JP4531832B2 - Cooking assistance robot and cooking assistance method - Google Patents

Description

  The present invention relates to a food cooking assistance method and a cooking assistance robot for business use or home use. In particular, the present invention relates to a cooking assistance method and a cooking assistance robot for mixing work of ingredients placed in a cooking container such as a pot.

In recent years, in order to improve efficiency and labor saving, cooking assistance devices that perform routine operations on behalf of human beings have been developed and are being used especially in the restaurant industry and the like. And many, comprises a stirring blade, the inside 攪拌羽roots fixed large pots be to actively rotate, stir the inside of the cooking material, was intended to heat the whole.

However, in such cooking apparatus, since the scorching and allowed to stationary cooking materials during cooking for example fried although typically human being during cooking, so-called Fried be stirred at spatula or the like shaking the pan up and down Basic operation is required, and there is a problem that cooking cannot be performed depending on the type of dish.

In order to solve this problem, an actively rotating cooking container and an agitating spatula that is also actively rotated, or a stirring spatula having a structure that can passively change the angle in accordance with the movement of the cooking material, There are some that have. Thus, a technique has been proposed in which the whole cooking material is actively stirred to uniformly stir the food while preventing the fried food from being burnt (see, for example, Patent Document 1).
JP-A-6-261831

  However, this cooking assistance device and mixing device try to uniformly mix the entire cooking material by repeatedly performing predetermined operations (rotation, swinging) on the stirring blades, the stirring bar, or the entire cooking container. Since it is a thing, there exists a possibility that the heating unevenness of a cooking material may arise according to the state change of the cooking material in the middle of stirring.

  This invention is made in view of such a subject, and it aims at providing the cooking assistance robot and cooking assistance method which can perform the efficient stirring cooking which does not generate | occur | produce the heating unevenness of a cooking material easily. To do.

A cooking assistance robot according to one aspect of the present invention includes a stirring drive unit that performs a stirring operation for stirring cooking materials inside a cooking container, and a height for measuring a height distribution of the cooking materials with reference to a cooking surface of the cooking container. When the height of the cooking ingredients measured by the height distribution measurement unit, the height distribution measurement unit is equal to or greater than a predetermined value, the mixing direction selection unit that selects the mixing direction of the mixing operation, and according to the mixing direction An operation instructing unit for instructing the agitation drive to the agitation drive unit , wherein the agitation direction selection unit passes through a vertex where the height of the cooking material is maximum in a plane perpendicular to the cooking surface, and The direction along the surface where the dispersion of the height of the cooking material is maximized is selected as the stirring direction .

A cooking assistance robot according to another aspect of the present invention measures a height distribution of the cooking material with reference to a cooking surface of the cooking container, and a stirring drive unit that performs a stirring operation for stirring the cooking material inside the cooking container. A height distribution measuring unit, a stirring direction selecting unit for selecting a mountain-making stirring direction of the stirring operation when the height of the cooking material measured by the height distribution measuring unit is less than a predetermined value, and the mountain An operation instructing unit for instructing the agitation drive unit in accordance with the agitation direction, and the agitation direction selection unit identifies the cooking surface area where the degree of exposure of the cooking surface is higher than a predetermined value. Then, the high exposure area is set as a mountain creation target position, and the direction toward the mountain creation target position is selected as the mountain creation stirring direction.

A cooking assistance robot according to another aspect of the present invention measures a height distribution of the cooking material with reference to a cooking surface of the cooking container, and a stirring drive unit that performs a stirring operation for stirring the cooking material inside the cooking container. A height distribution measuring unit, a stirring direction selecting unit for selecting a mountain-making stirring direction of the stirring operation when the height of the cooking material measured by the height distribution measuring unit is less than a predetermined value, and the mountain The operation instruction unit that instructs the stirring drive unit according to the mixing and stirring direction, and the history of the stirring operation of the stirring drive unit, the time during which cooking ingredients exist for each predetermined area of the cooking surface An operation history recording unit for recording, and the mixing direction selection unit adjusts the cooking surface usage frequency to be lower than a predetermined value based on the history of the mixing operation. It identifies areas of the surface, to set the mountain making target position make mountain area of low the use frequency, the direction toward the mountain making target position is to choose a direction stir the mountain making.

A cooking assistance robot according to another aspect of the present invention measures a height distribution of the cooking material with reference to a cooking surface of the cooking container, and a stirring drive unit that performs a stirring operation for stirring the cooking material inside the cooking container. A height distribution measuring unit, a stirring direction selecting unit for selecting a mountain-making stirring direction of the stirring operation when the height of the cooking material measured by the height distribution measuring unit is less than a predetermined value, and the mountain An operation instructing unit for instructing the agitation drive unit according to the agitating direction, and a temperature distribution measuring unit for measuring a temperature distribution of the cooking surface of the cooking container, and the agitation direction selecting unit includes: The highest temperature position on the cooking surface of the cooking container is set as a mountain creation target position, and the direction toward the mountain creation target position is selected as the mountain creation stirring direction. A.

