Method and robot for handling insects

Abstract

A robot for cooking food is disclosed. The robot may comprise: a camera; an insect handling module for handling insects by using at least one of wind, ultraviolet light, and odors; a memory for storing instructions; and at least one processor including a processing circuit. The instructions, when executed individually or collectively by the at least one processor, may cause the robot to: identify a type of an insect detected in an image acquired through the camera; identify a handling urgency level for the insect on the basis of at least one of the type of the insect and a movement direction of the insect; on the basis of the handling urgency level being a first handling urgency level, capture the insect by using a first gripper mounted on an arm of the robot; on the basis of the handling urgency level being a second handling urgency level, handle the insect by using the insect handling module in order to prevent the insect from entering food; and on the basis of the handling urgency level being a third handling urgency level, replace the first gripper with a second gripper and capture the insect by using the second gripper.

Description

Methods for dealing with bugs and robots

[0001] The present disclosure relates to a method for handling insects and a robot.

[0002] With the recent advancement of electronic technology, robots are being utilized in various fields. For example, kitchen robots can perform cooking operations in places like restaurants to prepare food.

[0003] Meanwhile, if insects enter the food served to customers at a restaurant, it can cause discomfort to the customers. Therefore, when cooking is performed using robots, measures to prevent insects from entering the food are required.

[0004] A robot for cooking food according to one embodiment may include at least one processor comprising a bug handling module for handling bugs using at least one of a camera, wind, ultraviolet light, and odor, a memory for storing instructions, and a processing circuit. When the instructions are executed individually or collectively by the at least one processor, the robot may identify the type of bug detected in an image acquired through the camera, identify the processing urgency for the bug based on at least one of the type of bug and the direction of movement of the bug, and based on the processing urgency being a first processing urgency, catch the bug using a first gripper mounted on the robot's arm, and based on the processing urgency being a second processing urgency, process the bug using the bug handling module to prevent the bug from entering the food, and based on the processing urgency being a third processing urgency, replace the first gripper with a second gripper and catch the bug using the second gripper.

[0005] Additionally, when the above instructions are executed individually or collectively by the at least one processor, the robot may identify the processing urgency for the bug among a plurality of processing urgency levels based on the type of the bug if the bug is a flying bug, and identify the processing urgency for the bug among the plurality of processing urgency levels based on the type of the bug and the direction of movement of the bug if the bug is a crawling bug.

[0006] In addition, the level of the first processing urgency may be higher than the level of the second processing urgency, and the level of the second processing urgency may be higher than the level of the third processing urgency.

[0007] Additionally, the bug handling module may include an internal fan installed inside the body of the robot. When the instructions are executed individually or collectively by the at least one processor, the robot may be made to generate wind using the internal fan based on the fact that the processing urgency for the bug is a second processing urgency.

[0008] Additionally, when the above instructions are executed individually or collectively by the at least one processor, the robot may generate the wind using the internal fan to suck in the worm when it is identified that the worm is in a first area within the cooking area, and generate the wind using the internal fan to move the worm away from the food when it is identified that the worm is in a second area within the cooking area. The cooking area may be an area surrounding a cooking container containing the food. The first area may be an area within the cooking area close to the body of the robot. The second area may be an area within the cooking area far from the body of the robot.

[0009] Additionally, the insect handling module may be installed around the cooking container containing the food. When the instructions are executed individually or collectively by the at least one processor, the robot may use the insect handling module to generate wind, ultraviolet light, or odor to prevent the insect from approaching the food if the processing urgency for the insect is a second processing urgency and the insect is identified as being outside the cooking area.

[0010] In addition, the first gripper may be a cooking gripper, and the second gripper may be an insect catching gripper.

[0011] A bug handling method of a robot comprising a bug handling module for handling bugs using at least one of a camera and wind, ultraviolet rays and odors according to one embodiment may include: identifying a type of bug detected in an image acquired through the camera; identifying a processing urgency for the bug based on at least one of the type of bug and the direction of movement of the bug; catching the bug using a first gripper mounted on the arm of the robot based on the processing urgency being a first processing urgency; handling the bug using the bug handling module to prevent the bug from entering the food based on the processing urgency being a second processing urgency; and replacing the first gripper with a second gripper and catching the bug using the second gripper based on the processing urgency being a third processing urgency.

[0012] In a non-transient computer-readable medium storing computer commands that cause a robot to perform an operation when executed by at least one processor of a robot including a bug handling module for handling bugs using at least one of a camera and wind, ultraviolet rays and odors according to one embodiment, the operation may include: an operation of identifying a type of bug detected in an image acquired through the camera; an operation of identifying a processing urgency for the bug based on at least one of the type of bug and the direction of movement of the bug; an operation of catching the bug using a first gripper mounted on the arm of the robot based on the processing urgency being a first processing urgency; an operation of processing the bug using the bug handling module to prevent the bug from entering the food based on the processing urgency being a second processing urgency; and an operation of replacing the first gripper with a second gripper and catching the bug using the second gripper based on the processing urgency being a third processing urgency.

[0013] FIG. 1 is a drawing for explaining a cooking system according to one embodiment.

[0014] FIG. 2a illustrates an example of a block diagram of a robot according to one embodiment.

[0015] FIG. 2b is a drawing for explaining a bug treatment module according to one embodiment.

[0016] FIG. 2c illustrates an example of a block diagram of a robot according to one embodiment.

[0017] FIGS. 3A, FIGS. 3B, FIGS. 3C, and FIGS. 3D are drawings for illustrating a bug treatment module according to one embodiment.

[0018] FIG. 4 is a diagram for explaining the operations of a robot according to one embodiment.

[0019] FIG. 5 is a diagram illustrating an example of a method for setting the urgency of treatment and the treatment method for a bug based on the type of bug according to one embodiment.

[0020] FIG. 6 is a diagram illustrating an example of a method in which a robot according to one embodiment processes insects within a cooking area.

[0021] FIG. 7 is a diagram illustrating operations for a robot to process bugs based on the processing urgency corresponding to the bugs according to one embodiment.

[0022] FIGS. 8a, FIGS. 8b, FIGS. 9a, FIGS. 9b, FIGS. 9c, FIGS. 9d, FIGS. 9e, FIGS. 10 and FIGS. 11 are drawings for illustrating an example of a method in which a robot handles a bug according to one embodiment.

[0023] The present disclosure will be described in detail below with reference to the attached drawings.

[0024] A robot according to the various embodiments disclosed in this document may be a robot that is placed in a cooking space and performs cooking operations. The robot may be replaced with expressions such as, for example, a kitchen bot.

[0025] The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said embodiments. In connection with the description of the drawings, similar reference numerals may be used for similar or related components. The singular form of a noun corresponding to an item may include one or more of said items unless the relevant context clearly indicates otherwise. In this document, phrases such as "A or B," "at least one of A and B," "at least one of A or B," "A, B or C," "at least one of A, B and C," and "at least one of A, B, or C" may each include any one of the items listed together in the corresponding phrase, or all possible combinations thereof. Terms such as "first," "second," or "first" or "second" may be used simply to distinguish said components from other said components and do not limit said components in any other aspect (e.g., importance or order). Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that said any component may be connected to said other component directly (e.g., via a wire), wirelessly, or through a third component.

