generate a control signal to take corresponding action.

[0081] In addition to monitoring multiple cooking devices (100), the central server (200) can perform inventory management operations, determine insufficient ingredients through real-time management operations, provide notifications to employees, or perform a function of supplying ingredients to stores by automating supply chain logistics.

[0082] More detailed information on what is performed in the central server (200) will be described later with reference to the drawings.

[0083]

[0084] FIG. 2 is a diagram illustrating the configuration of a user terminal according to one embodiment. Referring to FIG. 2, a user terminal (300) according to one embodiment may include a processor (310), a communication module (320), a memory (330), an output module (340), and a user interface (340).

[0085] The processor (310) is a central processing unit that can execute commands to run applications stored in memory (330) and manage the operations of other hardware components.

[0086] The communication module (320) can perform an operation to assist the user terminal (300) in connecting to and communicating with external networks and devices. The communication module (320) can perform an operation to transmit a control signal generated by the processor (310) to an external device (e.g., a central server (200) and / or a cooking device (100)).

[0087] The memory (330) can store data required for the operating system, applications, and signal processing, as well as user-related data. The memory (330) may store applications related to the operation of ordering food or applications related to the operation of monitoring or controlling the cooking device (100).

[0088] The output module (340) may be a hardware component that performs a function of transmitting information to the user from the user terminal (300). The output module (340) may be a visual device such as a display or monitor, or an audio output device such as a speaker. The processor (310) may provide the user with various notifications related to order confirmation, cooking status, expected cooking time, etc. through the output module (340).

[0089] The user interface (340) may provide an intuitive interface to the user so that the user can interact with the central server (200) or the cooking device (100) within the kitchen cooking automation system. For example, the user interface (340) may provide the user with an interface for ordering food, an interface for entering feedback information about food, etc.

[0090]

[0091] FIG. 3 is a drawing for explaining the configuration of a cooking device according to one embodiment. Referring to FIG. 3, a cooking device (100) according to one embodiment may include a processor (101), a communication module (102), a storage module (103), an input / output module (104), and a user interface (105).

[0092] The processor (101) can serve as a central processing unit that controls and manages the overall operation of the cooking device (100) and can control the operation of various modules included in the cooking device (100).

[0093] The communication module (102) can perform a function that allows the cooking device (100) to communicate with an external device (e.g., a central server (200) or a user terminal (300)). The cooking device (100) can receive a control signal related to a cooking operation through the communication module (102) and update status information of another device that is communicatively connected.

[0094] The storage module (103) can perform the function of storing data such as cooking algorithms, recipes, user preferences, etc., and can store commands to execute the tasks of a specific cooking module.

[0095] The input / output module (104) may perform an operation of outputting information related to the status of the cooking device (100) or an operation of providing an alarm to the user after receiving a control signal from the processor (101). The input / output module (104) may output a notification related to the cooking status, a timer display, etc.

[0096] The user interface (105) can receive user input to control the operation of the cooking device (100). The user interface (105) can be provided in the form of buttons, a touch screen, etc. for manual control and setting adjustment of the device.

[0097]

[0098] A cooking device (100) according to one embodiment may include at least one module that performs a function related to a cooking operation. A cooking device (100) according to one embodiment may include an ingredient preparation module (1100), a dough module (1200), a frying module (1300), a mixing module (1400), and a storage module (1500).

[0099] The material preparation module (1100) may be a module that performs a function of storing or managing food ingredients before cooking. In addition to the function of storing food ingredients, the material preparation module (1100) may also be a module that performs actions such as washing, peeling, cutting, and slicing the food ingredients.

[0100] The material preparation module (1100) may have an internal space for storing food ingredients, and may perform an operation of discharging food ingredients from the internal space according to predetermined conditions. The material preparation module (1100) may have a discharging unit, and may perform an operation of automatically discharging food ingredients to another module (or another storage location) through the discharging unit according to predetermined conditions. The material preparation module (1100) may be in the form of a dispenser, but is not limited thereto, and may operate using various driving mechanisms.

[0101] The material preparation module (1100) may be provided in multiple units. The material preparation module (1100) may include a first material preparation module (1110), a second material preparation module (1120), and a third material preparation module (1130). Here, each material preparation module may operate with the same driving mechanism or may operate with different driving mechanisms. For example, the first material preparation module (1110) may operate with a first driving mechanism (e.g., a mechanism that discharges food ingredients in a rotating manner from a discharge unit), the second material preparation module (1120) may operate with a second driving mechanism (e.g., a mechanism that discharges food ingredients one by one from a discharge unit), and the third material preparation module (1130) may operate with a third driving mechanism (e.g., a mechanism that can control the speed at which food ingredients are discharged from the discharge unit).

[0102] The dough module (1200) can perform an operation of coating food ingredients with dough prior to cooking such as frying, and can also perform an operation of applying frying powder, etc. Furthermore, the dough module (1200) can perform an operation of mixing flour, water, and other ingredients to create a uniform dough.

[0103] The frying module (1300) may perform the operation of frying food using a fryer or similar cooking device. The frying module (1300) may include a temperature sensor or the like, and may control the cooking of food so that it satisfies preset conditions. For example, the frying module (1300) may be a fryer.

[0104] The mixing module (1400) can perform an operation of evenly coating or applying seasoning, etc. to the food ingredients that have been fried. The mixing module (1400) can perform an operation of coating or applying different seasonings to the food ingredients according to preset conditions.

[0105] The storage module (1500) can perform a function of storing cooked food. The storage module (1500) is provided in the form of a tray and can perform an operation of storing and preserving food at room temperature, or can perform an operation of preserving food freshness as a refrigeration device or a heat preservation device.

[0106]

[0107] Fig. 4 is a drawing for explaining an automated frying cooking method according to one embodiment. Referring to Fig. 4, the automated frying cooking method according to one embodiment may include an operation of receiving an order from a user (S110), an operation of preparing ingredients (S120), an operation of kneading (S130), an operation of applying frying powder (S140), an operation of frying ingredients (S150), an operation of mixing seasoning (S160), and an operation of storing ingredients (S170).

[0108] The cooking device (100) determines the food ingredients to be cooked through an operation of receiving an order from a user (S110), prepares the food ingredients to be cooked through an operation of preparing the food ingredients (S120), coats or applies batter to the food ingredients through a kneading operation (S130), coats or applies frying powder to the food ingredients through an operation of applying frying powder (S140), fries the food ingredients coated with batter and frying powder according to predetermined conditions through an operation of frying the food ingredients (S150), adds seasoning to the fried food ingredients according to predetermined conditions through an operation of mixing seasoning (S160), and stores the cooked food ingredients through an operation of storing the food ingredients (S170).

[0109] Each of the above-described operations can be performed by multiple modules described with reference to FIG. 3. For example, the material preparation operation (S120) can be performed through the material preparation module (1100), the kneading operation and the frying powder application operation (S130, S140) can be performed through the kneading module (1200), the frying operation (S150) can be performed by the frying module (1300), the seasoning mixing operation (S160) can be performed through the mixing module (1400), and the storage operation (S170) can be performed through the storage module (1500).

[0110]

[0111] FIGS. 5 and 6 are drawings for explaining the arrangement and interaction of a plurality of modules constituting an automated frying cooking system according to one embodiment.

[0112] Referring to FIG. 5, an automated frying cooking system according to one embodiment may include a material preparation module (1100), a dough module (1200), a frying module (1300), a mixing module (1400), and a storage module (1500) as described above, and each module may be controlled by a processor (101).

[0113] An automated frying cooking system according to one embodiment can be implemented through a plurality of modules as illustrated in FIG. 3, and each module can operate through interaction with each other and perform a cooking operation.

[0114] The cooking automation system may include all of the above-described multiple modules, but is not limited thereto, and may include only some of the modules. For example, the cooking automation system may include only a dough module (1200) and a frying module (1300). In this case, when the user prepares the food ingredients, the dough and frying powder are applied to the food ingredients through the dough module (1200) and the frying module (1300), respectively, and a frying operation is performed. After that, the user may mix the seasoning or store the cooked food ingredients.

[0115] In this way, when the cooking device (100) is equipped with multiple modules, the user can select only the desired modules and place them in the kitchen as needed, which is economically advantageous and has the advantage of being able to build an appropriate automation system depending on the kitchen situation.

[0116] Referring to FIG. 6, an automated frying cooking system according to one embodiment may additionally include a plurality of frying modules (1300) and a robotic device (1600).

[0117] An automated frying cooking system according to one embodiment may be equipped with multiple fryers (1300), in which case the number of ingredients that can be processed at one time may increase, thereby improving the cooking speed. For example, if the frying module (1300) is equipped with a first frying module (1300a), a second frying module (1300b), a third frying module (1300c), and a fourth frying module (1300d), the cooking device (100) may simultaneously operate four frying modules to perform a cooking operation.

[0118] In this case, the operation of introducing and withdrawing food ingredients into one of the plurality of frying modules can be performed by a robotic device (1600). Here, the robotic device (1600) may be provided in the form of a robotic arm, but is not limited thereto, and may also be provided in the form of a three-axis or four-axis orthogonal robot. The robotic device (1600) may be in the form of various known forms of moving means, and a more detailed description thereof will be described later with reference to the drawings.

[0119] Meanwhile, although not shown in the drawing, the robotic device (1600) may interact with not only the frying module (1300) but also other modules. For example, when the cooking device (100) performs a cooking operation through the material preparation module (1100), the dough module (1200), the frying module (1300), the mixing module (1400), and the storage module (1500), the means of moving the food ingredients between each module may be the robotic device (1600).

[0120]

[0121] FIG. 7 is a drawing for exemplarily explaining a cooking device according to one embodiment. Referring to FIG. 7, a cooking device (100) according to one embodiment may include a dough module (1200), a frying module (1300), a storage module (1500), and a robotic device (1600), and other modules may be excluded.

[0122] When a user puts ingredients into the dough module (1200), the dough module (1200) can perform an action of coating or applying dough to the ingredients in a predetermined manner, and can perform an action of coating or applying frying powder.

[0123] When the cooking device (100) completes the dough and frying powder application operation through the dough module (1200), the material can be introduced into any one of the plurality of frying modules (1300a, 1300b, 1300c) through the robot device (1600).

[0124] When it is confirmed that the frying operation has been completed according to predetermined conditions, the cooking device (100) can perform an operation of withdrawing ingredients from the frying module (1300a, 1300b, 1300c) through the robot device (1600).

[0125] The cooking device (100) can move the withdrawn ingredients to the storage module (1500) and then discharge them, and the storage module (1500) can perform a function of storing the ingredients according to predetermined conditions.

[0126] Meanwhile, according to one embodiment, the cooking device (100) may be equipped without the kneading module (1200). In this case, the cooking device (100) may introduce ingredients discharged through the ingredient preparation module (1100) into another module (e.g., a frying module) without passing through the kneading module (1200).

[0127]

[0128] FIGS. 8 to 11 are drawings for explaining a dough module according to one embodiment. Referring to FIGS. 8 to 11, a dough module (1200) according to one embodiment may include a first module (1210), a second module (1230), and a third module (1250).

[0129] The first module (1210) may include an input unit (a1) into which food ingredients are input and a power transmission unit (a2) for moving the food ingredients. When food ingredients are input through the input unit (a1), the first module (1210) may perform an operation of moving the food ingredients in a predetermined direction through the power transmission unit (a2). Here, the power transmission unit (a2) may be provided in the form of a roller and may move the food ingredients in a predetermined direction by rotation, but is not limited thereto, and may be provided in various known forms such as a conveyor belt.

[0130] The first module (1210) may further include a cylindrical member (a3), and the power transmission unit (a2) and the cylindrical member (a3) ​​may be spaced apart from each other by a preset distance. In this case, the first module (1210) may perform an operation of coating the food with dough by moving the food in a certain direction through the power transmission unit (a2) after the food is input. For example, the food may be coated with dough as it moves along the power transmission unit (a2) and passes under the cylindrical member (a3).

[0131] The second module (1230) may include a power transmission unit (b1) for moving food materials. The second module (1230) may perform an operation of moving food materials in a predetermined direction through the power transmission unit (b1). Here, the predetermined direction may be the opposite direction to the direction in which the food materials move through the first module (1210).