A cooking assistance robot according to another aspect of the present invention measures a height distribution of the cooking material with reference to a cooking surface of the cooking container, and a stirring drive unit that performs a stirring operation for stirring the cooking material inside the cooking container. A height distribution measuring unit, a stirring direction selecting unit for selecting a mountain-making stirring direction of the stirring operation when the height of the cooking material measured by the height distribution measuring unit is less than a predetermined value, and the mountain An operation instructing unit for instructing the agitation drive unit in accordance with the agitation direction, and the agitation direction selection unit sets a center of the cooking surface of the cooking container as a mountain creation target position, and The direction toward the production target position is selected as the mountain-making stirring direction.

A cooking assistance method according to another aspect of the present invention includes a step of measuring a height distribution of a cooking material from a cooking surface in a cooking container in the cooking assistance robot, and in the cooking assistance robot in the cooking assistance robot. Determining whether the height of the cooking material is equal to or greater than a predetermined value, and in the cooking assistance robot, when the height of the cooking material is equal to or greater than a predetermined value, in a plane perpendicular to the cooking surface, Selecting the direction along the surface through which the height of the cooking material is maximized and the dispersion of the height of the cooking material is maximum as the mixing direction; and the cooking in the selected mixing direction. Driving the stirring driving unit of the auxiliary robot to stir the cooking ingredients .

A cooking assistance method according to another aspect of the present invention includes a step of measuring a height distribution of a cooking material from a cooking surface in a cooking container in the cooking assistance robot, and in the cooking assistance robot in the cooking assistance robot. Determining whether or not the height of the cooking material is less than a predetermined value, and when the height of the cooking material is less than a predetermined value in the cooking assistance robot, the degree of exposure of the cooking surface is a predetermined value Identifying a region of the cooking surface that is higher, setting the highly exposed region as a mountain creation target position, and selecting a direction toward the mountain creation target position as a mountain creation agitation direction; and Driving the stirring driving unit of the cooking assistance robot in the mountain-making stirring direction to stir the cooking ingredients.

A cooking assistance method according to another aspect of the present invention includes a step of measuring a height distribution of a cooking material from a cooking surface in a cooking container in the cooking assistance robot, and in the cooking assistance robot in the cooking assistance robot. Determining whether the height of the cooking material is less than a predetermined value, and in the cooking assistance robot, as a history of the stirring operation, there was a cooking material for each predetermined region of the cooking surface A step of recording time, and in the cooking assistance robot, when the height of the cooking material is less than a predetermined value, the cooking surface is used less frequently than the predetermined value based on the history of the stirring operation. A surface area is specified, a mountain creation target position for creating a mountain in the low-use area is set, and a direction toward the mountain creation target position is selected as a mountain creation agitation direction. Comprising flops and a step of stirring the cooking material the cooking assistance by driving the agitation driving unit of the robot in the direction agitated making the selected Mountains,.

A cooking assistance method according to another aspect of the present invention includes a step of measuring a height distribution of a cooking material from a cooking surface in a cooking container in the cooking assistance robot, and in the cooking assistance robot in the cooking assistance robot. Determining whether or not the height of the cooking material is less than a predetermined value, and when the height of the cooking material is less than a predetermined value in the cooking assistance robot, A step of setting a position where the temperature is high as a mountain creation target position, selecting a direction toward the mountain creation target position as a mountain creation stirring direction, and a stirring drive unit of the cooking assistance robot in the selected mountain creation stirring direction. Driving to stir the cooking ingredients.

A cooking assistance method according to another aspect of the present invention includes a step of measuring a height distribution of a cooking material from a cooking surface in a cooking container in the cooking assistance robot, and a step in the cooking container in the cooking assistance robot. Determining whether or not the height of the cooking material is less than a predetermined value; and when the height of the cooking material is less than a predetermined value in the cooking assistance robot, Setting as a target position for making, and selecting a direction toward the target position for mountain creation as a direction for stirring the mountain, and driving the stirring drive unit of the cooking assistance robot in the selected direction for stirring the mountain A step of stirring.

ADVANTAGE OF THE INVENTION According to this invention, the efficient stirring cooking which does not generate | occur | produce the uneven heating of a cooking material can be performed.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. In addition, the following embodiment is an example which actualized this invention, Comprising: It is not the thing of the character which limits the technical scope of this invention.

(First embodiment)
First, the cooking assistance robot according to the first embodiment of the present invention will be described.

  The cooking assistance robot according to the first embodiment of the present invention measures the height distribution state of the cooking material from the cooking surface of the cooking container by the height distribution measurement unit, and the position and posture of the stirring device by the stirring drive unit. Is changed according to the height distribution of the cooking ingredients. As a result, the cooking ingredients are uniformly stirred while reducing burning and loss of shape, and cooking assistance is performed.

  In the first embodiment of the present invention, a cooking assistance robot that adjusts the mixing operation according to the height distribution of the cooking material will be described. This cooking assistance robot includes means for holding the stirring device and changing the position and posture of the stirring device, and means for measuring the height distribution of the cooking material.