[0026] Throughout the specification, singular expressions include plural expressions unless the context clearly indicates otherwise. Wherever a part of the specification states that it "includes" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0027] The term “module” as used in the various embodiments of this document may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit, for example. A module may be a component formed integrally, or a minimum unit of said component or a part thereof that performs one or more functions. For example, according to one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC).

[0028] Meanwhile, the various elements and areas in the drawings are depicted schematically. Accordingly, the technical concept of the present invention is not limited by the relative sizes or spacing depicted in the attached drawings.

[0029] The present disclosure will be described below with reference to the attached drawings.

[0030] FIG. 1 is a drawing for explaining a cooking system according to one embodiment.

[0031] Referring to FIG. 1, the robot system may include a cooking device (1) and a robot (100).

[0032] A cooking appliance (1) may be a device that provides heat to food contained in a cooking container (2). A cooking container (2) may be placed on top of the cooking appliance (1). The cooking appliance (1) may provide heat to food and / or the cooking container (2) using various methods such as gas, electricity and / or a magnetic field. For example, the cooking appliance (1) may be various appliances such as a gas stove, an induction cooker, a radiant cooker, etc. The cooking container (2) is a container capable of storing or holding food, and may be, for example, a kettle, a pot, a cauldron, a frying pan, a griddle, etc.

[0033] The robot (100) can cook food using a cooking device (1). For example, the robot (100) can perform cooking operations using various cooking tools such as a knife and a ladle. Cooking operations may include cutting, stirring, and moving food. For example, the robot (100) can cut food ingredients and put them into a cooking container (2), stir the food contained in the cooking container (2), or transfer the cooked food to another cooking container or plate.

[0034] The robot (100) may be equipped with at least one arm (hereinafter referred to as arm (11, 12)) for performing cooking operations. The arm (11, 12) may be mounted on the body (101) of the robot (100). The body (101) may include various hardware components for operating the robot (100). Although the robot (100) is illustrated in FIG. 1 as having two arms (11, 12), the present disclosure is not limited thereto, and the robot (100) may have one or more arms.

[0035] The arm (11, 12) may include a plurality of links (11a, 12a), at least one joint (11b, 12b), and at least one gripper (11c, 12c). At least one joint (11b, 12b) may connect the plurality of links (11a, 12a). The gripper (11c, 12c) may be detachably attached to the end link among the plurality of links (11a, 12a). The gripper (11c, 12c) may perform an action of picking up food, cooking tools, cooking appliances (1), and / or cooking containers (2). The gripper may be replaced, for example, with a representation such as a robot hand. The robot (100) may include at least one motor and / or at least one actuator capable of rotating a plurality of links (11a, 12a), at least one joint (11b, 12b) and / or at least one gripper (11c, 12c). For example, the robot (100) can move the arms (11, 12) using the motor and / or actuator to perform various tasks related to cooking.

[0036] FIG. 2a illustrates an example of a block diagram of a robot according to one embodiment.

[0037] Referring to FIG. 2a, the robot (100) may include a camera (110), a bug handling module (120), at least one memory (130) (hereinafter referred to as memory (130)), and at least one processor (140) (hereinafter referred to as processor (140)). The components, their relationships, and their functions illustrated in FIG. 2a are merely exemplary and are not intended to limit the implementations described or claimed herein.

[0038] The camera (110) can generate an image under the control of the processor (140). For example, the camera may include an RGB camera, a stereo camera, a depth camera (e.g., an RGB-D camera), etc. The camera (110) can capture an image around the cooking container (2). If there is a bug around the cooking container (2), the bug may be captured in the image obtained through the camera (110).

[0039] The camera (110) may include a lens assembly and an image sensor. However, such a configuration is exemplary, and it is understood that new configurations may be added or some configurations omitted in addition to such configurations when carrying out the present disclosure. For example, the camera (110) may further include an image signal processor (ISP). The image signal processor may be configured as at least part of the processor (140).

[0040] A lens assembly can collect light incident from the outside. A lens assembly may include one or more lenses. For example, a lens assembly can refract light incident from the outside. The refracted light can be focused on an image sensor.

[0041] An image sensor can generate an image corresponding to light received through a lens assembly. The image sensor can be implemented as a CCD (charged coupled device) sensor or a CMOS (complementary metal oxide semiconductor) sensor. The image sensor may include a pixel array composed of multiple pixels. For example, the image sensor can generate an image by converting light into an electrical image signal using multiple pixels. The image signal can be amplified and converted into a digital signal, after which it can be processed. The image generated by the image sensor can be provided to a processor (140).

[0042] The insect handling module (120) may include hardware components for handling insects. The insect handling module (120) can handle insects around the cooking container (2) under the control of the processor (140). For example, the insect handling module (120) can prevent insects from entering the food by using at least one of wind, ultraviolet light, odor, and electricity to prevent insects from approaching the food.

[0043] FIG. 2b is a drawing for explaining a bug treatment module according to one embodiment.

[0044] Referring to FIG. 2b, the bug treatment module (120) may include at least one internal fan (121) (hereinafter referred to as internal fan (121)), at least one light-emitting element (122) (hereinafter referred to as light-emitting element (122)), at least one external fan (123) (hereinafter referred to as external fan (123)), at least one spraying device (124) (hereinafter referred to as spraying device (124)), and at least one electric generator (125) (hereinafter referred to as electric generator (125)).

[0045] The internal fan (121) and the bug handling module (120) may be installed inside the robot (100). For example, the internal fan (121) may be installed inside the body of the robot (100) (e.g., 101 in FIG. 1). The bug handling module (120) may include at least one motor for driving the internal fan (121). The internal fan (121) may be driven by the motor and rotate clockwise or counterclockwise. Wind may be generated by the rotation of the internal fan (121). For example, the internal fan (121) may generate wind to draw outside air into the interior of the robot (100). For example, the internal fan (121) may generate wind to expel air from inside the robot (100) to the outside.

[0046] A light-emitting element (122) may be installed around a cooking vessel (2). For example, the light-emitting element (122) may include a plurality of light-emitting elements for emitting (or outputting) ultraviolet light. The light-emitting element (122) may be implemented as an ultraviolet lamp or ultraviolet LED (light-emitting diodes).

[0047] For example, referring to FIG. 3a, a first light-emitting element (122a), a second light-emitting element (122b), a third light-emitting element (122c), and a fourth light-emitting element (122d) may be placed in a cooking area (310). For example, the first to fourth light-emitting elements (122a, 122b, 122c, 122d) may be placed at the vertices of the cooking area (310). The cooking area (310) is an area around the cooking vessel (2), and the cooking vessel (2) may be located at the center of the cooking area (310).