[0132] The second module (1230) may further include a pressing member (b2). In this case, the second module (1230) may perform an operation of coating the food with frying powder by moving the food in a certain direction via the power transmission member (b1). For example, the food may move along the power transmission member (b1) and be coated with frying powder by the pressing member (b2).

[0133] The third module (1250) may include a discharge unit (c1) through which food ingredients are discharged and a power transmission unit (c2) for moving the food ingredients. The third module (1250) may move the food ingredients in a predetermined direction through the power transmission unit (c2) and may discharge the food ingredients to the outside of the kneading module (1200) through the discharge unit (c1). Here, the predetermined direction may be the same direction as the direction in which the food ingredients move through the first module (1210).

[0134] The third module (1250) may further include a discharge guide portion (c3). The third module (1250) may control the food material to be discharged in a predetermined direction to the outside of the dough module (1200) through the discharge guide portion (c3). Here, the predetermined direction may be a lateral direction of the dough module (1200). The predetermined direction may be a different direction from the direction in which the food material moves through the first module (1210) to the third module (1250), and may be a direction orthogonal to the direction in which the food material moves through the first module (1210) to the third module (1250).

[0135] The above discharge guide part (c3) is arranged on the power transmission part (c3), and may be arranged at an end of the third module (1250). The end may be in the opposite direction to the area where the food material is fed into the third module (1250) after passing through the second module (1230).

[0136] For example, referring to FIG. 11, the discharge guide part (c3) is positioned at the end in the direction in which the food material moves, and the food material can be discharged to the outside of the dough module (1200) in a direction between the first direction (d1) and the second direction (d2) according to the discharge guide part (c3).

[0137] Meanwhile, the third module (1250) may additionally be provided with an elastic member. The elastic member may be arranged on both sides of the power transmission unit (c2), and the elastic member may transmit elastic force to the moving food material. The elastic members may be provided in pairs. More specifically, as the power transmission unit (c2) provided in the third module (1250) is driven, an external force may be applied to the elastic member, and an elastic force may be transmitted to the food material by the driving operation of the power transmission unit (c2) and the external force applied to the elastic member accordingly.

[0138] In this way, by transmitting elastic force to the food material moving along the power transmission unit (c2) of the third module (1250), a motion of shaking off the food material can be performed, and accordingly, an effect of removing unnecessary fried powder, etc., attached to the food material can be provided.

[0139] Here, by controlling the properties of the elastic member, the degree of elasticity provided to the food material can be controlled, thereby allowing the user to control the strength of the motion of shaking the food material.

[0140] The above elastic member may be provided in multiple units. More specifically, the power transmission unit (c2) within the third module (1250) may include multiple elastic members (e.g., a first elastic member and a second elastic member) arranged at predetermined intervals. This allows for more efficient control of the degree and intensity of the motion for shaking the food material.

[0141] The power transmission unit (a2) provided in the first module (1210) can be driven in the same manner as the power transmission unit (b1) provided in the second module (1230) and the power transmission unit (c2) provided in the third module (1250). For example, when the power transmission unit (a2) provided in the first module (1210) operates in a roller form, the power transmission unit (b1) provided in the second module (1230) and the power transmission unit (c2) provided in the third module (1250) can also operate in a roller form.

[0142]

[0143] FIG. 12 is a diagram illustrating the arrangement of dough modules and the movement path of food materials according to one embodiment. Referring to FIG. 12 , the first module (1210) to the third module (1250) may be arranged vertically. For example, the first module (1210) may be arranged above the second module (1230), and the second module (1230) may be arranged above the third module (1250).

[0144] As the first module (1210) to the third module (1250) are arranged vertically, food materials passing through the first module (1210) can be fed into the second module (1230) by gravity, and food materials passing through the second module (1230) can be fed into the third module (1250) by gravity.

[0145] The direction in which the food moves through the first module (1210) and the third module (1250) may be the same, and the direction in which the food moves through the second module (1230) may be the opposite direction.

[0146] Meanwhile, the operation of putting food ingredients into the first module (1210) may be performed by a worker, but is not limited thereto, and may be automatically discharged through the above-described material preparation module (1100).

[0147]

[0148] FIGS. 13 and 14 are drawings for explaining a method of coupling a dough module to a mounting part and a method of sensing material discharged from the dough module according to one embodiment.

[0149] Referring to Fig. 13, the kneading module (1200) may be arranged in a manner that it is coupled to the mounting part. As described above, the kneading module (1200) performs an operation of moving the food material in a certain direction through the power transmission unit, and may perform an operation of shaking the food material through the elastic member as needed. Accordingly, since the operation of the kneading module (1200) may cause a lot of shaking, there is a need to stably fix the kneading module (1200) to the mounting part.

[0150] The mounting part can provide a space where the kneading module (1200) can be installed, and can determine whether the kneading module (1200) is in an abnormal arrangement state due to its operation.

[0151] Referring to FIGS. 13 and 14, the cooking device (100) may further include a receiving module (1700). The receiving module (1700) may be equipped with at least one sensor to sense the material discharged from the kneading module (1200).

[0152] The cooking device (100) can perform an operation to check whether the dough module (1200) is normally fixed to the mounting part. If the cooking device (100) determines that the dough module (1200) is not normally fixed to the mounting part, the cooking device (100) can transmit an alarm without operating the dough module (1200).

[0153] When the cooking device (100) determines that the dough module (1200) is normally fixed to the mounting part, the cooking device (100) can operate the dough module (1200) to feed at least one food ingredient into the receiving module (1700).

[0154] The cooking device (100) can detect at least one food ingredient introduced into the receiving module (1700) through at least one sensor provided in the receiving module (1700). If the cooking device (100) determines that the sensing value satisfies a predetermined condition, the cooking device (100) can stop the operation of the kneading module (1200) and control at least one food ingredient stored in the receiving module (1700) to be moved to the frying module (1300).

[0155] Here, the above-determined conditions may be determined based on the user's order. More specifically, the cooking device (100) may determine the type, quantity, and / or weight of the ingredients to be cooked based on the user's order, and may determine in advance the type, quantity, and / or weight of the ingredients to be fed into the receiving module (1700) based on the determined type, quantity, and / or weight. Thereafter, the cooking device (100) may control the operation of the kneading module (1200) to be stopped if it is determined through the sensing value that the type, quantity, and / or weight of the ingredients fed into the receiving module (1700) satisfies the predetermined conditions.

[0156]

[0157] FIG. 15 is a drawing for explaining a method of sensing material discharged from a dough module according to another embodiment.

[0158] Referring to FIG. 15, the cooking device (100) can sense ingredients discharged from the dough module (1200) without the aforementioned receiving module (1700). For example, the cooking device (100) can control ingredients to be cooked through an operation of directly feeding the ingredients discharged from the dough module (1200) into the frying module (1300).

[0159] The cooking device (100) can perform an operation of operating the dough module (1200) to input at least one food ingredient into the first frying module (1300a). The cooking device (100) can perform an operation of moving the food ingredient input into the first frying module (1300a) to the second frying module (1300b) or the third frying module (1300c) according to predetermined conditions.

[0160] The above first frying module (1300a) can perform a function corresponding to the receiving module (1700) described with reference to FIGS. 13 and 14. That is, the cooking device (100) controls the food ingredients discharged from the dough module (1200) to be fed into the first frying module (1300a), and when a predetermined condition is satisfied, the food ingredients contained in the first frying module (1300a) can be moved to another frying module.

[0161] In this way, when controlling multiple frying modules in parallel, the efficiency of the cooking process can be increased by minimizing the stopping of the dough module (1200) operation.

[0162] More specifically, if the cooking device (100) determines through the sensing value that the type, number, and / or weight of the ingredients input into the first frying module (1300a) satisfies a first condition set in advance, the cooking device (100) can move the food ingredients stored in the first frying module (1300a) to another frying module that is not currently performing a cooking operation through the transport means. Thereafter, if the cooking device (100) determines through the sensing value that the type, number, and / or weight of the ingredients input into the first frying module (1300a) satisfies a second condition set in advance, the cooking device (100) can move the food ingredients stored in the first frying module (1300a) to another frying module that is not currently performing a cooking operation through the transport means.

[0163] The cooking device (100) can control the operation of the dough module to stop when it determines that the first frying module (1300a), the second frying module (1300b), and the third frying module (1300c) meet predetermined conditions.

[0164] The cooking device (100) can control the operation of the dough module (1200) to be stopped when it is determined that at least two of the first frying module (1300a), the second frying module (1300b), and the third frying module (1300c) are in operation.

[0165] For example, if it is determined that both the second frying module (1300b) and the third frying module (1300c) are in operation, the operation of the dough module (1200) can be controlled to stop. As another example, if it is determined that all of the first frying module (1300a), the second frying module (1300b), and the third frying module (1300c) are in operation, the cooking device (100) can control the operation of the dough module (1200) to stop. Here, the fact that the first frying module (1300a), the second frying module (1300b), and the third frying module (1300c) are in operation may mean that a frying cooking operation is being performed within each module.

[0166]

[0167] FIG. 16 is a drawing for explaining a method for monitoring food ingredients fed into a frying module according to one embodiment.

[0168] Referring to FIG. 16, as shown in (a) of FIG. 16, the dough module (1200) may include an input unit, an operating unit, a discharge unit, a sensing unit, and a storage unit, and the cooking device (100) may monitor at least one of the type, number, and weight of ingredients input to the frying module (1300) through the sensing unit provided in the dough module (1200).

[0169] In this case, the dough module (1200) may additionally be equipped with a separate storage compartment, and the cooking device (100) may store the dough and frying powder-coated food ingredients in the storage compartment and then move them to the frying module (1300) as needed.

[0170] As another example, as shown in (b) of FIG. 16, the dough module (1200) may only be equipped with an input section, an operating section, and a discharge section, and in this case, at least one sensor may be equipped in the frying module (1300). The cooking device (100) may monitor at least one of the type, number, and weight of the ingredients fed into the frying module (1300) based on at least one sensor equipped in the frying module (1300).

[0171]

[0172] FIG. 17 is a drawing for explaining a method for determining an operation error of a cooking device based on a sensing value according to one embodiment.

[0173] Referring to FIG. 17, the cooking device (100) can determine an operation error of the dough module (1200) or the frying module (1300) based on a sensing value counted for a predetermined period of time in the input unit and a sensing value counted for a predetermined period of time in the discharge unit. Here, the input unit may be an area where food ingredients are input into the dough module (1200), and the discharge unit may be an area where food ingredients are output from the dough module (1200). Alternatively, the input unit may be an area where food ingredients are input into the dough module (1200), and the discharge unit may be an area where food ingredients are input into the frying module (1300).

[0174] As shown in (a) of FIG. 17, the cooking device (100) can determine an operation error of the dough module (1200) or the frying module (1300) based on whether the sensing value counted for a predetermined period of time in the input unit matches the sensing value counted for a predetermined period of time in the discharge unit. For example, if the sensing value counted for a predetermined period of time in the input unit matches the sensing value counted for a predetermined period of time in the discharge unit, the cooking device (100) can determine that the operation of the dough module (1200) or the frying module (1300) is normal, and if the sensing values ​​do not match, the cooking device (100) can determine that the operation of the dough module (1200) or the frying module (1300) is erroneous.

[0175] As shown in (b) of FIG. 17, if the sensing value obtained from the discharge unit is obtained after a predetermined time, the cooking device (100) may determine that the operation of the dough module (1200) or the frying module (1300) is erroneous. As a more specific example, if the sensing value is obtained at a certain cycle from the discharge unit and then the sensing value is obtained after a predetermined time (t1) has passed, the cooking device (100) may determine that the operation of the dough module (1200) or the frying module (1300) is erroneous.

[0176] As shown in (c) of FIG. 17, the cooking device (100) can determine an operation error of the dough module (1200) or the frying module (1300) based on a cycle sensed for a predetermined period of time at the discharge unit. For example, the cooking device (100) can determine that the operation of the dough module (1200) or the frying module (1300) is erroneous if the values ​​sensed at the discharge unit have different cycles. As a more specific example, the cooking device (100) can determine that the operation of the dough module (1200) or the frying module (1300) is erroneous if the values ​​sensed at the discharge unit have a first cycle (p1) and a second cycle (p2).