  FIG. 1 is a diagram showing an outline of a cooking assistance robot according to the first embodiment of the present invention. As shown in FIG. 1, the cooking assistance robot 1 according to the first embodiment of the present invention includes a height distribution measuring unit 3, a stirrer driving unit 2, and a control unit 9. The height distribution measuring unit 3 measures the height distribution of the cooking material 6 inside the cooking vessel 5 arranged on the cooking stove 8 for cooking. (Hereinafter, the measured height distribution is also referred to as height distribution information.) The stirring device driving unit 2 holds the stirring device 4 and changes the position and posture of the stirring device 4. The control unit 9 controls the stirring device driving unit 2 based on the height distribution information obtained by the height distribution measuring unit 3. The stirring device 4 is a rectangular plate member having a length of about 100 mm and a width of about 70 mm. And the stirring tool 4 is hold | maintained at the stirring tool drive part 2 by the connection part of length 150mm.

  Here, the configuration of the stirring device driving unit 2 will be described in more detail. FIG. 2 is a diagram showing a configuration of the stirring utensil drive unit 2 of the cooking assistance robot 1 according to the first embodiment of the present invention.

  The stirrer drive unit 2 includes a hand unit 24 that holds the stirrer 4, a force detector 25 for detecting an external force applied to the hand unit 24, an arm unit 22 that changes the position and posture of the hand unit 24, The support part 21 which changes the position and attitude | position of the arm part 22 and the joint part 23 (23a-23d) which connects the hand part 24, the arm part 22, and the support part 21 are provided. In the present embodiment, the stirring device 4 is held by the hand unit 24, but the hand unit 24 can hold not only the stirring device 4 but also a corresponding member as appropriate according to the cooking content. It is configured.

  The support portion 21 is configured to be capable of linear movement in the longitudinal direction of the kitchen 7 and rotational movement about the vertical vertical direction of the kitchen 7 (hereinafter simply referred to as the vertical direction). The support portion 21 is configured to be controlled to be stopped at a predetermined position by a drive servo motor, a reduction gear, an optical encoder for position detection, and a drive belt (not shown). Thereby, the arm part 22 and the hand part 24 can be freely moved in the longitudinal direction of the kitchen 7 (direction A in FIG. 1). Further, the support portion 21 is configured to support the joint portion 23a so that the arm portion 22a can move linearly in the vertical direction of the kitchen 7 and the arm portion 22a can rotate about the longitudinal direction of the kitchen 7. ing. In addition, the drive of the linear movement part of the support part 21 is realizable using general linear drive mechanisms, such as a linear motor and a ball screw. In addition, the vertical dimension of the support part 21 is about 800 mm.

  The arm part 22 has a plurality of joint parts 23a to 23d. Here, each joint part 23a, 23b, 23c, 23d includes a drive servo motor (not shown) for changing the angle of the joint, a speed reducer (not shown), and an optical for detecting the joint angle. A type encoder (not shown) is provided. Since the drive servo motor can be stopped at a predetermined position within each movable range by the optical encoder, the arm portion 22 can be in an arbitrary posture. In addition, the length of the arm part 22a is about 500 mm. The total length of the arm portion 22b and the arm portion 22c is about 500 mm.

  As the configuration of the arm unit 22 and the joint unit 23, for example, a known robot arm such as a 6-axis robot arm generally marketed as an industrial robot can be used.

  The stirrer drive unit 2 has a linear movement in the longitudinal direction of the kitchen 7, a linear movement in the vertical direction of the kitchen 7, a rotational movement about the vertical direction of the kitchen 7, and the longitudinal direction of the kitchen 7 as the axis. A total of eight movable parts including four movable parts for the support part 21 called rotational movement and four movable parts for the joint parts 23a to 23d are provided. However, it is only necessary to have at least six movable parts that can arbitrarily change the position and posture of the hand part 24 with respect to the absolute coordinate system to which the kitchen 7 is fixed.

  The hand part 24 is connected to the arm part 22d via a force detection part 25 for detecting an applied external force. As the hand portion 24, for example, a two-finger gripper-type hand that is generally marketed for industrial use can be used. However, the stirring device 4 is fixed and held on the arm portion 22 using a general fixing tool. You may let them.

  As the force detection part 25, what is generally marketed as a 6-axis or 3-axis force sensor can be used. For example, a strain gauge type three-axis force sensor, a capacitance type six-axis force sensor, or the like can be used.

  Moreover, in the 1st Embodiment of this invention, although the number of the stirring tool drive parts 2 was demonstrated as one, the number is not limited to this. Two stirring device driving units 2 may be used, one supporting the cooking container 5, and the other one may be configured to perform the stirring operation using the stirring device 4.

  As the height distribution measuring unit 3, for example, a distance image capturing device can be used. As an example of a distance imaging device, infrared light is projected, and infrared light reflected and returned by the object is detected by a sensor arranged in a grid, and the target is determined from the time difference between light projection and light reception and the speed of light. Some output the distance to an object as a two-dimensional distance image. As another example, there is a known device such as a distance image capturing device by stereo vision. In the present embodiment, the height distribution of the cooking material 6 is measured using an infrared distance image sensor. However, in general, an average distance of a narrow region such as an ultrasonic distance measuring sensor is output. A typical distance measuring sensor can also be used. Specifically, a distance measuring sensor is attached to the arm part 22 or the hand part 24 of the stirring device driving part 2, and the distance is continuously measured while scanning the measurement area, so that the height distribution of the entire surface of the cooking container 5 is obtained. It is good also as a structure to measure.