[0048] The first light-emitting element (122a) can emit ultraviolet light (e.g., 31a in FIG. 3a) in the direction where the second light-emitting element (122b) is located. The second light-emitting element (122b) can emit ultraviolet light (e.g., 31b in FIG. 3a) in the direction where the third light-emitting element (122c) is located. The third light-emitting element (122c) can emit ultraviolet light (e.g., 31c in FIG. 3a) in the direction where the fourth light-emitting element (122d) is located. The fourth light-emitting element (122d) can emit ultraviolet light (e.g., 31d in FIG. 3a) in the direction where the first light-emitting element (122a) is located.

[0049] An external fan (123) may be installed around the cooking vessel (2). The bug handling module (120) may include at least one motor for driving the external fan (123). The external fan (123) may be driven by the motor to generate wind.

[0050] For example, referring to FIG. 3b, the first pan (123a), the second pan (123b), the third pan (123c), and the fourth pan (123d) may be placed in the cooking area (310). For example, the first to fourth pans (123a, 123b, 123c, 123d) may be placed at the vertices of the cooking area (310). The cooking area (310) is an area around the cooking vessel (2), and the cooking vessel (2) may be located at the center of the cooking area (310).

[0051] The first fan (123a) can generate wind in the direction where the second fan (123b) is located (e.g., 32a in FIG. 3b). The second fan (123b) can generate wind in the direction where the third fan (123c) is located (e.g., 32b in FIG. 3b). The third fan (123c) can generate wind in the direction where the fourth fan (123d) is located (e.g., 32c in FIG. 3b). The fourth fan (123d) can generate wind in the direction where the first fan (123a) is located (e.g., 32d in FIG. 3b).

[0052] A spray device (124) may be installed around the cooking vessel (2). For example, the spray device (124) may be a device for spraying a specific scent (e.g., cinnamon scent) into the air.

[0053] For example, referring to FIG. 3c, the first spray device (124a), the second spray device (124b), the third spray device (124c), and the fourth spray device (124d) may be placed in the cooking area (310). For example, the first to fourth spray devices (124a, 124b, 124c, 124d) may be placed at the vertices of the cooking area (310). The cooking area (310) is an area around the cooking vessel (2), and the cooking vessel (2) may be located at the center of the cooking area (310).

[0054] The first spray device (124a) can spray a fragrance (e.g., 33a in FIG. 3c) in the direction where the second spray device (124b) is located. The second spray device (124b) can spray a fragrance (e.g., 33b in FIG. 3c) in the direction where the third spray device (124c) is located. The third spray device (124c) can spray a fragrance (e.g., 33c in FIG. 3c) in the direction where the fourth spray device (124d) is located. The fourth spray device (124d) can spray a fragrance (e.g., 33d in FIG. 3c) in the direction where the first spray device (124a) is located.

[0055] The electric generating device (125) may include a conductor (e.g., a wire) installed around the cooking vessel (2).

[0056] For example, referring to FIG. 3d, a conductor (320) may be formed in a cooking area (310). An electric generating device (125) may apply voltage to the conductor (320) to generate electricity in the conductor (320).

[0057] According to embodiments of the present disclosure, insects are prevented from approaching the cooking container (2) by a magnetic field, wind, smell, and / or electricity generated by the insect treatment module (120). Accordingly, insects may be prevented from entering the food in the cooking container (2). In the above examples, the cooking area was described as a rectangular area, but the present disclosure is not limited thereto. For example, the cooking area may be of various shapes, such as a circle or a polygon.

[0058] According to various embodiments of the present disclosure, the memory (130) may store data necessary for the robot (100) to operate. Depending on the purpose of data storage, the memory (130) may be implemented as a memory embedded in the robot (100) (e.g., volatile memory (e.g., semi-permanent memory such as RAM (random access memory)), non-volatile memory (e.g., permanent memory such as ROM (read-only memory)), flash memory, hard drive or solid-state drive, etc.), or as a memory that can be attached to the robot (100) (e.g., memory card, external memory, etc.).

[0059] Instructions may be stored in the memory (130). The processor (140) may perform the operation of the robot (100) according to various embodiments of the present disclosure by executing the instructions in the memory (130) individually or collectively. Additionally, programs and data for driving the robot (100) may be stored in the memory (130). For example, the memory (130) may store one or more software applications, such as operating system (or system) software applications, firmware software applications, driver software applications, plugin (e.g., add-in, add-on, and / or applet) software applications, and / or any other suitable software applications.

[0060] The processor (140) can control the overall operations of the robot (100). For example, the processor (140) can cause other components of the robot (100) to perform various operations by executing instructions stored in memory (130). For example, the processor (140) can control the operations of the robot (100) by operatively connecting with the camera (110), the bug handling module (120), and memory (130). Additionally, the processor (140) can control the operations of the robot (100) according to the present disclosure by executing one or more instructions stored in memory (130). The processor (140) may be composed of one or more processors.

[0061] The processor (140) may be implemented as one or more IC (integrated circuit (or circuitry)) chips and may perform various data processing operations. The processor (140) may include at least one electrical circuit and may process instructions (or programs, data, etc.) stored in memory (130) individually or collectively. The processor (140) may include a processor assembly comprising one or more processing circuits. The processor (140) may include any processing circuit that is operative to control the performance and operations of one or more components of the robot (100) (e.g., camera (110), bug processing module (120), memory (130)). For example, the processor (140) (e.g., application processor (AP)) may be implemented as a system on chip (SoC) (e.g., a single chip or chipset). For example, the processor (140) may be implemented with a number of cores (or at least one core circuit), a number of chips, or a number of chipsets. For example, the processor (140) may include one or more processing circuits. For example, the processor (140) may include one or more processing circuits configured to perform the various functions of the present disclosure individually and / or collectively. As an example without limitation, at least a portion of the processor (140) may be included in a first chip of the robot (100), and at least another portion of the processor (140) may be included in a second chip of a robot (200) different from the first chip of the robot (100).

[0062] The processor (140) may include one or more of a CPU (Central Processing Unit), GPU (Graphics Processing Unit), APU (Accelerated Processing Unit), MIC (Many Integrated Core), DSP (Digital Signal Processor), NPU (Neural Processing Unit), hardware accelerator, or machine learning accelerator. The processor (140) may control one or any combination of other components of the robot (100) and may perform operations or data processing related to communication. The processor (140) may execute one or more programs or instructions stored in memory (130). For example, the processor (140) may perform a method according to one embodiment of the present disclosure by executing one or more instructions stored in memory.

[0063] When a method according to one embodiment of the present disclosure includes a plurality of operations, the plurality of operations may be performed by a single processor or by a plurality of processors. For example, when a first operation, a second operation, and a third operation are performed by a method according to one embodiment, the first operation, the second operation, and the third operation may all be performed by a first processor, or the first operation and the second operation may be performed by a first processor (e.g., a general-purpose processor) and the third operation may be performed by a second processor (e.g., an artificial intelligence dedicated processor).