[0177]

[0178] FIG. 18 is a diagram illustrating a method for performing a frying operation in an automated kitchen cooking system according to one embodiment. Referring to FIG. 18, the automated frying cooking method according to one embodiment can perform a frying operation using a robot device (1600).

[0179] The cooking device (100) can perform a frying operation through a basket-holding operation (S310), a basket-moving operation (S320), a basket-introducing operation (S330), a basket-shaking operation (S340), a basket-withdrawing operation (S350), and a food-discharging operation (S360). At this time, the above-described operations can be performed using a robot device (1600).

[0180] The robotic device (1600) may be configured to perform the above-described operations, automate complex cooking processes, and significantly improve precision and efficiency in cooking stages such as frying. The robotic device (1600) may include a robotic arm and a pair of grippers connected to and operative with the robotic arm.

[0181] The robot arm constituting the robot device (1600) is a multi-axis driven robot and can operate in a 3-axis drive, 5-axis drive, or 7-axis drive manner, but is not limited thereto and can operate in various known drive manners. The robot device (1600) can perform flexible position adjustment and precise angle manipulation movements through the multi-joint robot arm and can perform various tasks during the cooking process.

[0182] The gripper constituting the robotic device (1600) can be used to perform actions of grasping and manipulating ingredients or cooking utensils (e.g., baskets). The gripper may have various designs and functions, and can perform functions such as precisely grasping small ingredients or stably manipulating heavy cooking utensils.

[0183] The robotic device (1600) has highly precise control capabilities and may be programmed to precisely perform complex cooking processes. The robotic device (1600) may perform the above-described cooking operations based on pre-programmed commands.

[0184] The robotic device (1600) can perform an operation of grasping a basket using a pair of grippers. The robotic device (1600) can perform an operation of grasping two or more different portions of the basket using a pair of grippers. The robotic device (1600) can perform an operation of simultaneously grasping a first portion and a second portion of the basket using a pair of grippers. Here, a detailed description of the pair of grippers will be described later with reference to the drawings.

[0185] The robotic device (1600) can perform an operation of gripping a basket using a pair of grippers and then moving it to a predetermined point. The robotic device (1600) can perform an operation of moving the gripped basket to the frying module (1300).

[0186] The robot device (1600) can change the angle condition of the gripped basket and then move it to the frying module (1300). The robot device (1600) can rotate the gripped basket by a first angle and then move it to the frying module (1300). The robot device (1600) can rotate the gripped basket by a first angle in a first direction and then move it to the frying module (1300). The robot device (1600) can rotate the gripped basket by a second angle in a second direction and then move it to the frying module (1300). Here, the first direction and the second direction may be the same direction, different directions, or opposite directions depending on the cooking operation. In addition, the first angle and the second angle may be the same angle or different angles depending on the cooking operation.

[0187] The robotic device (1600) can perform an operation of moving the basket to the frying module (1300) and then perform an operation of introducing the basket into the frying module (1300). The robotic device (1600) can change the angle condition of the basket and then perform an operation of introducing the basket into the frying module (1300).

[0188] For example, when the robot device (1600) performs an operation of gripping a basket, if the basket is in a state of a first angle condition, the robot device (1600) can perform an operation of moving the basket to a state of a second angle condition. Thereafter, the robot device (1600) can control the basket to be in a state of the first angle condition again and then perform an operation of introducing the basket into the frying module (1300). Alternatively, in this case, the robot device (1600) can perform an operation of introducing the basket into the frying module (1300) while the basket is in a state of the second angle condition and then, when the introduction operation is completed, control the basket to be in a state of the first condition again.

[0189] The robotic device (1600) can perform a motion of shaking the basket. The robotic device (1600) can perform a motion of shaking the basket when a predetermined condition is satisfied after the basket is introduced into the frying module (1300). Here, the predetermined condition may mean a certain period of time after the basket is introduced into the frying module (1300), and the predetermined condition may be determined in conjunction with the status of another cooking operation.

[0190] The robot device (1600) can perform an action of shaking the basket after changing the angle condition of the basket. The robot device (1600) can perform an action of shaking the basket after controlling the basket to a third angle condition. For example, if the robot device (1600) performs an action of moving the basket while the basket is in the second angle condition, the robot device (1600) can perform an action of shaking the basket after controlling the basket to a third angle condition after introducing the basket into the frying module (1300), wherein the third angle condition may be the same as or corresponding to the second angle condition.

[0191] The robotic device (1600) can perform an operation of withdrawing a basket. After gripping the basket in the above-described manner, the robotic device (1600) can perform an operation of withdrawing the basket from the frying module (1300).

[0192] The robot device (1600) can perform an operation of withdrawing the basket after changing the angle condition of the basket. The robot device (1600) can perform an operation of withdrawing the basket after controlling the basket to be in a fourth angle condition. Here, the fourth angle condition may be the same as the angle condition of the basket when the robot device (1600) performs an operation of withdrawing the basket, or a condition corresponding thereto.

[0193] The robotic device (1600) can perform an operation of discharging food from a basket. The robotic device (1600) can perform an operation of withdrawing the basket from the frying module (1300) and then performing an operation of discharging the food. The robotic device (1600) can perform an operation of withdrawing the basket from the frying module (1300) and then moving the basket to the storage module (1500), and after the operation of moving the basket to the storage module (1500) is completed, the robotic device can perform an operation of discharging the food.

[0194] The robot device (1600) can perform an operation of discharging food by controlling the angle condition of the basket. The robot device (1600) can perform an operation of discharging food by controlling the basket to be in the fifth angle condition.

[0195] For example, the robot device (1600) may perform an operation of discharging food materials by tilting the basket in a predetermined direction by a predetermined angle. As a more specific example, when the robot device (1600) performs an operation of moving the basket, if the basket is rotated in a first direction by a first angle, the basket may be rotated in a second direction by a second angle when performing an operation of withdrawing the basket. Here, the first direction and the second direction may be opposite directions. Here, the second direction may be a direction toward the opening of the basket, and the first direction may be a direction opposite to the opening of the basket.

[0196] The above-described angle conditions (e.g., the first angle condition to the fifth angle condition) can be determined based on the direction in which the basket is tilted relative to the ground (e.g., the left, right, front, rear, or the direction in which the opening of the basket is located) and the degree of tilt (angle).

[0197]

[0198] FIGS. 19 and 20 are drawings illustrating a gripper of a robotic device according to one embodiment. Referring to FIGS. 19 and 20, the robotic device (1600) may include a pair of grippers.

[0199] Referring to Fig. 19, a pair of grippers may include a first gripper and a second gripper. The first gripper and the second gripper may be provided to have shapes that are symmetrical to each other. The first gripper may be provided with a first groove (g1) on a bottom surface and a second groove (g2) on a side surface. Here, the first groove (g1) and the second groove (g2) may have the same shape. Similarly, the second gripper may be provided with a third groove (g3) on a bottom surface and a fourth groove (g4) on a side surface. Here, the third groove (g3) and the fourth groove (g4) may have the same shape.

[0200] The first to fourth grooves may be concave in a symmetrical manner. The first to fourth grooves may have a symmetrical shape based on the center of each gripper.

[0201] Referring to Fig. 20, a pair of grippers may have a first grip portion (g1) and a second grip portion (g2). The first grip portion (g1) may be formed by a first groove (g1) and a third groove (g3), and the second grip portion (g2) may be formed by the second groove (g2) and a fourth groove (g4). At this time, the first grip portion (g1) may be formed on the bottom surface of the pair of grippers, and the second grip portion (g2) may be formed on the side surface of the pair of grippers. The shapes of the first grip portion (g1) and the second grip portion (g2) may correspond to each other.

[0202] The robotic device (1600) can grip a basket using a pair of grippers. The robotic device (1600) can grip different parts of the basket using a first gripping portion (g1) and a second gripping portion (g2).

[0203] For example, the robot device (1600) can grip a first part (p1) of the basket through a first gripping portion (g1), and can grip a second part (p2) of the basket through a second gripping portion (g2). Here, the first part (p1) may be a connecting portion of the basket, and the second part (p2) may be a handle portion of the basket. The connecting portion may be a configuration that connects a food material receiving portion of the basket and the gripping portion.

[0204] By gripping different parts of the basket through multiple gripping sections, the robot device (1600) can stably grip the basket when performing movements such as moving the basket, pulling it in and out, and shaking it, and at the same time, grip it precisely, so that various cooking movements can be precisely controlled.

[0205] Meanwhile, although not depicted in the drawing, the basket may be provided in the form of a mesh capable of containing food ingredients, and may be composed of various known types and materials. At least a portion of the basket may be provided in an open form. At least a portion of the left side, right side, front side, back side, and bottom side of the basket may be provided in an open form.

[0206] The basket may be provided with a stopper, and may be provided so that at least a portion of the left side, the right side, the front side, the rear side, and the bottom side of the basket may be opened in one direction (or both directions) using the stopper. The basket may be provided so that at least a portion of the left side, the right side, the front side, the rear side, and the bottom side of the basket may be opened only in a direction facing the inside (or the outside) of the basket using the stopper.

[0207] For example, the robotic device (1600) may be provided in a form in which the back of the basket is opened. In this case, when the robotic device (1600) tilts in a forward direction after gripping the basket, the back of the basket is not opened by the stopper, and when the robotic device (1600) tilts in a backward direction, the back of the basket may be provided in a form in which it is opened.

[0208]

[0209] FIG. 21 is a drawing illustrating a method for arranging a basket within a frying module according to one embodiment. Referring to FIG. 21, a frying module (1300) according to one embodiment may have an internal space capable of storing oil and accommodating a basket.

[0210] A basket mounting portion may be provided in the internal space of the frying module (1300), and the robot device (1600) may grasp the basket and then place it in the basket mounting portion. At this time, the basket mounting portion may be provided in a shape that slopes toward the center. When the basket mounting portion is provided in a sloped shape, when the robot device (1600) places the basket in the basket mounting portion, the basket can be placed in a certain position within a margin of error in the basket mounting portion. As a result, the robot device (1600) can more accurately determine and control the positional information of the basket.

[0211]

[0212] FIGS. 22 and 23 are diagrams for explaining a kitchen cooking automation system according to another embodiment. Referring to FIGS. 22 and 23, the kitchen cooking automation system according to another embodiment may include a kneading module (1200), a frying module (1300), a storage module (1500), and an orthogonal robot (1600). However, the present invention is not limited thereto, and the kitchen cooking automation system according to another embodiment may additionally include components such as the above-described material preparation module (1100) and mixing module (1400).

[0213] Meanwhile, the configuration and operation method of the material preparation module (1100), dough module (1200), frying module (1300), mixing module (1400), and storage module (1500) are the same as or corresponding to the contents described above with reference to the drawings, so redundant descriptions are omitted.

[0214] The cooking device (100) may be equipped with a plurality of frying modules. The cooking device (100) may be equipped with a first frying module (1300a), a second frying module (1300b), and a third frying module (1300c). Each frying module may be equipped with a plurality of cooking spaces. The cooking spaces may be internal spaces of the frying module (1300) that can store oil and accommodate food ingredients.

[0215] For example, the internal space of the first frying module (1300a) may be divided into a first cooking space (c1), a second cooking space (c2), and a third cooking space (c3). The plurality of cooking spaces may be divided into spaces that are fluidly connected. For example, the plurality of cooking spaces may be divided by a mesh plate arranged in the internal space of the first frying module (1300a).

[0216]

[0217] FIG. 24 and FIG. 25 are drawings for explaining the operation process of a kitchen automation system according to another embodiment.

[0218] Referring to FIG. 24, the cooking device (100) can perform an operation of applying dough and frying powder to ingredients using a dough module (1200) (S410), an operation of putting ingredients into a first cooking space (S420a), an operation of grabbing and taking out ingredients located in the first cooking space using an orthogonal robot (1600) (S430a), an operation of moving ingredients to a second cooking space using an orthogonal robot (1600) and then putting them into the second cooking space (S440), an operation of shaking ingredients located in the second cooking space using an orthogonal robot (1600) (S450), and an operation of grabbing and taking out ingredients located in the second cooking space using an orthogonal robot (1600) and then discharging them to a storage module (1500).

[0219] The cooking device (100) can perform an operation of coating or applying dough and / or frying powder to food ingredients through the dough module (1200). Since a detailed description thereof has been described above, a duplicate description will be omitted.