  Moreover, as a structure for transmitting information between the control part 9 and the height distribution measurement part 3, a wired cable may be used, and what was arbitrarily selected from well-known communication means, such as radio | wireless and infrared rays, should be used. Is also possible.

  In addition, although the height distribution measurement part 3 is comprised so that it may attach to the hand part 24, the height distribution of the cooking material 6 inside the cooking container 5 should just be measured. Therefore, the height distribution measuring unit 3 may be fixed to another movable unit or a fixed unit, for example, the cooking stove 8 for cooking.

  Here, the configuration of the cooking assistance robot 1 will be described in more detail. FIG. 3 is a block diagram showing the configuration of the cooking assistance robot 1 according to the first embodiment of the present invention.

  The cooking assistance robot 1 includes a height distribution measuring unit 3, a mixed state detecting unit 101, a mixing direction selecting unit 102, an action type determining unit 103, a force detecting unit 25, an abnormality detecting unit 104, and a mixing information storage. Unit 105, operation instruction input unit 106, operation instruction unit 107, operation history recording unit 405, and elapsed time timer 108. Here, the height distribution measuring unit 3 measures the height distribution of the cooking material 6 in the cooking container 5. The mixed state detection unit 101 estimates the mixed state of the cooking material 6 based on the height distribution. The stirring direction selection unit 102 selects the direction in which the stirring operation is performed from the height distribution of the cooking material 6. The operation type determination unit 103 performs operation type switching determination according to predetermined mixing direction selection conditions based on information output from the height distribution measurement unit 3, the mixed state detection unit 101, and the mixing direction selection unit 102. is there. The force detection unit 25 is for detecting an external force applied to the hand unit 24. The abnormality detection unit 104 detects an abnormal state using outputs from the height distribution measurement unit 3 and the force detection unit 25. The agitation information storage unit 105 stores operation parameters for agitation cooking using the cooking material 6 and the cooking recipe. The operation instruction input unit 106 is used to input an instruction from the user using the operation unit 27. The operation instruction unit 107 performs an operation instruction based on the operation parameters from the operation type determination unit 103, the abnormality detection unit 104, the output of the operation instruction input unit 106, and the stirring information storage unit 105. The operation history recording unit 405 records the agitation device driving unit 2 that changes the position and orientation of the agitation and the history of the agitation operation by the agitation device driving unit 2 according to a command from the operation instruction unit 107. The elapsed time timer 108 is referred to in order to stop the operation when the operation time designated by the user has elapsed.

  In addition, the mixing state detection unit 101, the mixing direction selection unit 102, the operation type determination unit 103, the abnormality detection unit 104, the mixing information storage unit 105, the operation instruction input unit 106, the operation instruction unit 107, and the operation history recording unit of the control unit 9 Each function of the 405 and the elapsed time timer 108 may be realized by hardware such as a dedicated circuit, or each function may be described by software and executed inside the computer. .

  Based on the output result from the height distribution measurement unit 3, the mixed state detection unit 101 calculates the maximum height region, the minimum height region, and the height variance of the cooking material 6 inside the cooking container 5. If the dispersion is equal to or greater than a predetermined threshold value, it is determined that mixing of the cooking material 6 is insufficient. Further, the maximum height region is determined as a portion where the temperature of the cooking material 6 is low, and the minimum height region is determined as a portion where the temperature of the cooking material 6 is high, and the result is output.

  The stirring direction selection unit 102 determines the mountain creation operation start position and target position of the cooking material 6, the mountain climbing operation start position, and the target position from the output result of the height distribution measurement unit 3. Then, the moving direction of the mixing device 4 for collecting the cooking material 6 at the target position and diffusing the cooking material 6 is selected.

  Based on the maximum height of the cooking material 6 inside the cooking container 5, the operation type determination unit 103 selects either a mountain making operation or a mountain climbing operation as a mixing operation to be performed.

  The force detection unit 25 measures an external force applied to the hand unit 24. Thereby, when the stirring tool 4 collides with the inner wall of the cooking container 5, when the cooking material 6 is pinched between the cooking container 5 and the stirring tool 4, or when the stirring tool 4 comes into contact with the user. It is possible to detect an excessive external force that is generated when there is an abnormality, and to stop operation instantaneously and safely.

  The abnormality detection unit 104 detects an abnormal state based on the output results from the height distribution measurement unit 3 and the force detection unit 25 and notifies the operation instruction unit 107 of the abnormal state. Further, it is detected from the result of the height distribution measuring unit 3 that the cooking material 6 is likely to spill from the cooking container 5.

  The stirring information storage unit 105 stores and holds stirring parameters set in advance as suitable for the type of cooking material 6 and the cooking recipe, and can output it to the operation instruction unit 107. Thereby, it becomes possible for the operation instruction unit 107 to instruct a mixing operation suitable for the cooking material 6 and the cooking recipe, and insufficient heating, shape loss, and scorching of the cooking material 6 can be reduced. As the stirring information storage unit 105, a magnetic disk device such as a hard disk drive or a known storage device such as a semiconductor memory can be used.

  The operation instruction input unit 106 is configured to be able to accept inputs such as the type and amount of the cooking material 6 input by the user using the operation unit 27, the type of cooking recipe, and the start and end of the operation. .