[0064] The processor (140) may be implemented as a single-core processor including one core, or as one or more multicore processors including multiple cores (e.g., homogeneous multicore or heterogeneous multicore). When the processor (140) is implemented as a multicore processor, each of the multiple cores included in the multicore processor may include internal processor memory such as cache memory or on-chip memory, and a common cache shared by the multiple cores may be included in the multicore processor. Additionally, each of the multiple cores included in the multicore processor (or some of the multiple cores) may independently read and execute program instructions for implementing a method according to one embodiment of the present disclosure, or all (or some) of the multiple cores may be linked together to read and execute program instructions for implementing a method according to one embodiment of the present disclosure.

[0065] When a method according to one embodiment of the present disclosure includes a plurality of operations, the plurality of operations may be performed by one of the plurality of cores included in a multi-core processor, or may be performed by a plurality of cores. For example, when a first operation, a second operation, and a third operation are performed by a method according to one embodiment, the first operation, the second operation, and the third operation may all be performed by a first core included in a multi-core processor, or the first operation and the second operation may be performed by a first core included in a multi-core processor and the third operation may be performed by a second core included in a multi-core processor.

[0066] In the embodiments of the present disclosure, the processor may mean a system-on-chip (SoC) in which a processor and other electronic components are integrated, a single-core processor, a multi-core processor, or a core included in a single-core processor or a multi-core processor, wherein the core may be implemented as a CPU, GPU, APU, MIC, DSP, NPU, hardware accelerator, or machine learning accelerator, but the embodiments of the present disclosure are not limited thereto.

[0067] FIG. 2c illustrates an example of a block diagram of a robot according to one embodiment.

[0068] Referring to FIG. 2c, the robot (100) may include a camera (110), a bug handling module (120), a memory (130), a processor (140), a communication circuit (150), and an output interface (160). However, such a configuration is exemplary, and it is understood that in carrying out the present disclosure, new configurations may be added or some configurations may be omitted in addition to such configurations. Meanwhile, detailed descriptions of configurations shown in FIG. 2c that overlap with configurations shown in FIG. 2a will be omitted.

[0069] The communication circuit (150) can perform data communication with an external electronic device under the control of the processor (140). For example, the communication circuit (150) can communicate with an external electronic device via a network. The communication circuit (150) may include hardware components to support the transmission and / or reception of electrical signals between the robot (100) and the external electronic device. For example, the communication circuit (150) can communicate with the external electronic device using wired communication or wireless communication. Wired communication may include HDMI (high-definition multimedia interface), USB (universal serial bus), etc. Wireless communication may include Wi-Fi (wireless fidelity), Bluetooth, BLE (bluetooth low energy), etc.

[0070] In the example described above, the bug treatment module (120) is described as being included in the robot (100), but the present disclosure is not limited thereto. At least a portion of the bug treatment module (120) may be implemented as a separate device from the robot (100). For example, at least one of the light-emitting element (122), external fan (123), spraying device (124), and electric power generation device (125) may not be included in the robot (100). Hereinafter, the bug treatment module provided as a separate device from the robot (100) is referred to as a bug inflow prevention device. The processor (140) may communicate with the bug inflow prevention device using a communication circuit (150) to generate at least one of wind, ultraviolet rays, odors, and electricity.

[0071] The output interface (160) may include a display (161) and a speaker (162).

[0072] The display (161) can output visualized information to a user under the control of the processor (140). The visualized information may include visual objects displayed on the display (161). For example, the visual objects may include screens, images, icons, GUI, UI elements, etc. The processor (140) can display various notifications, messages, information, etc. related to the robot (100) on the display (161).

[0073] For example, the display (161) can be implemented as a flat panel display (FPD), a curved display, or a flexible display. For example, the display (161) can be implemented as various types of displays such as an LCD (liquid crystal display), an AMOLED (active matrix organic light emitting diodes) display, an LED (light emitting diodes), a micro LED, a Mini LED, etc.

[0074] The speaker (162) can output an audio signal. The processor (140) can output warning sounds, notification messages, response messages corresponding to user input, etc. related to the operation of the robot vacuum cleaner (100) through the speaker (162).

[0075] FIG. 4 is a diagram illustrating the operations of a robot according to one embodiment. A processor (140) may perform at least one of the operations of FIG. 4. For example, instructions stored in memory (130) may be executed individually or collectively by the processor (140) to cause the robot (100) to perform the operations of FIG. 4.

[0076] In operation 410-Y, 420, the robot (100) can identify the type of bug when a bug is detected in an image obtained through the camera (110).

[0077] In one embodiment, the robot (100) can use a camera (110) to photograph the area around the cooking container (2) to obtain an image and identify the type of object included in the image. The type of insect may refer to what kind of insect the insect is. The types of insects may include, for example, moths, flies, gnats, mosquitoes, cockroaches, centipedes, ants, etc. The robot (100) can input the image into an artificial intelligence model to obtain information about the type of insect included in the image from the artificial intelligence model. The artificial intelligence model may include a neural network model trained to detect objects in the image and classify the type of the detected object.

[0078] In operation 430, the robot (100) can identify the urgency of processing the bug based on at least one of the type of bug and the direction of movement of the bug.

[0079] In one embodiment, the robot (100) can identify the location of a bug in the space where the robot (100) is located.

[0080] For example, the robot (100) can input an image obtained through the camera (110) into an artificial intelligence model to obtain location information of the worm from the artificial intelligence model. The artificial intelligence model may be a neural network model trained to estimate the three-dimensional location of an object from an image. As another example, the robot (100) can identify the three-dimensional location of an object by using the location information of the object (e.g., two-dimensional coordinate information) detected in the image and the depth information of the object. The depth information of the object may be obtained from the image by the artificial intelligence model or from the camera (110) (e.g., a stereo camera or a depth camera).

[0081] In one embodiment, the robot (100) can identify the direction of movement of the bug based on the location of the bug. For example, the robot (100) can identify the direction in which the bug moves by tracking the location of the bug. For example, if the robot (100) identifies that the bug is moving in the direction of the cooking container (2) containing food, it identifies that the bug is moving in the direction of the food, and if the bug is identified that it is moving in a direction away from the cooking container (2) containing food (e.g., opposite direction of the cooking container (2)), it identifies that the bug is moving outward.

[0082] In one embodiment, the memory (130) may store information regarding a processing urgency set based on the type of bug and / or the direction of movement of the bug. The processing urgency may indicate how quickly the bug needs to be processed. The robot (100) may identify the processing urgency for the bug by using the information regarding the processing urgency stored in the memory (130).

[0083] FIG. 5 is a diagram illustrating an example of a method for setting the urgency of treatment and the treatment method for a bug based on the type of bug according to one embodiment.