[0220] The cooking device (100) can input food ingredients into the first cooking space (c1). The cooking device (100) can input food ingredients into the first cooking space (c1) using an orthogonal robot (1600), but is not limited thereto. Food ingredients coated with dough and / or frying powder through the dough module (1200) are output to the outside through a discharge unit provided in the dough module (1200), and the output food ingredients can be input into the first cooking space (c1).

[0221] The first cooking space (c1) may be a cooking space provided in the first frying module (1300a), and the first frying module (1300a) may be a module located closest to the dough module (1200) among a plurality of frying modules. The first cooking space (c1) may be a cooking space closest to the dough module (1200) among a plurality of cooking spaces provided in the first frying module (1300a).

[0222] The cooking device (100) can determine whether the food ingredients put into the first cooking space (c1) satisfy predetermined conditions based on the sensing value.

[0223] Meanwhile, the cooking device (100) can control the position of the ingredients introduced into the first cooking space (c1). The cooking device (100) can control the position of the ingredients introduced into the first cooking space (c1) by controlling the discharge direction of the discharge unit included in the kneading module (1200). For example, the cooking device (100) can indirectly control the discharge unit to have the first discharge direction at the first time point, the second discharge direction at the second time point, and the third discharge direction at the third time point, so that a plurality of ingredients are introduced into different points within the first cooking space (c1). In this way, when the plurality of ingredients are controlled to be introduced into different points within the first cooking space (c1), the ingredients can be prevented from clumping together within the cooking space.

[0224] The cooking device (100) can use an orthogonal robot (1600) to grasp and retrieve food ingredients located in the first cooking space (c1). The cooking device (100) can retrieve food ingredients from the frying module (1300) by having the orthogonal robot (1600) directly grasp the food ingredients without a separate basket.

[0225] The cooking device (100) can use an orthogonal robot (1600) to grasp and retrieve ingredients located in the first cooking space (c1) when a predetermined condition is satisfied. The predetermined condition may be a condition in which it is confirmed that a predetermined amount of ingredients has been placed in the first cooking space (c1) based on a sensing value. The predetermined condition may be a condition after a predetermined amount of time has passed since the predetermined amount of ingredients has been placed in the first cooking space (c1). Here, the predetermined condition may be determined differently based on the type of ingredients and the cooking method.

[0226] For example, if the cooking device (100) determines that a certain amount of ingredients has been put into the first cooking space (c1) based on a sensing value (or a control signal of the processor), the cooking device (100) can immediately use the orthogonal robot (1600) to grab and take out the ingredients put into the first cooking space (c1) without a separate waiting time.

[0227] The cooking device (100) can move food ingredients to a second cooking space using an orthogonal robot (1600) and then introduce them into the second cooking space. The cooking device (100) can determine the second cooking space based on a predetermined algorithm.

[0228] For example, the cooking device (100) may determine a cooking space among the plurality of cooking spaces, such as a first cooking space (c1) or a cooking space located closest to the storage module (1500), as the second cooking space. The cooking device (100) may determine a cooking space among the plurality of cooking spaces into which no ingredients are introduced as the second cooking space. The cooking device (100) may determine a cooking space among the plurality of cooking spaces into which no ingredients are introduced, and determine the cooking space located closest to the first cooking space (c1) as the second cooking space. The cooking device (100) may determine a cooking space among the plurality of cooking spaces that satisfies a predetermined temperature condition as the second cooking space. The predetermined temperature condition may be determined based on the state, type, number, and / or cooking method of the ingredients.

[0229] The cooking device (100) can perform a motion of shaking food ingredients located in the second cooking space using the orthogonal robot (1600). The cooking device (100) can perform a motion of shaking food ingredients located in the second cooking space using the orthogonal robot (1600) when a predetermined condition is satisfied. The predetermined condition may be a condition in which a certain amount of time has passed since the food ingredients were put into the second cooking space. The predetermined condition may be a case in which the orthogonal robot (1600) is not performing a priority operation after the food ingredients are put into the second cooking space.

[0230] The cooking device (100) can perform a motion of shaking food ingredients by controlling a pair of grippers of an orthogonal robot (1600). The cooking device (100) can perform a motion of shaking food ingredients by repeatedly widening and narrowing the gap between the pair of grippers after positioning the pair of grippers of the orthogonal robot (1600) in the cooking space. In this way, the cooking device (100) can operate more simply and efficiently by performing a motion of shaking without the orthogonal robot (1600) having to grip a separate basket.

[0231] The cooking device (100) can use an orthogonal robot (1600) to grab and withdraw food ingredients located in the second cooking space and then discharge them into the storage module (1500). The cooking device (100) can use an orthogonal robot (1600) to grab and withdraw food ingredients located in the second cooking space and then discharge them into the storage module (1500) after a predetermined time has elapsed, and the predetermined time can be determined differently based on at least one of the type, quantity, and cooking method of the ingredients.

[0232] By performing a gripping motion, an insertion and withdrawal motion, a shaking motion, etc. using an orthogonal robot (1600), the cooking device (100) can simultaneously perform an operation of removing fried food powder existing in the frying module (1300). By performing the above-described motion using the gripper of the orthogonal robot (1600), the cooking device (100) has the effect of additionally performing a fried food removal motion without a separate device.

[0233]

[0234] Referring to FIG. 25, the cooking device (100) can perform an operation (S420b) of putting ingredients into a storage space. The cooking device (100) can be equipped with a separate storage space, and can put ingredients discharged from the dough module (1200) into the storage space. Thereafter, the cooking device (100) can perform an operation (S430b) of grabbing and taking out the ingredients located in the storage space using an orthogonal robot (1600).

[0235] That is, unlike the method described in Fig. 24, the cooking device (100) can place ingredients discharged from the dough module (1200) into a storage space instead of the first cooking space (c1) of the frying module (1300), and can place ingredients placed in the storage space into any one of a plurality of cooking spaces using an orthogonal robot (1600). When operating in this manner, the operation of frying ingredients can be performed in more cooking spaces.

[0236]

[0237] Figures 26 and 27 are drawings for explaining the operation of an orthogonal robot according to another embodiment. Referring to Figures 26 and 27, the orthogonal robot (1600) can operate in relation to the dough module (1200), the frying module (1300), and the storage module (1500).

[0238] The dough module (1200) can perform an operation of coating or applying dough and / or frying powder to a predetermined amount of food material that satisfies predetermined conditions, as shown in (a) of FIG. 26.

[0239] The orthogonal robot (1600) can perform a movement to move to the first cooking space (c1) when it is determined that a predetermined amount of food ingredients that satisfy predetermined conditions are located in the first cooking space (c1), as shown in (b) of FIG. 26.

[0240] The orthogonal robot (1600) can perform an operation of grasping food ingredients placed in the first cooking space (c1), moving them to the second cooking space (c2), and then placing them in the second cooking space (c2), as shown in (c) of FIG. 27.

[0241] When the orthogonal robot (1600) determines that cooking of the food ingredients placed in the second cooking space (c2) is complete, as shown in (d) of FIG. 27, it can perform an operation of grabbing the food ingredients placed in the second cooking space (c2), moving them to the storage module (1500), and then discharging them.

[0242]

[0243] Figures 28 to 30 are drawings for explaining the configuration of an orthogonal robot according to one embodiment. Referring to Figures 28 to 30, the orthogonal robot (1600) according to one embodiment may be a three-axis orthogonal robot. However, the present invention is not limited thereto, and may be various known forms of orthogonal robots capable of performing vertical and horizontal movement movements.

[0244] An orthogonal robot (1600) may include a gripper (1610), a lifting module (1620), a driving unit (1630), and a sliding module (1640). The gripper (1610) may be provided in the form of a basket having an internal space capable of gripping food materials. The gripper (1610) may be provided in the form of a mesh.

[0245] The gripper (1610) may be formed to have a first width (w1) based on a first direction. Here, the first direction may be a direction in which the orthogonal robot (1600) moves left and right through the sliding module (1640). Meanwhile, the frying module (1300) may be provided to have a second width (w2) based on the first direction, and the first cooking space (c1), the second cooking space (c2), and the third cooking space (c3) included in the frying module (1300) may each be provided to have a third width (w3) based on the first direction.

[0246] The first width (w1) may be smaller than the second width (w2), and the first width (w1) may be a width corresponding to the third width (w3). The first width (w1) may be smaller than the third width (w3). The first width (w1) may be set to be smaller by a predetermined length compared to the third width (w3). In this way, since the first width (w1) is set to correspond to the widths of each cooking space (c1, c2, c3) within an error range, the orthogonal robot (1600) can grip all the food ingredients placed inside each cooking space (c1, c2, c3) using the gripper (1610).

[0247] The gripper (1610) may be provided with an internal space, and the internal space may be formed to narrow from the top to the bottom. For example, the upper portion of the gripper (1610) may have an internal space in the shape of a rectangular parallelepiped, and the lower portion of the gripper (1610) may have an internal space in the shape of a triangular pyramid. For example, the internal space of the gripper (1610) may include a first space corresponding to the upper portion and a second space corresponding to the lower portion, and the volume of the first space may be larger than the volume of the second space.

[0248] Meanwhile, the gripper (1610) may be partially silicone-treated. For example, the support supporting the basket-shaped gripper (1610) may be silicone-treated.

[0249] The lifting module (1620) can perform an operation of moving the gripper up and down using the driving unit (1630). The gripper (1610) can be coupled to the lower end of the lifting module (1620) and can operate. The driving unit (1630) can be positioned at the upper end of the lifting module (1620). By positioning the driving unit (1630) at a position spaced apart from the internal space of the frying module (1300) by a certain distance or more, damage caused by heat generated from the frying module (1300) can be minimized.

[0250]

[0251] Figures 31 to 33 are drawings for exemplarily explaining an operation method of an orthogonal robot according to one embodiment. Referring to Figure 31, the orthogonal robot (1600) can perform an operation of grasping food materials existing inside a frying module (1300) or an operation of introducing food materials into the frying module (1300) using a gripper (1610) and an elevation module (1620). At this time, the orthogonal robot (1600) can perform a grasping operation and an introduction operation after controlling the state of the gripper (1610) by a first rotation angle.

[0252] Referring to FIG. 32, the orthogonal robot (1600) can perform an operation of grasping food materials existing inside the frying module (1300) or an operation of withdrawing food materials from the frying module (1300) using the gripper (1610) and the lifting module (1620). At this time, the orthogonal robot (1600) can perform the grasping operation and the withdrawal operation after controlling the state of the gripper (1610) by the first rotation angle.

[0253] Referring to FIG. 33, the orthogonal robot (1600) can perform an operation of shaking food ingredients present inside the frying module (1300) using a gripper (1610) and an elevation module (1620). The orthogonal robot (1600) can perform an operation of shaking food ingredients present inside the frying module (1300) by repeating an operation of controlling the state of the gripper (1610) by a first rotation angle and an operation of controlling it by a second rotation angle.

[0254]

[0255] Most restaurants have an interface system in place to input various orders into the system, such as in-store orders, delivery orders (via delivery apps, etc.), or take-out orders.

[0256] To build a complete kitchen automation system, it is necessary to build an automated system from menu ordering to cooking and serving (or packaging).

[0257] An automated system according to one embodiment of the present disclosure can provide an automated cooking method linked to an order by linking with the above-described kitchen automation system and an order receiving device (e.g., a PC, etc.).

[0258]

[0259] Figure 34 is a drawing for explaining an automation system according to one embodiment.

[0260] Referring to FIG. 34, an automated system (500) according to one embodiment of the present disclosure may include a computing device (510), a robotic device (520) electronically connected to the computing device, and a cooking unit (530) in which cooking is performed by the robotic device (520). Implementation examples of the computing device (510), the robotic device (520), and the cooking unit (530) have been described above, and thus will be omitted.

[0261] The computing device (510) may be implemented to link ordering and cooking. Specifically, the computing device (510) may receive input for an order (e.g., manual input for an in-store order, automatic input for a delivery order (via a delivery application, etc.) or a take-out order, etc.), and control the operation of the robotic device (510) based on the input for the order.

[0262] To perform the above-described control operation, the computing device (510) may include a control unit (511) and an input / output interface (513).