  The operation instruction unit 107 operates according to the operation type determined by the operation type determination unit 103 based on the user instruction input via the operation instruction input unit 106 and the agitation parameter stored in the agitation information storage unit 105. Perform parameter adjustment and operation instructions. In addition, the notification from the abnormality detection unit 104 is monitored, and a transition to the next mixing operation or a stop command is issued according to the content of the abnormality.

  The operation history recording unit 405 records the history of the mixing operation that has been performed. The cooking surface of the cooking container 5 is divided into small areas, the presence of the cooking material 6 in each area is detected using the height distribution measuring unit 3, and the time that existed is accumulated and recorded. Thereby, the usage frequency of each small area can be calculated. In addition, when not only the height of the cooking material 6 but also the temperature of the cooking surface of the cooking container 5 is taken into consideration, the use frequency can be calculated more precisely. The temperature of the cooking surface of the cooking container 5 can be measured by a temperature distribution measuring unit 310 (to be described later) or a temperature distribution measuring mechanism (not shown) provided in the cooking stove 8 for cooking. Specifically, when the temperature distribution measuring unit 310 is used, the temperature of the cooking surface of the cooking container 5 can be measured. On the other hand, when the temperature distribution measuring mechanism of the cooking stove 8 is used, the temperature of the bottom surface of the cooking vessel 5 can be measured, and the temperature of the cooking surface of the cooking vessel 5 can be estimated from the temperature of the bottom surface. Further, the operation history recording unit 405 records the position (stacking position) where the crests of the cooking material 6 are formed on the cooking surface of the cooking container 5 (step S19 in FIG. 4).

  The stirrer drive unit 2 changes the position and posture (particularly the angle) relative to the cooking container 5 while holding the stirrer 4. Thereby, the mixing operation | movement of the cooking material 6 in the cooking container 5 is performed.

  Next, the operation of the cooking assistance robot 1 will be described. 4A and 4B are flowcharts showing processing steps of the cooking assistance robot 1 according to the first embodiment of the present invention.

  As an outline of the basic operation, after various initializations, the crushing operation is performed while alternately repeating the mountain creation operation 201 and the mountain collapse operation 202.

  First, the cooking assistance robot 1 waits until a user instruction is input. That is, it waits for the user to turn on the cooking stove 8 for cooking, to throw in the cooking material 6 and to input the operation instruction (S1). Here, in order to reduce the burden on the user, the power source of the cooking stove 8 may be configured to be turned on in response to the start of the operation of the cooking assistance robot 1 of the present invention. Examples of the operation instruction input method include a method by recognizing a user's speech, a method by recognizing a user's gesture imaged by an imaging camera, and a method using a touch panel.

  When the user designates the cooking recipe or the used cooking material, the amount used, and the operation time by the operation unit 27 and inputs the operation start, the elapsed time timer 108 and the operation history recording unit 405 are initialized (S2). Next, the position and size of the cooking container 5 and the height of the peripheral edge are measured (S3). As these measuring methods, a method using the above-described height distribution measuring unit 3 can be considered. As another measurement method, while maintaining the angle between the agitator 4 and the inner wall of the cooking container 5 and the pressing force of the cooking container 5 against the agitator 4, the agitator 4 is fixed to the inner wall of the cooking container 5. And a method of measuring by recording the change of the position of the stirring device 4.

  Next, the agitation operation parameter corresponding to the type, usage amount and operation time of the cooking recipe or cooking material 6 designated by the user is acquired from the agitation information storage unit 105 and set in the operation instruction unit 107 (S4). The process proceeds to the mountain making operation 201 processing step.

  In the mountain making operation 201, the height distribution measuring unit 3 is used to heighten the cooking material 6 inside the cooking container 5 from the cooking surface of the cooking container 5 based on the position and size of the cooking container 5 detected in step S <b> 2. The thickness distribution is measured (S5). In the height distribution, when the maximum height is equal to or greater than the first threshold value of the stirring operation determination condition in the stirring operation parameter acquired in processing step S4 (YES in S6), a mountain already exists (mountain It is determined that the preparation has been completed), the current accumulation position of the cooking ingredients 6 is recorded in the operation history recording unit 405 (S21), and the process proceeds to step S24 described later.

  Here, although the value acquired by process step S4 is used for the 1st threshold value, you may use the value which added the height of the cooking surface of the cooking container 5 measured by step S3 to this value. Thereby, even if it is a cooking container from which the thickness of a bottom face part differs, it can respond with higher precision.

  On the other hand, when the maximum height of the height distribution is lower than the first threshold (No in S6), the least frequently used place among the use frequencies of the cooking surface of the cooking container 5 stored in the operation history recording unit 405. Is read. At the same time, it is determined whether or not the usage frequency is less than a preset usage frequency (S7). Here, when the usage frequency is less than the preset frequency, the position with the lowest usage frequency is set as the accumulation target position for making the mountain of the cooking material 6 (S8), while the entire cooking container 5 is set. If the usage frequency exceeds the preset frequency in the area, the center of the cooking container 5 is set as the accumulation target position (S9).

  Next, a stirring direction for making a mountain of the cooking material 6 is set, and a mountain making operation is started (S10). Hereinafter, a method of specifying the mixing direction for creating a mountain will be described with reference to FIG. FIG. 5 is a schematic view when the cooking container 5 is viewed in a direction perpendicular to the cooking surface of the cooking container 5. In the following description, a case where the position with the lowest use frequency is selected as the accumulation target position P1 in the processing step S8 will be described as an example.