[0084] Referring to FIG. 5, the processing urgency may be divided into a plurality of processing urgency levels (510). The plurality of processing urgency levels may include a first processing urgency level, a second processing urgency level, and a third processing urgency level. The level of the first processing urgency level may be higher than the level of the second processing urgency level, and the level of the second processing urgency level may be higher than the level of the third processing urgency level. For example, the first processing urgency level may be high, the second processing urgency level may be medium, and the third processing urgency level may be low. The higher the level of the processing urgency level, the more urgent the processing of the bug may be.

[0085] Referring to FIG. 5, the types of insects (520) may include moths, flies, gnats, mosquitoes, cockroaches, centipedes, and ants. The insects may have various characteristics depending on the type. For example, characteristics may include whether the insect is a flying insect or a crawling insect, the size of the insect, the speed of the insect, the aversion of the insect (e.g., indicating how much aversion the insect may cause to a person if found in food), and the food preference of the insect. In the present disclosure, considering these characteristics, a processing urgency (510) corresponding to each insect type (520) may be set.

[0086] Additionally, in the present disclosure, the processing urgency (510) for the insect may be set by further considering the direction of movement of the insect. For example, in the case of flying insects, it is difficult to predict the direction of movement and there is a high possibility of falling. Therefore, the same processing urgency may be set for flying insects of the same type regardless of the direction of movement. However, in the case of crawling insects, the direction of movement is relatively easy to predict. Therefore, the processing urgency may be set differently depending on the direction of movement of crawling insects of the same type. The direction of movement of the insect may include whether the insect moves toward the food or moves outward (e.g., away from the food). For example, referring to FIG. 5, in the case of a wheel, if the wheel moves toward the food, the processing urgency for the wheel may be the first processing urgency, and if the wheel moves outward, the processing urgency for the wheel may be the second processing urgency.

[0087] For example, the memory (130) may store information regarding the processing urgency (510). In the case of a flying insect, the processing urgency (510) may include a processing urgency corresponding to each type of insect (520). Additionally, in the case of a crawling insect, the processing urgency (510) may include a processing urgency corresponding to the direction of movement (530) of the insect for each type of insect (520).

[0088] The robot (100) can identify the processing urgency for a bug detected around the cooking container (2) based on information regarding a plurality of processing urgency levels stored in the memory (130). For example, if the bug is a flying bug, the robot (100) can identify the processing urgency for the bug among a plurality of processing urgency levels based on the type of bug. For example, referring to FIG. 5, if the type of bug identified based on the image is a fly, the robot (100) can identify the processing urgency for the fly as a second processing urgency level (e.g., medium). For example, if the bug is a crawling bug, the robot (100) can identify the processing urgency for the bug among a plurality of processing urgency levels based on the type of bug and the direction of movement of the bug. For example, referring to FIG. 5, if the robot (100) identifies, based on an image, that the type of bug identified is a wheel and that the wheel is moving in the direction where food is located, the processing urgency for the wheel can be identified as a first processing urgency (e.g., high). Additionally, if the robot (100) identifies, based on an image, that the type of bug identified is a wheel and that the wheel is moving outward, the processing urgency for the wheel can be identified as a second processing urgency (e.g., medium).

[0089] In one embodiment, the memory (130) may store information about a bug processing method (540) corresponding to a processing urgency (510). The bug processing method may include a method used by the robot (100) to process bugs.

[0090] The robot (100) handling the bug may include using a gripper (e.g., 11c, 12c in FIG. 1) to pick up the bug, using a bug handling module (120) to suck up the bug, moving the bug away from the food, or preventing the bug from approaching the food, thereby preventing the bug from entering the food.

[0091] In one embodiment, the insect treatment method may be divided into a plurality of treatment methods. For example, the plurality of treatment methods may include a gripper method, a cover method, a wind method, a UV method, and an odor method.

[0092] The robot (100) can identify a method for processing a bug that corresponds to the urgency of processing the bug among a plurality of processing methods.

[0093] For example, a processing method corresponding to the first processing urgency may include a gripper method. The gripper method may include the robot (100) picking up the bug using a gripper mounted on its arm (e.g., 11c, 12c in FIG. 1). Meanwhile, it is difficult to pick up small bugs with a gripper. Therefore, even if the processing urgency of the bug is the first processing urgency, if the bug is small, a different processing method for the bug may be required. For example, a processing method corresponding to the first processing urgency may include a cover method. The cover method may include covering the cooking container (2). As an example, the processing urgency for bugs moving toward food (e.g., cockroaches, centipedes, and ants) may be the first processing urgency. Among these bugs, the cockroach and centipede are large in size, so the robot (100) can pick up the cockroach and centipede using a gripper. However, since the ant is small in size, the robot (100) cannot pick up the ant using a gripper. Considering these points, as shown in Fig. 5, the method for handling wheels and centipedes is a gripper method, and the method for handling ants is a cover method.

[0094] For example, a treatment method corresponding to the second treatment urgency may include at least one of a wind method, an ultraviolet method, and an odor method.

[0095] The robot (100) can identify the distance between the bug and the robot (100). For example, the robot (100) can identify the location of the bug in the space where the robot (100) is located, and can identify the distance between the bug and the robot (100) based on the location of the robot (100) and the bug. The robot (100) can identify whether the bug is inside the cooking area (e.g., 310 in FIGS. 3a to 3d) or outside the cooking area based on the location of the bug and / or the identified distance.

[0096] In one embodiment, the robot (100) can treat the bugs using at least one of a wind method, a UV method, and a smell method depending on whether the bugs are inside or outside the cooking area.

[0097] The wind method may include a method of handling insects using wind. For example, the wind method may include a first wind method and a second wind method. The first wind method may include a method in which the robot (100) sucks in insects or moves insects away from food by using wind generated by an internal fan (e.g., 121 in FIG. 2b). The second wind method may include a method in which insects are prevented from approaching food by using wind generated by an external fan (e.g., 123 in FIG. 2b).

[0098] In one embodiment, the robot (100) may use a second wind method when it is identified that a bug is outside the cooking area. For example, the robot (100) may generate wind using an external fan. Accordingly, bugs around the cooking container (2) are prevented from approaching the food.

[0099] In one embodiment, the robot (100) may use a first wind method when it identifies that a bug is within the cooking area.

[0100] The cooking area may be divided into a first area and a second area. The size of the first area may be substantially the same as the size of the second area. The first area may be an area close to the body of the robot (100) within the cooking area, and the second area may be an area far from the body of the robot (100) within the cooking area. For example, referring to FIG. 6, the cooking area (610) (e.g., 310 in FIG. 3a to 3d) may be divided into a first area (611) and a second area (612).

[0101] For example, if the robot (100) identifies that a bug is in a first area within the cooking area, it can use an internal fan to generate airflow to draw outside air into the robot (100). Accordingly, the robot (100) can draw in bugs around the cooking container (2). For example, if the robot (100) identifies that a bug is in a second area within the cooking area, it can use an internal fan to generate airflow to expel air from inside the robot (100) to the outside. Accordingly, bugs around the cooking container (2) can be moved away from the food.