[0263] The input / output interface (513) may be configured to receive input for the above-described order. The input / output interface (513) may obtain order information based on the input for the order. The input / output interface (513) may transmit the order information to the control unit (511).

[0264] The control unit (511) can control the operation of the robot device (520) based on the order information received from the input / output interface (513). Specifically, the control unit (511) can control the robot device (520) to cook a menu according to an order based on the order information.

[0265] In addition, the control unit (511) can monitor the status of the robot device (511) or the cooking unit (530). The control unit (511) can monitor the status of the robot device (511) or the cooking unit (530) by identifying the properties of the robot device (511) or the properties of the cooking unit (530). For example, the properties of the robot device (511) may include, but are not limited to, the location of the robot device (520), the operation being performed by the robot device (520), or the operation schedule of the robot device (520). In addition, for example, the properties of the cooking unit (530) may include, but are not limited to, whether cooking is performed in a plurality of cooking units (e.g., a first cooking unit (530a), a second cooking unit (530b), a third cooking unit (530c)) included in the cooking unit (530), a cooking schedule in a plurality of cooking units (e.g., a first cooking unit (530a), a second cooking unit (530b), a third cooking unit (530c)), and a cooking completion time in a plurality of cooking units (e.g., a first cooking unit (530a), a second cooking unit (530b), a third cooking unit (530c)).

[0266] Below, a method for controlling the operation of a robotic device based on order information and monitoring the operation of a robotic device and a cooking unit by an automated system (500) is specifically described.

[0267]

[0268] Figure 35 is a flowchart illustrating the operation of an automated system according to one embodiment.

[0269] FIG. 36 is a flowchart illustrating a specific method for controlling the operation of a robotic device by an automated system according to one embodiment.

[0270] Referring to FIG. 35, at least one processor included in an automated system according to one embodiment of the present disclosure may be set to perform an operation of obtaining first order information (S501), an operation of selecting a cooking method based on the first order information (S502), and an operation of controlling an operation of a robotic device based on the first order information and operation information of a plurality of cooking units (S503).

[0271] At least one processor can obtain first order information by obtaining input for an order through an input / output interface and obtaining first order information based on the input for the order. The first order information may include, but is not limited to, menu information corresponding to the order, order processing deadline information, and orderer information.

[0272] At least one processor may select at least one cooking method for cooking at least one menu item included in the first order information. Specifically, the at least one processor may select at least one of a plurality of pre-stored cooking methods (e.g., frying, grilling, etc.) to cook the menu item identified according to the first order information. Furthermore, when an order for multiple menu items is received, the at least one processor may select at least one cooking method corresponding to each of the multiple menu items. In this case, the operation (S502) of selecting a cooking method based on the first order information may be optionally performed.

[0273]

[0274] Referring to FIG. 36, at least one processor may be configured to perform the following operations: (S504) checking status information of a plurality of cooking units to perform operation S503; (S505) selecting a first target cooking unit by determining a cooking unit to cook an object based on the status information; (S506) transferring the object to the first target cooking unit using a robotic device; (S507) updating the first operation information by associating the status information of the first target cooking unit with the first order information; (S508) selecting a cooking unit in which cooking is completed as a second target cooking unit and removing the object from the second target cooking unit using a robotic device; and (S509) updating the status information of the second target cooking unit. The operations of the above-described processor may be performed sequentially or regardless of the order. In addition, at least some of the above-described operations may be omitted, and general operations not described may be further included.

[0275] At least one processor can check the status information of multiple cooking units. At least one processor can check the status information of the cooking units to prepare food according to the order. The status information may include, but is not limited to, whether the cooking unit is operating, the set temperature of the cooking unit, the actual temperature of the cooking unit, and the status of food (e.g., food items to be cooked, oil, etc.) contained in the cooking unit.

[0276] At least one processor may select a first target cooking unit by determining a cooking unit to cook the object based on the status information. At least one processor may determine a cooking unit capable of cooking based on the status information to select the first target cooking unit to cook the food according to the order.

[0277] Additionally, if all cooking stations are performing cooking operations, at least one processor may determine that no cooking station is available for immediate cooking. In this case, at least one processor may assign the food corresponding to the order to a waiting state.

[0278] Additionally, the automated system can set a standby state corresponding to each of the multiple cooking stations. Specifically, the system can set the standby state by pre-storing information about the food to be cooked in the multiple cooking stations.

[0279] When an order is received and all cooking stations are performing cooking operations, at least one processor may update the waiting status of at least one cooking station for the food corresponding to the order. For example, at least one processor may determine the cooking station with the fastest cooking completion time among multiple cooking stations as the first target cooking station and update the waiting status of the first target cooking station.

[0280] At least one processor can use a robotic device to transport an object to a first target cooking section. The at least one processor can transmit commands to the robotic device, and the robotic device can perform an operation to transport the object to the first target cooking section according to the commands. The detailed operation of the robotic device and the method for controlling the operation have been described above, so they will be omitted.

[0281] At least one processor may update the status information by associating the status information of the first target cooking unit with the first order information. Specifically, the at least one processor may store order-related information in the status information. For example, the order-related information may include, but is not limited to, information indicating which order is being processed, information indicating the time required to process the order, and information indicating the time at which the order is completed.

[0282] The automation system can monitor which orders are being cooked in multiple cooking stations by associating the status information of the cooking stations with order information, thereby improving the operational efficiency of the automation system.

[0283] At least one processor can select a cooking unit that has completed cooking as a second target cooking unit and use a robotic device to remove the object from the second target cooking unit. Furthermore, at least one processor can update status information of the second target cooking unit. By updating information regarding the completion of the cooking operation of the cooking unit, at least one processor can automatically identify a cooking unit that can operate when the next order is received.

[0284]

[0285] Fig. 37 is a drawing for explaining a method for outputting monitoring information of an automated system according to one embodiment.

[0286] Referring to FIG. 37, an automated system (600) according to one embodiment of the present disclosure may include a control unit (610), an input / output interface (620), a memory (630), a sensor system (640), a robotic device (650), and a cooking unit (660).

[0287] The control unit (610) can obtain monitoring information based on at least one of the operation of the robot device (650) or the status of the cooking unit (660). The monitoring information may be a concept including at least one piece of information related to the operation of the robot device (650) or the status of the cooking unit (660).

[0288] The control unit (610) can obtain monitoring information based on the operation of the robot device (650) with the robot device (650). Specifically, the control unit (610) can obtain monitoring information by receiving information about the current operation properties (e.g., location, operation type, etc.) of the robot device (650) from the robot device (650). For example, the robot device (650) can transmit a plurality of attribute values ​​corresponding to a trajectory to the control unit (610), and the control unit (610) can obtain monitoring information based on the plurality of attribute values.

[0289] The control unit (610) can obtain monitoring information based on the cooking status of the cooking unit (660) including a plurality of cooking units (e.g., a first cooking unit (660a), a second cooking unit (660b), a third cooking unit (660c), etc.). Specifically, the control unit (610) can set control parameters (e.g., temperature, operation time, etc.) of each of the plurality of cooking units, and obtain monitoring information based on the set control parameters.

[0290] The control unit (610) can store the acquired monitoring information in the memory (630). The control unit (610) can update the monitoring information stored in the memory (630). Specifically, the control unit (610) can update the monitoring information stored in the memory (630) when at least one of the operation of the robot device (650) or the status of the cooking unit (660) changes.

[0291] According to an embodiment, the control unit (610) may obtain monitoring information based on a signal received from the sensor system (640). The sensor system (640) may include at least one sensor for monitoring the operation of the robot device (650) or the status of the cooking unit (660). For example, the sensor system (640) may include, but is not limited to, a camera sensor, a radar sensor, a motion detection sensor, a temperature sensor, a pressure sensor, a distance detection sensor (e.g., a lidar, etc.). The sensor system (640) may obtain sensing data using at least one sensor and transmit the sensing data to at least a portion of the memory (630) or the control unit (610).

[0292] The control unit (610) can output the acquired monitoring information through the input / output interface (620). Specifically,

[0293]

[0294] Figure 38 is a diagram illustrating an example of output of monitoring information according to one embodiment.

[0295] Referring to FIG. 38, the control unit may be implemented to output monitoring information to at least a portion of the output device (670) via an input / output interface.

[0296] The monitoring information may include cooking unit information (710) that includes various information corresponding to the cooking unit. At this time, the control unit may transmit the cooking unit information (710) to at least a portion of the output device (670). For example, the cooking unit information (710) may include, but is not limited to, first cooking unit information (710a) corresponding to the first cooking unit and second cooking unit information (710b) corresponding to the second cooking unit.

[0297] Cooking department information (710) may include, but is not limited to, identification information (711) for identifying the cooking department, order information (712) indicating information on orders related to the cooking department, status information (713) indicating the cooking status of the cooking department, completion information (714) indicating information on the completion of cooking by the cooking department, and waiting information (715) for indicating information on menus (or orders) that are in a waiting state for cooking in the cooking department.

[0298] Identification information (711) may be displayed to distinguish multiple cooking sections. For example, identification information (711) may indicate the name or ID of a cooking section, but is not limited thereto.

[0299] Order information (712) may indicate information about orders currently being processed, scheduled to be processed, or completed in the kitchen. For example, order information (712) may include information about the ordered menu, information about the orderer (e.g., the orderer's address, etc.), etc.

[0300] Status information (713) may indicate whether the cooking unit is performing cooking or may indicate properties of the cooking unit (e.g., temperature, operating time, etc.).

[0301] Completion information (714) may indicate the time when cooking was completed in the cooking section, the time when cooking will be completed, or a list of completed dishes.

[0302] The waiting information (715) may indicate information about a menu (or order) to be cooked (set to waiting) in the future in the cooking department or a list of such menus (or orders).

[0303]

[0304] The monitoring information may include robot information (720) that includes various information corresponding to the robot device. At this time, the control unit may transmit the robot information (720) to at least a portion of the output device (670).

[0305] Robot information (720) may include, but is not limited to, robot schedule information (721) for indicating the operation schedule of the robot device or robot location information (722) for indicating the location of the robot device.

[0306]

[0307] Figure 39 is a flowchart illustrating a method for outputting monitoring information in an automated system according to one embodiment. The operations of the processor illustrated in Figure 39 may be performed sequentially or out of order. Furthermore, at least some of the operations described above may be omitted, and additional general operations not described may be included.

[0308] Referring to FIG. 39, at least one processor included in an automated system according to one embodiment of the present disclosure may perform an operation (S510) of selecting a target cooking unit to perform cooking based on information about multiple cooking units. At this time, the information about the cooking unit may include the aforementioned order information, status information, completion information, or waiting information.

[0309] Specifically, at least one processor can select a target cooking unit by selecting a cooking unit capable of performing cooking among a plurality of cooking units.

[0310] For example, at least one processor may select a target cooking unit based on status information of multiple cooking units. Specifically, at least one processor may select at least one cooking unit that is not currently cooking as the target cooking unit among the multiple cooking units. Alternatively, at least one processor may select at least one cooking unit that is ready for cooking (e.g., preheating completed, etc.) as the target cooking unit among the multiple cooking units.

[0311] As another example, at least one processor may select a target cooking unit based on the waiting information of multiple cooking units. Specifically, at least one processor may select the cooking unit with the fewest waiting dishes among the multiple cooking units as the target cooking unit.

[0312] At least one processor may perform an operation (S511) of transferring an object to a target cooking section using a robotic device. Specifically, at least one processor may transmit a command to the robotic device to cause the robotic device to grasp the object, transfer the object to the target cooking section, and discharge the object into the target cooking section.

[0313] In this case, at least one processor can determine the transfer timing based on the target cooking unit's standby information. Specifically, if the target is in a standby state for cooking, at least one processor can determine the transfer timing based on the cooking schedule.

[0314] At least one processor can perform an operation (S512) of updating information about a target cooking unit and generating and storing monitoring information about the cooking unit based on the updated information.

[0315] Specifically, at least one processor may update information about the target cooking unit when the robotic device transfers an object to the target cooking unit and cooking begins in the target cooking unit. The at least one processor may update order information based on an order being cooked in the target cooking unit, update status information based on a change in the operational status of the target cooking unit, and update completion information based on the point in time when cooking is completed in the target cooking unit. Furthermore, in this case, the at least one processor may update monitoring information based on the updated information.