  First, it is a line segment connecting the accumulation target position P1 set in the processing step S8 and the inner wall of the cooking container 5, and the lengths of the line segments L1 to L6 set at intervals of, for example, 60 ° around the accumulation target position P1. Is calculated. Next, among the line segments L <b> 1 to L <b> 6, those whose length is longer than, for example, 1/3 of the diameter dimension of the cooking container 5 are specified. Of the both ends of each identified line segment, the end point on the inner wall side of the cooking container 5 is the operation start point, the end point on the accumulation target position P1 side is the movement target point, and the direction from the operation start point to the movement target point is the mixing direction. Set. In this way, for example, the mixing direction is sequentially selected for the line segments L1 to L6 set at intervals of 60 °.

  Although the case where the lowest frequency position is set as the accumulation target position P1 has been described above (S8), when the center of the cooking container 5 is set as the accumulation target position P1 (S9), all the line segments L1 to L1 are set. Since L6 has the length of the radial dimension of the cooking container 5, the direction along all the line segments L1-L6 will be set as a stirring direction. In addition, when the center of the cooking container 5 is set as the accumulation target position P1, it is a plane perpendicular to the cooking surface of the cooking container 5 and out of a plurality of virtual vertical planes passing through the center and each of the line segments L1 to L6. Only the line segment corresponding to the virtual vertical plane in which the variance with respect to the average height of the cooking material 6 in the virtual vertical plane is the largest can be set as the stirring direction. Also in this case, since the cooking material 6 located in the range where the cooking material 6 is intensely distributed can be moved, the cooking material 6 can be stirred effectively.

  Next, the agitation device drive unit 2 inserts the agitation device 4 at the operation start point obtained in the processing step S10 so as to be perpendicular to the cooking surface of the cooking container 5. At this time, the tip of the stirring device 4 may be brought into contact with the cooking surface of the cooking container 5 or may be stopped at a position where a predetermined interval (for example, 5 mm) is opened from the cooking surface of the cooking container 5. Further, the cooking material 6 attached to the inner wall of the cooking vessel 5 is inserted by bringing the stirring device 4 into contact with the inner wall of the cooking vessel 5 while controlling the force so that a predetermined force is applied in the outer peripheral direction of the cooking vessel 5. It can also be used to reduce burns.

  Next, the abnormality detection unit 104 monitors the abnormal state of the stirring device 4 and the cooking material 6 (S11), and if it is determined as an abnormal state (error) (YES in S12), the abnormal state is specified. To do. Then, an error recovery operation for the specified abnormal state is performed (S14), and the process proceeds to a completion confirmation step S16 of the predetermined mixing operation.

  On the other hand, when it is determined that it is not an abnormal state (No in S12), the stirrer driving unit 2 starts to move the stirrer 4 toward the accumulation target point (S13). Here, the moving distance of the stirring device 4 is set to, for example, about 1/10 of the length of the line segments L1 to L6 for defining the stirring direction. Moreover, the stirring tool 4 can be moved in the state which left the space | interval between the cooking surface of the cooking container 5, and the stirring tool 4. FIG. On the other hand, the cooking material 6 that is in contact with the cooking surface of the cooking container 5 is moved by moving the tip of the stirring device 4 while maintaining the state where it is in contact with the cooking surface of the cooking container 5 with a constant force. Therefore, the accumulated cooking material 6 can be evenly stirred. Furthermore, cooking is accompanied by the movement of the stirring utensil 4 by moving the stirring utensil 4 in a state where the stirring utensil 4 is inclined (for example, 60 °) so that the portion closer to the cooking container 5 is preceded by the movement in the stirring direction. The material 6 moves so as to ride on the stirring device 4, and the cooking material 6 that was on the bottom and the cooking material 6 that was on the top before the stirring can be switched up and down. In addition, after the mixing utensil 4 is inserted between the cooking material 6 and the cooking container 5 and the cooking material 6 is placed on the mixing utensil 4, the mixing utensil 4 above the cooking material 6 already positioned at the accumulation target point. , And by changing the position and posture of the stirring utensil 4 so that the cooking material 6 is placed on the cooking material 6 located at the accumulation target point, the cooking material having a long distance from the cooking surface of the cooking container 5 can be obtained. Close cooking materials can be sequentially replaced, and the heat of the cooking container 5 can be more evenly transmitted to the cooking material 6.

  Next, as a result of the stirring operation, it is determined whether or not the stirring device 4 has reached the predetermined range from the accumulation target point (S15). If not, the stirring device 4 and the cooking material 6 are determined. The process returns to the abnormal state detection step (S11).

  On the other hand, when the mixing device 4 has reached the predetermined range from the accumulation target point (YES in S15), whether or not there is still an unselected one among the operation start points set in the processing step S10. Is determined (S16). If there is an unselected operation start point (No in S16), an arbitrary one of the unselected operation start points is selected and set as the next operation start point (S18). As a selection method of the next operation start point, for example, a method of selecting an operation start point adjacent to an operation start point for which the mixing operation has already been completed, or an unselected operation start point of the cooking material 6 located nearby. For example, a method of selecting an operation start point having the highest height average can be used.