[0102] In one embodiment, the ultraviolet method may include a method of dealing with insects using ultraviolet light. For example, the robot (100) may use the ultraviolet method when it is identified that an insect is outside the cooking area. For example, the robot (100) may generate ultraviolet light using a light-emitting element (e.g., 122 in FIG. 2b). Accordingly, insects around the cooking container (2) are prevented from approaching the food.

[0103] In one embodiment, the scent method may include a method of dealing with insects using a scent. For example, the robot (100) may use the scent method when it is identified that an insect is outside the cooking area. For example, the robot (100) may spray a scent using a spray device (e.g., 124 in FIG. 2b). Accordingly, insects around the cooking container (2) are prevented from approaching the food.

[0104] In the present disclosure, based on the type of insect, a method suitable for treating insects among a wind method, an ultraviolet method, and an odor method may be set as a treatment method corresponding to a second treatment urgency. For example, insects suitable for treatment by wind may be treated using the wind method, and other insects may be set to be treated using the ultraviolet method and / or the odor method. As an example, referring to FIG. 5, the treatment urgency for moths and wheels moving outward may be a second treatment urgency (e.g., medium). Among these insects, the treatment method for moths may be the wind method or the ultraviolet method, and the treatment method for wheels moving outward may be the odor method.

[0105] For example, a processing method corresponding to the third processing urgency may include a gripper method. The gripper method may include the robot (100) picking up the bug using a gripper mounted on its arm (e.g., 11c, 12c in FIG. 1). Meanwhile, it is difficult to pick up small or flying bugs with a gripper. Therefore, even if the processing urgency of the bug is the third processing urgency, a different processing method may be required in the case of small or flying bugs. For example, a processing method corresponding to the third processing urgency may include at least one of a wind method, an ultraviolet method, and an odor method. The wind method may be the second wind method.

[0106] For example, referring to FIG. 5, the processing urgency for gnats, mosquitoes, and centipedes moving outward may be a third processing urgency. Since centipedes are large in size, the robot (100) can pick up centipedes using a gripper. However, since gnats and mosquitoes are flying insects and small in size, the robot (100) cannot pick up gnats and mosquitoes using a gripper. Taking this into consideration, as shown in FIG. 5, the processing method for gnats and mosquitoes may be a wind method (e.g., a second wind method) or an ultraviolet method, and the processing method for centipedes moving outward may be a gripper method.

[0107] Returning to Fig. 4, in operation 440, the robot (100) can process the bugs based on the processing urgency for the bugs.

[0108] The robot (100) handling the bug may include using a gripper (e.g., 11c, 12c in FIG. 1) to pick up the bug, using a bug handling module (120) to suck up the bug, moving the bug away from the food, or preventing the bug from approaching the food, thereby preventing the bug from entering the food.

[0109] FIG. 7 is a diagram illustrating operations for a robot to process a bug based on the processing urgency corresponding to the bug according to one embodiment. A processor (140) may perform at least one of the operations of FIG. 7. For example, instructions stored in memory (130) may be executed individually or collectively by the processor (140) to cause the robot (100) to perform the operations of FIG. 7.

[0110] In operation 710-Y, 720, if the robot (100) identifies that the processing urgency for the bug is the first processing urgency, it can process the bug using a gripper method or a cover method.

[0111] In one embodiment, the robot (100) can pick up a bug using a first gripper mounted on the arm of the robot (100) based on the processing urgency for the bug being a first processing urgency. The first gripper may be a cooking gripper. For example, the robot (100) can move the arm mounted on the first gripper based on the location of the bug to position the first gripper at the location where the bug is, and pick up the bug using the first gripper.

[0112] For example, referring to 801 in FIG. 8a, the robot (100) can detect a wheel (811) moving toward the cooking container (2) around the cooking container (2). Referring to FIG. 5, the processing urgency of the wheel (811) moving toward the food may be a first processing urgency (e.g., high). Based on information about the processing method stored in memory (130), the robot (100) can identify that the processing method of the wheel (811) moving toward the food is a gripper method. For example, referring to 802 in FIG. 8a, the robot (100) can pick up the wheel (811) using a gripper (12c) mounted on the arm (12). The gripper (12c) may be a cooking gripper. The cooking gripper may be a gripper mounted on the arm of the robot (100) to perform a cooking operation when the robot (100) performs a cooking operation.

[0113] In one embodiment, the robot (100) can process the bugs using a cover method based on the fact that the processing urgency for the bugs is a first processing urgency.

[0114] For example, referring to 821 in FIG. 8b, the robot (100) can detect an ant (831) moving toward a cooking container (2). Referring to FIG. 5, the processing urgency of the ant (831) moving toward food may be a first processing urgency (e.g., high). Based on information regarding processing methods stored in memory (130), the robot (100) can identify that the processing method of the ant (831) moving toward food is a cover method. Referring to 822 in FIG. 8b, the robot (100) can cover the cover (2a) of the cooking container (2) using a gripper (12c) mounted on the arm (12).

[0115] As described above, a bug corresponding to the first processing urgency may be a bug requiring the most urgent processing. Accordingly, when the robot (100) detects a bug corresponding to the first processing urgency while performing a cooking operation, it can pick up the bug using the currently mounted cooking gripper without replacing the gripper, or cover the cooking container with a cover.

[0116] Returning to FIG. 7, in operations 710-N, 730-Y, 740, if the robot (100) identifies that the processing urgency for the bug is a second processing urgency, it can use a bug processing module (120) to process the bug to prevent the bug from entering the food.

[0117] In one embodiment, the robot (100) may process bugs using a wind method based on the fact that the processing urgency for bugs is a second processing urgency. The wind method may include a first wind method using an internal fan (e.g., 121 in FIG. 2b) and a second wind method using an external fan (e.g., 123 in FIG. 2b). Since the method of processing bugs using a wind method has been described above, a repetitive description is omitted for brevity.

[0118] In one embodiment, the robot (100) can treat the bug using an ultraviolet method based on the fact that the processing urgency for the bug is a second processing urgency. Since the method of treating the bug using an ultraviolet method has been described above, a repetitive description is omitted for brevity.

[0119] For example, referring to FIG. 9a, the robot (100) can detect a moth (911) around a cooking container (2). Referring to FIG. 5, the processing urgency of the moth (911) may be a second processing urgency (e.g., medium). Based on information about the processing method stored in memory (130), the robot (100) can identify that the processing method of the moth (911) is wind method or ultraviolet method.

[0120] For example, the robot (100) can handle the moth (911) using a wind method. For example, referring to FIG. 9b, when the robot (100) identifies that the moth (911) is in a first area within the cooking area (e.g., 611 in FIG. 6), it can generate wind through the internal fan (912) to suck in the moth (911) (e.g., 913 in FIG. 9b). For example, referring to FIG. 9c, when the robot (100) identifies that the moth (911) is in a second area within the cooking area (e.g., 612 in FIG. 6), it can generate wind through the internal fan (912) to move the moth (911) away from the cooking container (2) (e.g., 914 in FIG. 9b). For example, referring to FIG. 9d, if the robot (100) identifies that a moth (911) is outside the cooking area, it can generate wind using a plurality of fans (915a, 915b, 915c, 915d) installed around the cooking container (2) (e.g., 123a, 123b, 123c, 123d of FIG. 3b) to prevent the moth (911) from approaching the food.