[0316] Additionally, at least one processor may perform an operation (S513) of outputting monitoring information using an input / output interface. At least one processor may be configured to transmit updated monitoring information through at least a portion of an output device.

[0317]

[0318] To implement a kitchen automation system according to one embodiment, it is crucial to create an environment where a limited number of robotic devices can perform a large number of tasks. Specifically, a single robotic device needs to move across multiple target spaces (e.g., a cooking area, a preparation area, a packaging area, etc.) and perform various tasks (e.g., cooking tasks, preparation tasks, packaging tasks, etc.).

[0319] In this case, it is necessary to develop an efficient and highly accurate control system that enables the robotic device to perform various tasks in parallel. For example, to perform cooking in multiple cooking modules (e.g., a fryer) using a limited number of robotic devices, cooking must be accomplished without interference between the multiple cooking modules. Furthermore, because performing a specific cooking task (e.g., frying) requires multiple robot movements, a system with a systematic robot control method is required to perform a specific cooking task using multiple cooking modules.

[0320]

[0321] Figure 40 is a drawing for explaining a robot control method according to one embodiment.

[0322] Referring to FIG. 40, an automated system (700) according to one embodiment of the present disclosure may include a robotic device (710), a preprocessing unit (720) for performing processes (e.g., preparing ingredients, etc.) before the robotic device (710) performs cooking, a cooking unit (730) for performing cooking by the robotic device (710), a postprocessing unit (740) for performing processes (e.g., removing food, packaging, etc.) after the robotic device (710) performs cooking, a control unit (750) for controlling the operation of the robotic device (710), and a memory (760) electronically connected to the control unit (750).

[0323] The control unit (750) can transmit at least one command to the robot device (710) to control the operation of the robot device (710) according to an operation schedule, and the robot device (710) can be set to perform an operation according to the transmitted command. At this time, the robot device (710) can be set to operate according to the assigned operation schedule. In this specification, the operation schedule is a term defined to indicate operations to be performed by the robot over time (e.g., movement operation, operations to perform a specific task (e.g., injection, discharge, stirring, etc.)), and is not intended to limit the technology in the sense of the word itself.

[0324] The control unit (750) can set the operation schedule of the robot based on at least one criterion. Specifically, the control unit (750) can set the operation schedule based on at least one of the status information of the robot device or the status information of the cooking unit.

[0325] The status information of the robot device may include the robot's motion data. The status information of the robot device may include the position, velocity, acceleration, or torque or force required for the robot device (710) to operate. The robot device (710) may be implemented to transmit motion data according to the operation performed to the control unit (750).

[0326] The status information of the robot device may include information about the current operation of the robot. For example, the current operation of the robot may include a movement operation or an operation for performing a specific task. More specifically, the movement operation may include an operation for moving an object while grasping it (e.g., movement for inserting an object or movement for removing food), and an operation for moving an object while not grasping it (e.g., movement for grasping, movement for stirring, or movement for returning). In addition, an operation for performing a specific task may include a grasping operation, an insertion operation, a stirring operation, a de-oiling operation, or a removal operation.

[0327] Status information of a robotic device may include location information of the robot. For example, the robot's location may include, but is not limited to, a location for phasing, a location for cooking, a location for removing food, or a location for waiting.

[0328] The status information of the cooking unit is information indicating the current status of the cooking unit, and may include, but is not limited to, a preparation (preheating) status, a cooking status, a cleaning status, an inactive status, etc. The control unit (750) may obtain the status information of the cooking unit by reading the status information of the cooking unit from the memory (760). Alternatively, the control unit (750) may obtain the status information of the cooking unit based on sensing information obtained from at least one sensor.

[0329]

[0330] An automated system according to one embodiment of the present disclosure may be configured to immediately reset the operation schedule of a robotic device in response to external changes. Specifically, if a predetermined event occurs while the robotic device is being controlled according to a specific operation schedule, the automated system may be configured to reset the operation schedule to reflect the event.

[0331] FIG. 41 is a flowchart illustrating a method for controlling the operation of a robotic device according to one embodiment.

[0332] Referring to Fig. 41, the control unit can control the operation of the robot device according to the first operation schedule (S601).

[0333] The control unit can identify the occurrence of an event (S602). Here, the event may refer to an event requiring rescheduling of robot operations, and the control unit can store information about the event requiring rescheduling in advance.

[0334] For example, events may include, but are not limited to, order events associated with an order being received, cooking command events associated with a user command being entered for cooking, and abnormal situation events associated with a specific situation (e.g., an emergency situation) occurring in the kitchen environment (e.g., the cooking department).

[0335] For example, the control unit may reset the operation schedule based on an order event. Specifically, if order information is entered while the control unit is controlling the robot device according to a preset operation schedule, the control unit may reset the robot's operation schedule to include at least one operation for cooking according to the order.

[0336] As another example, the control unit may reset the motion schedule based on a cooking command event. Specifically, if a cooking command is input while the control unit is controlling the robot device according to a preset motion schedule, the control unit may reset the robot's motion schedule to include at least one motion for cooking according to the cooking command.

[0337] As another example, the control unit can reset the operation schedule based on an abnormal situation event. Specifically, if an emergency situation occurs while the control unit is controlling the robot device according to a preset operation schedule, the control unit can reset the robot's operation schedule to halt the robot's operation or perform actions to resolve the emergency situation.

[0338] Additionally, the control unit may determine a second operation schedule from the first point in time based on at least one of event information, status information of the robot system, or status information of the cooking unit (S603). Additionally, the control unit may control the operation of the robot device from the first point in time according to the second operation schedule (S604).

[0339] When an event occurs, the control unit can reset the operation schedule based on at least one of event information at the time of event occurrence (e.g., type of event, etc.), status information of the robot system, or status information of the cooking unit.

[0340] For example, the control unit may reset the motion schedule of the robotic device based on the motion the robot is performing at the time the event occurs.

[0341] As a specific example, if an event (e.g., an additional cooking command) occurs while the robotic device is performing a first movement action (e.g., an action of moving an object while holding it), the control unit may reset the operation schedule to perform the action according to the event (e.g., an action of holding and putting in materials) after performing the action that follows the first movement action (e.g., an action of discharging the object).

[0342] Additionally, as a specific example, if an event (e.g., an additional cooking command) occurs while the robotic device is performing a second movement action (e.g., an action of moving an object while not grasping it), the control unit may reset the operation schedule to perform the action according to the event (e.g., an action of grasping and inserting ingredients) before performing the action that follows the second movement action (e.g., a stirring action, etc.).

[0343] As another example, the control unit may reset the robot device's operation schedule based on the task the robot is performing at the time of the event occurrence. At this time, the robot device may include multiple actions to perform a specific task. For example, to perform an ingredient input task, the robot device may perform an ingredient gripping action, a movement action (to the cooking unit), and an ingredient dispensing action.

[0344] As a specific example, if an event (e.g., an additional cooking command) occurs while the robotic device is performing a first task (e.g., taking out food), the control unit may set the robotic device to perform an action according to the event after performing the first task.

[0345] Additionally, as a specific example, if an event (e.g., an additional cooking command) occurs while the robotic device is performing a second task (e.g., stirring), the control unit may set the robotic device to stop performing the second task and perform an action according to the event.

[0346] As another example, the control unit may reset the operation schedule of the robotic device based on the robot's position at the time of the event occurrence.

[0347] As a specific example, the control unit can set an operation schedule to perform an event-dependent task at a nearby location based on the current location of the robotic device.

[0348] As another example, the control unit may reset the operation schedule of the robotic device based on whether the cooking unit is performing cooking at the time of an event occurrence.

[0349] As a specific example, the control unit (750) may set an operation schedule so that the robotic device (710) performs an operation based on an event in at least one cooking unit that is not currently performing a cooking operation among the plurality of cooking units. Furthermore, if all of the plurality of cooking units are currently cooking, the operation schedule of the robotic device may be set by taking into account the standby information of the plurality of cooking units.

[0350] The method by which the control unit resets the operation schedule of the robot device is not limited to the above-described method, and the operation schedule can be reset by comprehensively considering various information included in the status information of the robot system and various information included in the status information of the cooking unit.

[0351]

[0352] The point in time at which the operation of the robot device in the reset operation schedule of the control unit changes from the existing schedule (corresponding to the first point in time described above) can be determined based on at least one of the type of event, the status information of the robot at the time of occurrence of the event, or the status information of the cooking unit. That is, at this time, the first point in time may correspond to the time at which the event occurs, so that the operation of the robot device may change from the existing operation at the time of occurrence of the event and perform an operation according to the event (e.g., change of movement path, etc.), or, the first point in time may correspond to a point apart from the time at which the event occurs, so that the operation according to the event may be performed a specific time after the time at which the event occurs.

[0353]

[0354] FIG. 42 is a flowchart illustrating a method for determining when a control unit applies a reset motion schedule to a robot device according to one embodiment.

[0355] Referring to FIG. 42, the control unit can control the operation of the robot device according to the first operation schedule (S611). In addition, the control unit can identify the occurrence of an event (S612). In addition, the control unit can determine the second operation schedule based on at least one of event information, status information of the robot system, or status information of the cooking unit (S613). At this time, the second operation schedule can be determined by reflecting the operation (or task) according to the event in the first operation schedule. That is, the second operation schedule can include a plurality of operations (or tasks) included in the first operation schedule and an operation (or task) according to the event. In addition, the present invention is not limited thereto, and the second operation schedule may not include at least some of the plurality of operations (or tasks) included in the first operation schedule.

[0356] If the type of the event corresponds to a predetermined event, the control unit can perform an action corresponding to the event from a point in time corresponding to the occurrence of the event (S614). Specifically, if a high-priority event occurs, the robot device can be set to perform an action corresponding to the event from a point in time corresponding to the occurrence of the event. For example, if an emergency event (e.g., a fire in the kitchen) occurs, the control unit can control the operation of the robot device to come to an emergency stop at a point in time corresponding to the occurrence of the event. Alternatively, the control unit can control the robot device to perform a task to resolve the emergency at a point in time corresponding to the occurrence of the event.

[0357] If the type of event does not correspond to a predetermined event, the control unit can control the operation of the robot device based on at least one of the status information of the robot device or the status information of the cooking unit.

[0358] The control unit can identify the task or operation being performed by the robot device at the time of the event occurrence (S615). The control unit can determine which task the robot device is performing at the time of the event occurrence. Furthermore, in this case, the control unit can determine the category of the identified task or operation. The control unit can identify which category among a plurality of predetermined categories the task or operation being performed by the robot device corresponds to.

[0359] The control unit may perform an action according to an event from a point in time corresponding to the time when the event occurs, or may perform an action according to the event at a point in time separated by a specific time from the time when the event occurs (S616).

[0360] For example, if the robotic device is performing a first action at the time of an event occurrence, the control unit may control the robotic device to perform the action corresponding to the event at a time corresponding to the time of the event occurrence. Furthermore, if the robotic device is performing a second action at the time of the event occurrence, the control unit may control the robotic device to perform the action corresponding to the event at a time that is a specific time interval from the time of the event occurrence.

[0361] Additionally, for example, if the identified task or action falls within the first category, the control unit may control the robotic device to perform the action corresponding to the event at a time corresponding to the time of the event occurrence. Furthermore, if the identified task or action falls within the second category, the control unit may control the robotic device to perform the action corresponding to the event at a time that is a specific time interval from the time of the event occurrence.

[0362] Here, the specific time can be determined based on the time required for the robotic device to perform the existing task or action being performed. That is, the robotic device can be configured to perform an action based on an event after completing the existing task. For example, if an additional order is received while the robotic device is performing a food delivery task, the control unit can control the robotic device to perform an action to input ingredients according to the additional order after completing the food delivery task.

[0363] Additionally, for example, if an additional order is received while the robotic device is performing a movement to perform a food stirring task, the control unit can control the robotic device to perform a material input operation according to the additional order without performing the stirring task.

[0364] In addition, when an event occurs, the control unit can temporarily suspend the operation being performed by the robot device. Then, the control unit can control the robot device to operate again at a time point when a second operation schedule defining future operations of the robot device is determined. At this time, if the operation or task of the robot device at the time of occurrence of the event is of the first category, the robot device can be set to perform the operation according to the event from the time point when the second operation schedule is determined. In addition, if the operation or task of the robot device at the time of occurrence of the event is of the second category, the robot device can perform the operation according to the event at a time point that is separated by a specific time from the time point when the second operation schedule is determined.