  When there is no unselected operation start point (YES in S16), a stirring completion determination (S17) is performed. Here, the value of the elapsed time timer 108 is compared with the value of the operation time designated by the user, and when they match, it is determined that the mixing is completed (S19).

  When the value of the elapsed time timer 108 is within the range of the operation time designated by the user (No in S19), it is determined that the stirring has not been completed, and the process returns to the height distribution measuring step (S5).

  On the other hand, if it is determined that the stirring is completed (YES in S19), the user is notified of the completion of stirring using a predetermined means as necessary, and the operation is stopped (S20). As the predetermined means, for example, a general notification means such as a means for emitting sound toward the outside or a means for blinking light can be used.

  Next, processing steps of the mountain climbing operation 202 will be described.

  First, similarly to the mountain making operation 201, the height distribution of the cooking material 6 inside the cooking container 5 is measured using the height distribution measuring unit 3 based on the position and size of the cooking container 5 detected in the processing step S3. (S22). Next, it is determined whether or not the maximum height of the height distribution measured by the height distribution measuring unit 3 is equal to or greater than the second threshold value of the mixing operation determination condition in the mixing operation parameter acquired in the processing step S4. (S23). If the maximum height is smaller than the second threshold (No in S23), it is determined that the mountain climbing has been completed, and the process proceeds to the above-described processing step S7 of the mountain making operation 201.

  Hereinafter, a method for specifying the mixing direction in the mountain climbing operation will be described with reference to FIGS. 4 and 6 to 9. FIG. 6 is a schematic view when the cooking surface of the cooking container 5 is viewed in a direction perpendicular to the cooking surface. FIG. 7 is a diagram schematically showing a cross-sectional shape along the direction a, the direction b, and the direction c in FIG. FIG. 8 is a histogram showing a distribution with respect to the average height of the cross-sectional shape of FIG. FIG. 9 is a schematic diagram for explaining a method of setting a movement target point in the stirring direction.

  4 and 6-9, first, when the maximum height is equal to or greater than the second threshold, the maximum height position of the cooking material 6 inside the cooking container 5 is extracted and operated. The starting point is set (S24).

  Next, the cooking material 6 in a plurality of planes (virtual vertical surfaces) set at predetermined angles around the axis in the direction perpendicular to the cooking surface of the cooking container 5 while passing through the maximum height position of the cooking material 6. A sectional shape of height (see FIG. 7) is extracted (S25).

  Specifically, FIG. 7 shows a cross-sectional shape of the cooking material 6 on a virtual vertical plane along the direction a, the direction b, and the direction c in FIG. As can be seen from FIG. 7, the direction a always passes through the cooking material 6. The direction b passes through the range where the cooking material 6 does not exist once it has moved slightly from the operation start point, but passes the range where the cooking material 6 exists again. The direction c always passes through a range where the cooking material 6 does not exist from a position slightly away from the operation start point. In these directions a, b and c, as shown in FIG. 8, it can be seen that the distribution of the height of the cooking material 6 with respect to the average height is the largest in the direction b. In addition, in this embodiment, when the diameter dimension of the cooking container 5 is set to D, only the change of the wavelength of about 1 / 10D-2D among the cross-sectional waveforms shown in FIG. 7 is considered. This is because if the shorter one is taken into consideration, the shape of the cooking material 6 itself is also affected.

  Therefore, the cross-sectional direction (direction b in the above example) having the largest dispersion of the height distribution is set as the stirring direction (S26).

  And the movement target point in the stirring direction is set as follows. That is, as shown in FIG. 9, the operation start point 501 among the intersections 504 and 505 between the stirring direction 502 and the inner wall of the cooking container 5 from the viewpoint of viewing the cooking surface of the cooking container 5 from the direction orthogonal to the cooking surface. The one with the larger distance from the point, that is, the intersection point 504 is set as the movement target point of the mixing device 4 (S27). More specifically, among the two sections sandwiching the operation start point 501 in the stirring direction 502, the intersection belonging to the section on the side where the vertical foot 503 is lowered from the center of the cooking container 5 with respect to the stirring direction 502. 504 is set as the movement target point.

  Next, the agitation device drive unit 2 inserts the agitation device 4 at the operation start point obtained in the processing step S27 (S28). Next, the abnormality detection unit 104 monitors the abnormal state of the stirring device 4 and the cooking material 6 (S29).

  Here, when it is determined that the state is abnormal (error) (YES in S30), the abnormal state is specified. Then, an error recovery operation for the specified abnormal state is performed (S32), and the process proceeds to step S33. On the other hand, when it is determined that the state is not abnormal (No in S30), the agitation device 4 is moved toward the movement target point set in the processing step S27 (S31). Specifically, the moving distance of the stirring device 4 can be, for example, 1/10 of the distance between the operation start point and the moving target point. Here, the stirring device 4 is moved in the stirring direction in a state where the stirring device 4 is inclined (about 60 °) so that the portion farther from the cooking container 5 precedes the movement in the stirring direction. By doing so, unlike the case where the stirring utensil 4 is moved so as to scoop up the cooking material 6 from below, the cooking material 6 can be moved while being suppressed in the middle of the stirring utensil 4, so the cooking material 6 Can be prevented from spilling out of the cooking container 5. In addition, since the cooking material 6 that overlaps the upper and lower portions is evenly stirred, the mountain climbing operation 202 can be performed while maintaining the state where the tip of the stirring device 4 is separated from the cooking surface of the cooking container 5 by a predetermined distance. . Thereby, the cooking material with a long distance from the cooking surface of the cooking container 5 and the cooking material close to each other are sequentially switched, and the heat of the cooking container 5 can be more uniformly transmitted to the cooking material 6.