[0121] For example, the robot (100) can handle the moth (911) using an ultraviolet method. For example, referring to FIG. 9e, if the moth (911) is identified as being outside the cooking area, ultraviolet light can be emitted using a plurality of light-emitting elements (916a, 916b, 916c, 916d) installed around the cooking container (2) (e.g., 122a, 122b, 122c, 122d of FIG. 3a) to prevent the moth (911) from approaching the food.

[0122] In one embodiment, the robot (100) can treat the bug using a scent method based on the fact that the urgency of treating the bug is a second urgency of treating the bug. Since the method of treating the bug using a scent method has been described above, a repetitive description is omitted for brevity.

[0123] For example, referring to 1001 in FIG. 10, the robot (100) can detect a wheel (1011) moving outward around a cooking container (2). Referring to FIG. 5, the processing urgency of the wheel (1011) moving outward may be a second processing urgency (e.g., medium). Based on information about the processing method stored in memory (130), the robot (100) can identify that the processing method of the wheel (1011) moving outward is the odor method. Referring to 1002 in FIG. 10, when the robot (100) identifies that the wheel (1011) is outside the cooking area, it can spray a scent using a plurality of spray devices (1021a, 1021b, 1021c, 1021d) (e.g., 124a, 124b, 124c, 124d in FIG. 3c) installed around the cooking container (2) to prevent the wheel (1011) from approaching the food.

[0124] Returning to FIG. 7, in operations 730-N, 750-Y, 760, if the robot (100) identifies that the processing urgency corresponding to the bug is the third processing urgency, it can process the bug using a gripper method, a wind method, an ultraviolet method, or a scent method.

[0125] In one embodiment, the robot (100) may replace the first gripper mounted on the arm of the robot (100) with a second gripper based on the fact that the processing urgency for the bug is a third processing urgency, and may pick up the bug using the second gripper. The first gripper may be a cooking gripper, and the second gripper may be a bug picking gripper. For example, the robot (100) may move the arm mounted on the second gripper based on the location of the bug to position the second gripper at the location where the bug is, and may pick up the bug using the second gripper.

[0126] For example, referring to 1101 in FIG. 11, the robot (100) can detect a centipede (1111) moving outward from around a cooking container (2). Referring to FIG. 5, the processing urgency of the centipede (1111) moving outward may be a third processing urgency (e.g., low). Based on information about the processing method stored in memory (130), the robot (100) can identify that the processing method of the centipede (1111) moving outward is a gripper method. For example, referring to 1102 in FIG. 11, the robot (100) can replace the first gripper (12c) mounted on the arm (12) with a second gripper (12d) and use the second gripper (12d) to pick up the centipede (1111). The second gripper (12d) may be a gripper for handling insects. The bug handling gripper may be a gripper used by the robot (100) to pick up bugs. The bug handling gripper may be provided separately from the cooking gripper.

[0127] As described above, insects corresponding to the third processing urgency may not require urgent processing. Therefore, when the robot (100) detects an insect corresponding to the third processing urgency while performing a cooking operation, it can replace the gripper with an insect processing gripper and pick up the insect using the insect processing gripper.

[0128] In one embodiment, the robot (100) may treat the bugs using a wind method, an ultraviolet method, or a scent method based on the fact that the treatment urgency for the bugs is a third treatment urgency. The wind method may be a second wind method using an external fan (e.g., 123 of 2b). Since the methods for treating bugs using the wind method, the ultraviolet method, and the scent method have been described above, a repetitive description is omitted for brevity.

[0129] For example, the robot (100) can detect mosquitoes around the cooking container (2). Referring to FIG. 5, the urgency of handling mosquitoes may be a third urgency of handling (e.g., low). Based on information about the handling method stored in memory (130), the robot (100) can identify the method of handling mosquitoes as wind method or ultraviolet method.

[0130] For example, the robot (100) can deal with mosquitoes using a wind method. When the robot (100) identifies that mosquitoes are outside the cooking area, it can generate wind using a plurality of fans (e.g., 123a, 123b, 123c, 123d of FIG. 3b) installed around the cooking container (2) to prevent the mosquitoes from approaching the food.

[0131] For example, the robot (100) can deal with mosquitoes using an ultraviolet method. When the robot (100) identifies that mosquitoes are outside the cooking area, it can generate ultraviolet light using a plurality of light-emitting elements (e.g., 122a, 122b, 122c, 122d) installed around the robot (100) to prevent mosquitoes from approaching the food.

[0132] For example, the robot (100) can deal with mosquitoes using a scent method. When the robot (100) identifies that mosquitoes are outside the cooking area, it can spray a scent using a plurality of spray devices (e.g., 124a, 124b, 124c, 124d of FIG. 3c) installed around the robot (100) to prevent mosquitoes from approaching the food.

[0133] According to an embodiment, a processing method corresponding to a second processing urgency and a third processing urgency may include an electric method. In one embodiment, the robot (100) may use an electric method when it is identified that a bug is outside the cooking area. For example, the robot (100) may generate electricity using an electric generator (e.g., 125 in FIG. 2). Accordingly, bugs around the cooking container (2) are prevented from accessing the food.

[0134] In one embodiment, when the robot (100) handles a bug, it may provide a notification to the user regarding the bug handling. For example, when the robot (100) performs the handling of the bug in various ways, it may display a notification message to call a manager on the display (161) or output a voice signal to call a manager through the speaker (162). As another example, the robot (100) may use a communication circuit (150) to send a notification message to call a manager to the manager's device (e.g., a smartphone).

[0135] In one embodiment, the robot (100) may discard food if it is identified that the handling of bugs has failed. The failure of handling bugs may include bugs entering the food. For example, the robot (100) may use a camera (110) to track bugs and identify whether bugs have entered the food. If the robot (100) identifies that the handling of bugs has failed, it may discard the food and output or send a notification message to call a manager.

[0136] According to various embodiments of the present disclosure as described above, the robot (100) can process insects through an optimal processing method based on the urgency of processing insects. Accordingly, insects can be prevented from entering the food, thereby maintaining the quality of the food and preventing complaints from customers.

[0137] Meanwhile, the neural network model according to the present disclosure refers to an artificial intelligence model including a neural network and can be trained by deep learning. The neural network may include, for example, at least one of a Convolutional Neural Network (CNN), a Recurrent Neural Network (RNN), a Restricted Boltzmann Machine (RBM), a Deep Belief Network (DBN), a Bidirectional Recurrent Deep Neural Network (BRDNN), Generative Adversarial Networks (GAN), and Deep Q-Networks. However, the neural network model is not limited to the examples described above.