[0365] Additionally, if cooking is in progress in all cooking stations at the time an event occurs, the control unit can update the waiting information for the cooking stations. Specifically, if an event (e.g., an additional order) occurs while a robotic device is performing a cooking operation using all cooking stations, the control unit can assign the cooking operation corresponding to the event to the waiting order of the target cooking station. In this case, the control unit can control the robotic device to perform the action corresponding to the event when cooking corresponding to the event begins in the target cooking station.

[0366]

[0367] FIG. 43 is a diagram illustrating a first embodiment in which a control unit according to one embodiment determines a point in time at which an operation is performed in response to an event occurrence.

[0368] Referring to FIG. 43, the control unit can control the operation of the robot device according to the first operation schedule.

[0369] If an event occurs while the robotic device is moving to perform the first task, the control unit can set a second action schedule that includes an action according to the event.

[0370] The control unit can identify an action or task of the robotic device at the time an event occurs, and can determine when the robotic device performs an action according to the event based on the identified action or task.

[0371] For example, referring to (a) of FIG. 43, if the robot device is moving to perform the first task at the time when the event occurs, the control unit can control the robot device to perform an action according to the event at a time corresponding to the time when the event occurs. In addition, in this case, the control unit can set a second action schedule so that the robot device performs the first task after performing the action according to the event. In this case, the movement path of the robot device can be changed. The path of the robot device can be changed from the path along which the robot device moved to perform the first task to the path along which the robot device moved to perform the action according to the event.

[0372] This is to effectively perform parallel control of multiple cooking sections by controlling the robot device to perform an action according to the event first when an event occurs while the robot device is moving to perform a predetermined type of task (e.g., stirring, etc.).

[0373] As another example, referring to (b) of FIG. 43, if the robot device is moving to perform a second task at the time when the event occurs, the control unit can control the robot device to perform an action according to the event after a specific time (T) from the time when the event occurs. In this case, the control unit can set a second action schedule so that the robot device performs the action according to the event after completing the first task. This means that if the event occurs while the robot device is moving to perform a predetermined type of task (e.g., removal, etc.), the control can control the robot device to perform the task that was previously being performed before the action according to the event, thereby controlling the task with a high priority at the time of task performance to be performed at the originally planned time.

[0374]

[0375] FIG. 44 is a drawing for explaining a cooking operation performed by a robotic device according to one embodiment.

[0376] Referring to FIG. 44, a cooking operation performed by a robotic device may include a plurality of tasks. Specifically, the cooking operation may include a first task, a second task, and a third task. For example, the first task may include a task of introducing ingredients into a cooking unit, the second task may include a task of stirring food being cooked, and the third task may include a task of removing cooked food.

[0377] FIG. 45 is a drawing for explaining a task performed by a robot device according to one embodiment.

[0378] Referring to FIG. 45, a task performed by a robotic device may include multiple actions. Specifically, the task may include a movement action to perform the task and an actual task execution action.

[0379] In this case, the time (t1, t2) for performing the movement motion associated with the task can be determined based on the distance from the current position of the robot device to the position for performing the task. That is, the closer the current position and the position for performing the task are, the shorter the distance and time for the associated movement motion can be.

[0380] For example, referring to (a) of FIG. 45, the first task performed by the robotic device may include a movement motion and a first task execution motion. In this case, the first task execution motion may also involve multiple motions. For example, the first task execution motion may include a first motion, a movement motion, and a second motion. As a specific example, the material input motion may include an motion of grasping the material, an motion of moving the material to the cooking unit in a grasped state, and an motion of discharging the material to the cooking unit.

[0381] Additionally, referring to (b) of FIG. 45, the second task performed by the robotic device may include a movement motion and a second task execution motion. In this case, the second task execution motion may involve a third motion for performing the second task. For example, as a specific example, the food stirring motion may include a motion for stirring the food.

[0382]

[0383] FIG. 46 is a diagram illustrating a scheduling method for a robotic device to perform cooking operations in multiple cooking sections according to one embodiment.

[0384] Referring to FIG. 46, the control unit can control the operation of the robot device according to a first cooking schedule, wherein the first cooking schedule includes a section for performing a first task in the first cooking unit, a section for performing a second task, and a section for performing a third task (S621).

[0385] For example, a first task may include a task for putting ingredients into a first cooking unit, a second task may include a task for stirring food being cooked in the first cooking unit, and a third task may include a task for removing food from the first cooking unit.

[0386] In this case, the control unit may receive a command to perform additional cooking in the second cooking unit. For example, the control unit may receive an additional cooking command based on an order received or a cooking command based on user input.

[0387] At this time, the control unit can reset the cooking schedule for the robotic device to perform cooking operations in parallel in the first and second cooking units. Specifically, the control unit can reset the cooking schedule so that a single robotic device can perform necessary operations in multiple cooking units without interference.

[0388] The control unit can set a second cooking schedule by determining the point in time for performing a cooking operation in the second cooking unit by considering the operation section for performing a third task in the first cooking unit (S622).

[0389] The control unit can set a second cooking schedule so that the timing of removing food being cooked in the cooking unit is not adjusted. Accordingly, the control unit can adjust the cooking schedule so that food being cooked in the existing cooking unit can be removed at the scheduled time even if an additional cooking command is received. Accordingly, the control unit can set the second cooking schedule so that the timing of performing the third task in the first cooking unit does not change as the second cooking unit performs the cooking operation.

[0390] Through this, an automated system can be built in which a robotic device can perform cooking operations in multiple cooking stations while maintaining cooking quality.

[0391] An automated system according to one embodiment of the present disclosure can provide a robust scheduling method for external events. For example, the automated system can manage the operation schedule of a robotic device in response to external events such as manual input from a user (e.g., a physical button for manual control) or the occurrence of an emergency.

[0392] When an external event occurs, at least one processor included in the automation system may be configured to stop the application of the existing operation schedule of the robot device and perform a response according to the external event (e.g., stopping the robot device or performing an action to resolve the external event). In this case, the existing operation schedule may be stored in memory. After the external event ends, the at least one processor may obtain the existing operation schedule from the memory and control the operation of the robot device. At this time, the memory may store the position at the time when the operation schedule is stopped, and the robot device may move to the stored position. In addition, without limitation, when a predetermined time has passed since the occurrence of the external event, the operation schedule of the robot device may be reset.

[0393]

[0394] FIG. 47 is a drawing illustrating a method for performing cooking operations in multiple cooking sections by multiple robotic devices according to one embodiment.

[0395] Referring to FIG. 47, an automated system (800) according to one embodiment of the present disclosure may include a robot system (810) including a plurality of robot devices, a control unit (820) for controlling the operation of the robot system (810), and a memory (830) electronically connected to the control unit (820).

[0396] The control unit (820) can transmit at least one command to the robot system (820) to control the operation of a plurality of robot devices according to an operation schedule, and the plurality of robot devices can be set to perform an operation based on an operation schedule assigned to each of them.

[0397] The control unit (820) may include a schedule management unit (821) that sets operation schedules of a plurality of robot devices based on at least one criterion, and a schedule assignment unit (822) that assigns the operation schedules set by the schedule management unit (821) to each robot device. For example, the schedule management unit (821) may set at least one schedule that defines the operations of the plurality of robot devices based on status information of the robot devices received from the robot system (810) and status information of the cooking unit acquired from the memory (830). In this case, the schedule assignment unit (822) may control the operations of the plurality of robot devices by transmitting a first schedule that defines operations to be performed by a first robot device and a second schedule that defines operations to be performed by a second robot device to the robot system (810).

[0398] The control unit (820) can set the operation schedule of the robots through the schedule management unit (821) so that the multiple robot devices do not interfere with each other. That is, the control unit (820) can set the operation schedule of each robot device by considering the mutual operations of the multiple robot devices.

[0399] The control unit (820) can adjust the operation schedules of the plurality of robot devices when an event (e.g., an additional order, an additional cooking command, etc.) occurs. In this case, the control unit (820) may reset all operation schedules assigned to each of the plurality of robot devices, or, without limitation, may reset at least some of the plurality of operation schedules. For example, when an additional order is received, the control unit (820) can control the second robot device to perform an operation according to the event by resetting the operation schedule of the second robot device while maintaining the operation of the first robot device. In this case, the control unit can reset the operation schedule of the second robot device in consideration of the operation schedule of the first robot device so that interference between the first and second robot devices does not occur.

[0400]

[0401] FIG. 48 is a drawing for explaining the arrangement and interaction of a plurality of modules constituting an automated frying cooking system according to one embodiment.

[0402] Referring to FIG. 48, the frying cooking automation system according to one embodiment may additionally include a material transfer module (1700).

[0403] A material transport module (1700) according to one embodiment may be a device used to transport a material to which dough has been applied through a dough module (1200) to any one of a plurality of frying modules (1300).

[0404] In order to perform a frying operation on ingredients for which the dough has been completed, an operation of moving the ingredients to a frying module (1300) is required, and at this time, a material transfer module (1700) can be utilized. Since the material transfer module (1700) can be provided with a relatively simpler structure than the robot device (1600), the cooking automation process can operate more efficiently when the material transfer module (1700) is utilized. The material transfer module (1700) will be described later with reference to the drawings.

[0405]

[0406] Fig. 49 is a drawing for explaining a dough module according to one embodiment. Referring to Fig. 49, a dough module (1200) according to one embodiment may include a dough storage module (1210) and an ingredient storage module (1240).

[0407] The dough storage module (1210) may have an internal space capable of accommodating ingredients required for dough (e.g., dough powder). The dough storage module (1210) has an internal space, and an opening may be formed in at least a portion of the bottom surface of the internal space.

[0408] The material storage module (1240) may have an internal space capable of accommodating frying ingredients. The material storage module (1240) may include an ingredient input portion, and the ingredient input portion may be an open area (e.g., an upper area) of the internal space of the material storage module (1240).

[0409] At least a portion of the dough powder contained in the internal space of the dough storage module (1210) can be fed into the material storage module (1240) through the opening formed in the dough storage module (1210). The opening formed in the dough storage module (1210) is formed on the bottom surface of the internal space of the dough storage module (1210), so that at least a portion of the dough powder contained in the internal space can be fed into the material storage module (1240) by gravity.

[0410] The dough module (1200) may include a guide module (1220). At least a portion of the dough powder contained in the dough storage module (1210) may pass through the guide module (1220) and be fed into the material storage module (1240) containing the frying ingredients. The guide module (1220) may be formed to be long in the longitudinal direction along the direction of gravity and may provide a passage through which the frying powder may pass.

[0411] The dough module (1200) may include a discharge module (1230). At least a portion of the dough powder contained in the dough storage module (1210) may pass through the guide module (1220) and then be fed into the material storage module (1240) containing the frying ingredients via the discharge module (1230). The discharge module (1230) may serve to guide the frying powder that has passed through the guide module (1220) so that it may be fed into the material input section of the material storage module (1240).

[0412] The above guide module (1220) may include a first guide space (1221) and a second guide space (1222). The guide module (1220) may include a first guide space (1221) and a second guide space (1222) that are divided by a guide plate (1250). In other words, the guide module (1220) may have an internal space through which frying powder may pass, and the internal space may be divided into two or more spaces (e.g., a first guide module and a second guide module) by the guide plate (1250).

[0413] The first guide space (1221) and the second guide space (1222) may be fluidly connected spaces, but the fluid connection may be blocked by a guide plate (1250). For example, a first guide plate (1251) may be placed between the first guide space (1221) and the second guide space (1222), and the first guide space (1221) and the second guide space (1222) may be fluidly connected or blocked depending on the operating state of the first guide plate (1251).

[0414] Meanwhile, the second guide space (1222) and the discharge module (1230) may be fluidly connected spaces, but the fluid connection may be blocked by a guide plate (1250). For example, a second guide plate (1252) may be placed between the second guide space (1222) and the discharge module (1230), and the second guide space (1222) and the discharge module (1230) may be fluidly connected or blocked depending on the operating state of the second guide plate (1252). A more detailed description regarding this will be described later with reference to the drawings.