[0138] Various embodiments of the present document may be implemented as software comprising one or more instructions stored in a storage medium (e.g., memory (130)) readable by a machine (e.g., robot (100)). For example, a processor (e.g., processor (140)) of the machine (e.g., robot (100)) may call at least one of the one or more instructions stored in the storage medium and execute it. This enables the machine to be operated to perform at least one function according to the at least one called instruction. The one or more instructions may include code generated by a compiler or code that can be executed by an interpreter. The storage medium readable by the machine may be provided in the form of a non-transitory storage medium. Here, 'non-temporary' simply means that the storage medium is a tangible device and does not contain a signal (e.g., electromagnetic waves), and the term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily.

[0139] According to one embodiment, the method according to the various embodiments disclosed herein may be provided by being included in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)) or an application store (e.g., Play Store). ™It can be distributed online (e.g., downloaded or uploaded) through ) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily created on a device-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0140] According to various embodiments, each component (e.g., module or program) of the components described above may include a singular or multiple entities, and some of the multiple entities may be separated and placed in other components. According to various embodiments, one or more of the components or operations of the aforementioned components may be omitted, or one or more other components or operations may be added. Generally or additionally, multiple components (e.g., module or program) may be integrated into a single component. In this case, the integrated component may perform one or more functions of each of the multiple components in the same or similar manner as those performed by the corresponding component among the multiple components prior to integration. According to various embodiments, operations performed by the module, program, or other components may be executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations may be executed in a different order, omitted, or one or more other operations may be added.

[0141] Although preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above. It is understood that various modifications can be made by those skilled in the art without departing from the essence of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical spirit or perspective of the present disclosure.

Claims

1. Regarding food-cooking robots, camera; A bug treatment module for treating bugs using at least one of wind, ultraviolet rays, and odors; Memory for storing instructions; and at least one processor including processing circuitry; and When the above instructions are executed individually or collectively by the at least one processor, the robot, Identify the type of insect detected in the image acquired through the above camera, and Identifying the urgency of treatment for the insect based on at least one of the type of the insect and the direction of movement of the insect, and Based on the fact that the above processing urgency is the first processing urgency, the insect is caught using the first gripper mounted on the arm of the robot, and Based on the fact that the above processing urgency is the second processing urgency, the insect is treated using the insect treatment module to prevent the insect from entering the food, and A robot that, based on the fact that the processing urgency is the third processing urgency, replaces the first gripper with a second gripper and uses the second gripper to catch the bug.

2. In Paragraph 1, When the above instructions are executed individually or collectively by the at least one processor, the robot, If the above insect is a flying insect, identify the treatment urgency for the insect among a plurality of treatment urgency levels based on the type of the above insect, and A robot that identifies the processing urgency for the insect among the plurality of processing urgency levels based on the type of the insect and the direction of movement of the insect, if the insect is a crawling insect.

3. In Paragraph 1, The level of the first processing urgency is higher than the level of the second processing urgency, and The robot, whose level of the second processing urgency is higher than the level of the third processing urgency.

4. In Paragraph 1, The above-mentioned bug handling module includes an internal fan installed inside the body of the robot, and When the above instructions are executed individually or collectively by the at least one processor, the robot, A robot that generates wind using the internal fan based on the fact that the processing urgency for the above-mentioned insect is the second processing urgency.

5. In Paragraph 4, When the above instructions are executed individually or collectively by the at least one processor, the robot, If the insect is identified as being in a first area within the cooking area, the robot generates the wind using the internal fan to suck in the insect, and If the insect is identified as being in the second area within the cooking area, the internal fan is used to generate the wind to move the insect away from the food, and The above cooking area is the surrounding area of ​​the cooking container containing the food, and The first area is an area close to the body of the robot within the cooking area, and The second area above is a robot, which is an area within the cooking area that is far from the body of the robot.

6. In Paragraph 1, The above-mentioned insect removal module is installed around the cooking container containing the food, and When the above instructions are executed individually or collectively by the at least one processor, the robot, A robot that, when the processing urgency for the insect is a second processing urgency and the insect is identified as being outside the cooking area, uses the insect processing module to generate wind, ultraviolet light, or odor to prevent the insect from approaching the food.

7. In Paragraph 1, The first gripper mentioned above is a cooking gripper, and The above-mentioned second gripper is a robot, which is a gripper for picking up insects.

8. A method for handling insects of a robot comprising an insect handling module for handling insects using at least one of a camera and wind, ultraviolet rays and odors, wherein An operation to identify the type of insect detected in an image acquired through the above camera; An operation to identify the processing urgency for the insect based on at least one of the type of the insect and the direction of movement of the insect; Based on the fact that the above processing urgency is the first processing urgency, the action of catching the insect using the first gripper mounted on the arm of the robot; Based on the fact that the above processing urgency is a second processing urgency, the operation of processing the insect using the insect processing module to prevent the insect from entering the food; and A bug handling method comprising: replacing the first gripper with a second gripper based on the fact that the processing urgency is a third processing urgency, and catching the bug using the second gripper.

9. In Paragraph 8, The above-mentioned identifying operation is, If the insect is a flying insect, the operation of identifying the processing urgency for the insect among a plurality of processing urgency levels based on the type of the insect; and A bug treatment method comprising: an operation of identifying a treatment urgency for the bug among a plurality of treatment urgency levels based on the type of the bug and the direction of movement of the bug, if the bug is a crawling bug.

10. In Paragraph 8, The level of the first processing urgency is higher than the level of the second processing urgency, and A bug treatment method in which the level of the second treatment urgency is higher than the level of the third treatment urgency.

11. In Paragraph 8, The above-mentioned bug handling module includes an internal fan installed inside the body of the robot, and The operation of handling the above-mentioned insect is, A bug treatment method comprising: an operation to generate wind using the internal fan based on the fact that the treatment urgency for the bug is a second treatment urgency.

12. In Paragraph 11, The above-mentioned wind-generating operation is, If the insect is identified as being in a first area within the cooking area, the operation of generating the wind using the internal fan so that the robot sucks in the insect; and If the insect is identified as being in a second area within the cooking area, the operation of generating the wind using the internal fan to move the insect away from the food; is included. The above cooking area is the surrounding area of ​​the cooking container containing the food, and The first area is an area close to the body of the robot within the cooking area, and The above second region is a region far from the body of the robot within the above cooking region, a bug treatment method.

13. In Paragraph 8, The above-mentioned insect removal module is installed around the cooking container containing the food, and The operation of handling the above-mentioned insect is, A bug treatment method comprising: an operation of generating wind, ultraviolet rays, or odors using the bug treatment module to prevent the bug from approaching the food when the treatment urgency for the bug is a second treatment urgency and the bug is identified as being outside the cooking area.

14. In Paragraph 8, The first gripper mentioned above is a cooking gripper, and The above-mentioned second gripper is a bug handling method, which is a gripper for picking up bugs.

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