[0415] The dough module (1200) may include a vibration motor (1260). The vibration motor (1260) included in the dough module (1200) may provide vibration to at least one of the dough storage module (1210), the guide module (1220), and the discharge module (1230).

[0416] The vibration motor (1260) can perform a function of assisting so that the dough powder can move smoothly without interference and without becoming entangled with each other, and the dough powder accommodated in the dough storage module (1210) and / or the guide module (1220) can move without blockage by the vibration provided by the vibration motor (1260). For example, by the vibration motor (1260) providing vibration to at least one of the dough storage module (1210), the guide module (1220), and the discharge module (1230), the dough powder accommodated in at least one of the dough storage module (1210), the guide module (1220), and the discharge module (1230) can be uniformly discharged without becoming clumped or blocked with each other.

[0417] Due to vibration through the vibration motor (1260), the dough powder can be discharged at a constant rate and in a constant amount, and the user can accurately predict and discharge the desired amount of dough powder, so that an accurate amount of dough powder can be applied to the material.

[0418] Here, the vibration motor (1260) may be any of various known motors (e.g., an eccentric rotating mass motor (ERM), a linear resonant actuator (LRA), etc.). Meanwhile, although the drawing illustrates that the vibration motor (1260) transmits vibration to the guide module (1220), the present invention is not limited thereto, and the vibration motor (1260) may be arranged to transmit vibration to the dough storage module (1210).

[0419]

[0420] FIGS. 50 and 51 are drawings for explaining the opening and closing operation of the guide plate according to one embodiment.

[0421] Referring to FIG. 50, a guide module (1220) according to one embodiment may be formed with at least one passage (h1). At least a portion of the dough powder contained in the dough storage module (1210) may be moved to the discharge module (1230) or the material storage module (1240) through the at least one passage (h1).

[0422] The guide plate (1250) may be provided in the form of a plate that can rotate about an axis perpendicular to the ground. The guide plate (1250) may be provided in the form of a flat plate, and a hole (h2) may be formed in at least one area of ​​the plate. Here, the hole (h2) formed in the guide plate (1250) may be formed to correspond to at least one passage (h1) formed in the guide module (1220).

[0423] For example, as illustrated in FIG. 49, when the shape of the passage (h1) formed in the guide module (1220) is a circle having a first diameter, the shape of the hole (h2) formed in the guide plate (1250) may also be a circle having the first diameter.

[0424] The guide plate (1250) is provided to be rotatable around an axis in a predetermined direction, and can perform a function of opening or blocking a passage formed in the guide plate (1250) through the rotational motion.

[0425] For example, referring to (a) of FIG. 49, when the guide plate (1250) is rotated toward the first direction, the closed area of ​​the guide plate (1250) is positioned in the passage (h1) formed in the guide module (1220), thereby blocking the fluid connection between the passage (h1) and another space.

[0426] As another example, referring to (b) and (c) of FIG. 50, through an operation in which the guide plate (1250) rotates in a predetermined direction (clockwise or counterclockwise), a hole (h2), which is an open area of ​​the guide plate (1250), can be positioned in a passage (h1) formed in the guide module (1220). At this time, the passage (h1) and another space can be fluidly connected.

[0427]

[0428] Based on the rotational motion of the guide plate (1250) according to one embodiment, a predetermined amount of frying powder can be fed from the dough storage module (1210) to the material storage module (1240).

[0429] Referring to FIG. 51, the first guide plate (1251) and the second guide plate (1252) can be controlled in parallel. The first guide plate (1251) and the second guide plate (1252) can perform opening and closing operations in parallel. The first guide plate (1251) and the second guide plate (1252) can operate sequentially.

[0430] For example, the processor (101) can control the first opening operation of the first guide plate (1251) to be performed at a first time point (t1), and can control the first shielding operation of the first guide plate (1251) to be performed at a second time point. Through this, at least a portion of the dough powder contained in the dough storage module (1210) can pass through the first guide space (1221) and move into the interior of the second guide space (1222) due to the first opening operation and the first shielding operation.

[0431] The processor (101) can determine the amount of dough powder to be added to the material using a predetermined method, and determine the first time point (t1) and the second time point (t2) so that the dough powder in the predetermined amount can be discharged from the dough storage module (1210). The processor (101) can determine the amount of dough powder to be added to the material using a predetermined method, and determine the size of the time interval (p1) between the first time point (t1) and the second time point (t2) so that the dough powder in the predetermined amount can be discharged from the dough storage module (1210).

[0432] While the first opening operation and the first shielding operation of the first guide plate (1251) described above are performed, the second guide plate (1252) can perform the second shielding operation. In this way, while the first guide plate (1251) performs the first opening operation and the first shielding operation, the second guide plate (1252) performs the second shielding operation, so that a fixed amount of dough powder discharged from the dough storage module (1210) can be stored in the second guide space (1222).

[0433] Thereafter, the processor (101) can control the second guide plate (1252) to perform a second opening operation. In this way, due to the second opening operation of the second guide plate (1252), a predetermined amount of dough powder stored in the second guide space (1222) can be moved to the discharge module (1230) (or, material storage module (1240)).

[0434]

[0435] Fig. 52 is a drawing for explaining a material storage module according to one embodiment. Referring to Fig. 52, the material storage module (1240) may include a material storage space (1241), a blade (1242), and a power transmission unit (1243).

[0436] The material storage space (1241) may include an internal space for storing the frying ingredients before applying the batter. The size and shape of the material storage space (1241) may be designed in various ways depending on the type and amount of the ingredients to be stored, and may provide sufficient space to allow them to be well mixed with the batter powder.

[0437] The blade (1242) can function to mix the material contained within the material storage space (1241) with dough powder and water, and can be designed as a rotatable structure. For example, the blade (1242) can be made of high-strength metal or durable plastic.

[0438] The blade (1242) can rotate using power transmitted from the power transmission unit (1243), thereby evenly mixing the material and dough powder. The shape of the blade (1242) can vary, and can be designed to suit the characteristics of a specific material, and can operate under various conditions such as rotation speed and rotation angle.

[0439]

[0440] Fig. 53 is a drawing for explaining a dough module according to another embodiment. Referring to Fig. 53, a dough module (1200) according to another embodiment may include a dough storage module (1210), a guide module (1220), a discharge module (1230), a guide plate (1250), and a material storage module (1240).

[0441] The basic configuration of the dough storage module (1210), guide module (1220), discharge module (1230), guide plate (1250), and material storage module (1240) is the same as or corresponds to the configuration described above with reference to FIG. 49, so redundant description is omitted.

[0442] According to another embodiment, the dough storage module (1210) of the dough module (1200) may include a blade (1211). The blade (1211) is located in the internal space of the dough storage module (1210) and can rotate by receiving power.

[0443] The internal space of the dough storage module (1210) may have an open upper portion and at least one area of ​​the lower portion may be open. Dough powder and the like may be introduced into the open upper portion of the dough storage module (1210), and the dough powder may be transferred to the material storage module (1240) through at least one area of ​​the open lower portion of the dough storage module (1210).

[0444] The above blade (1211) can rotate under predetermined conditions by a control signal of the processor. For example, the blade (1211) can rotate at a first speed or a second speed based on the control signal of the processor. As a more specific example, the processor can determine the rotation speed (RPM value) of the blade (1211) based on the type of dough powder contained in the dough storage module (1210), and control the blade (1211) to rotate at the determined rotation speed.

[0445] As another example, the processor can determine the rotation speed (RPM value) of the blade (1211) based on a frying recipe (e.g., the amount of frying ingredients, the type of frying ingredients, the degree to which batter powder is applied to the frying ingredients, etc.), and control the blade (1211) to rotate at the determined rotation speed.

[0446] According to another embodiment, the guide module (1220) of the dough module (1200) may have a single internal space that is not divided into two or more spaces by the guide plate (1250), unlike the one described in FIG. 49.

[0447] According to another embodiment, a guide plate (1250) may be placed between the guide module (1220) and the discharge module (1230) of the dough module (1200), and the guide module (1220) and the discharge module (1230) may be fluidly connected or blocked depending on the operating state of the guide plate (1250). For example, when the guide plate (1250) performs a shielding operation as in (a) of FIG. 50, the guide module (1220) and the discharge module (1230) may be fluidly blocked, and when the guide plate (1250) performs an opening operation as in (c) of FIG. 50, the guide module (1220) and the discharge module (1230) may be fluidly connected.

[0448] In this way, based on the opening and closing operations of the guide plate (1250), at least a portion of the dough powder received in the dough storage module (1210) can be moved to the material storage module (1240). Furthermore, the processor can control the amount of dough powder fed into the material storage module (1240) by controlling the rotational operation (or rotational speed) of the blade (1211) and / or the passage opening time of the guide plate (1250).

[0449]

[0450] The features, structures, effects, etc. described in the embodiments above are included in at least one embodiment of the present invention, and are not necessarily limited to just one embodiment. Furthermore, the features, structures, effects, etc. exemplified in each embodiment can be combined or modified in other embodiments by those skilled in the art to which the embodiments pertain. Therefore, the contents related to such combinations and modifications should be construed as being included within the scope of the present invention.

[0451] In addition, although the above description focuses on the embodiments, these are merely examples and do not limit the present invention. Those skilled in the art to which the present invention pertains will appreciate that various modifications and applications not exemplified above are possible without departing from the essential characteristics of the present embodiments. In other words, each component specifically shown in the embodiments can be modified and implemented. In addition, differences related to such modifications and applications should be interpreted as being included within the scope of the present invention defined in the appended claims.

Claims

1. A method for setting an operation schedule for controlling the operation of a robot device, By at least one processor executing at least one instruction, A step of controlling the operation of the robotic device according to a first cooking schedule - the first cooking schedule includes a section for performing a first task in the first cooking section, a section for performing a second task, and a section for performing a third task; A step of determining a section for performing a first task in a second cooking unit, a section for performing a second task in the second cooking unit, and a section for performing a third task in the second cooking unit; and A method comprising: a step of setting a second cooking schedule by determining a point in time for the robotic device to perform a cooking operation in the second cooking section by considering a section for performing a third task in the first cooking section.

2. In paragraph 1, A method wherein the first task includes a task for putting ingredients into the cooking unit, the second task includes a task for stirring food being cooked in the cooking unit, and the third task includes a task for removing food from the cooking unit.

3. In paragraph 1, A method further comprising: receiving, by at least one processor, a command to perform an additional operation in the second cooking unit; 4. In paragraph 1, A method characterized in that the second cooking schedule is set so that the robotic device performs operations in the first cooking section and the second cooking section without interference of operations.

5. In paragraph 1, A method characterized in that the second cooking schedule is set so that the time at which food cooked in the first cooking unit is taken out is not adjusted.

6. In paragraph 1, A method characterized in that the second cooking schedule is set so that the timing of performing the third task in the first cooking unit does not change as the cooking operation is performed in the second cooking unit.

7. In paragraph 1, A method wherein the first task includes a movement to grab ingredients, a movement to grab ingredients, a movement to move to a cooking section, and a movement to put ingredients into the cooking section.

8. In paragraph 1, A method wherein the second task includes moving to a cooking section and stirring food being cooked.

9. In paragraph 1, The third task is a method including the actions of moving to the cooking section, the actions of removing cooked food, the actions of moving to the removal location, and the actions of removing the food.

10. As an automated system, robotic devices; and At least one processor for controlling the robot according to an operation schedule for controlling the operation of the robotic device; At least one processor, Control the operation of the robotic device according to the first cooking schedule - the first cooking schedule includes a section for performing the first task in the first cooking section, a section for performing the second task, and a section for performing the third task - Determine a section for performing a first task in the second cooking unit, a section for performing a second task in the second cooking unit, and a section for performing a third task in the second cooking unit, and A system configured to set a second cooking schedule by determining a point in time for the robotic device to perform a cooking operation in the second cooking section by considering a section for performing a third task in the first cooking section.

11. In paragraph 10, A system wherein the first task includes a task for putting ingredients into the cooking unit, the second task includes a task for stirring food being cooked in the cooking unit, and the third task includes a task for removing food from the cooking unit.

12. In paragraph 1, A system wherein said at least one processor is further configured to receive an additional command to perform from said second cooking unit.

13. In paragraph 1, A system characterized in that the second cooking schedule is set so that the robotic device performs operations in the first cooking section and the second cooking section without interference of operations.

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