  Next, as a result of the mixing operation, it is determined whether or not the movement target point has reached a predetermined range (S33). If not, detection of abnormal states of the mixing device 4 and the cooking material 6 is detected. Return to step (S29).

  On the other hand, when it is determined that the stirring device 4 has reached the predetermined range from the center of the cooking container 5, stirring completion determination is performed (S34). Specifically, the value of the elapsed time timer 108 is compared with the value of the operation time designated by the user, and when they match, it is determined that the mixing is completed. (S35).

  Here, when it is determined that the value of the elapsed time timer 108 is within the range of the operation time designated by the user (No in S35), it is determined that the mixing is not completed, and the cooking material height distribution measuring step (S22). Return to.

  On the other hand, when it is determined that the stirring is completed (YES in S35), the mixing is notified to the user using a predetermined means in the same manner as the mountain making operation 201 (S20), and the operation is stopped.

  In the present embodiment, as the determination of the completion of mixing, the value of the elapsed time timer 108 is compared with the operation time designated by the user. When it is output that the mixed state result in the unit 101 is sufficiently mixed, when the color of the cooking material imaged by the imaging camera falls within a predetermined color range, the cooking material is used by using the agitator driving unit 2 The case where the value of the reaction force detected by the force detection unit 25 when the skewer 6 is inserted into the skewer 6 exceeds a predetermined threshold may be mentioned.

  In the present embodiment, the mixing operation is performed on a straight line passing through the maximum height of the cooking material 6. However, the present invention is not limited to such a case where complicated control is implemented and measures are taken when the cooking material 6 is spilled from the cooking container. Other than this, for example, a spiral direction centering on the maximum height of the cooking material 6 may be considered as the stirring direction. Further, it is conceivable to perform the stirring operation by tilting the stirring device 4 from the cooking surface of the cooking container 5 and inserting it into the cooking material 6 and rotating the stirring device 4.

(Second Embodiment)
Next, a cooking assistance robot according to the second embodiment of the present invention will be described.

  The cooking assistance robot according to the second embodiment of the present invention is for performing cooking by uniformly stirring the cooking material while reducing burning and loss of shape. Specifically, the cooking assistance robot according to the present embodiment measures the temperature distribution state of the cooking material by the temperature distribution measuring unit 310, and the position and posture of the stirring tool by the stirring tool according to the temperature distribution of the cooking material. It is supposed to change.

  Since the configuration of the second embodiment of the present invention is the same as that of the first embodiment except for the control contents in the control unit, the detailed description thereof is omitted.

  Next, the operation of the cooking assistance robot 1 in the second embodiment will be described. 14A and 14B are flowcharts showing processing steps of the cooking assistance robot 1 according to the second embodiment of the present invention.

  As an outline of the basic operation, after various initializations, the crushing operation is performed while alternately repeating the mountain creation operation 201 and the mountain collapse operation 202.

  First, the cooking assistance robot 1 waits until a user instruction is input. That is, it waits for the user to turn on the cooking stove 8, insert the cooking material 6, and input the operation instruction (S 201).

  When the user designates the cooking recipe or the used cooking material, the amount used, and the operation time by the operation unit 27 and inputs the operation start, the elapsed time timer 108 and the operation history recording unit 405 are initialized (S202). Next, the position and size of the cooking container 5 and the height of the peripheral edge are measured (S203).

  Next, the mixing operation parameter corresponding to the type, usage amount and operation time of the cooking recipe or cooking material 6 designated by the user is acquired from the mixing information storage unit 105 and set in the operation instruction unit 107 (S204). The process proceeds to the mountain making operation 201 processing step.

  In the mountain making operation 201, based on the position and size of the cooking container 5 detected in step S202, the temperature distribution of the cooking material 6 inside the cooking container 5 is measured using the temperature distribution measuring unit 310 (S205). When the distribution of the temperature distribution is equal to or greater than the third threshold value of the stirring operation determination condition in the stirring operation parameter acquired in processing step S204 (YES in S206), a state in which a mountain already exists (a state in which mountain creation has been completed). And the current accumulated position of the cooking ingredients 6 is recorded in the operation history recording unit 405 (S221), and the process proceeds to step S224 described later.

  Here, the value acquired in process step S204 is used as the third threshold value.

  On the other hand, when the variance of the temperature distribution is lower than the third threshold (No in S206), the least frequently used place is read out from the use frequency of the cooking surface of the cooking container 5 stored in the operation history recording unit 405. At the same time, it is determined whether or not the usage frequency is less than a preset usage frequency (S207). Here, when the use frequency is less than the preset frequency, the position with the lowest use frequency is set as the accumulation target position for making the mountain of the cooking material 6 (S208), while the entire cooking container 5 is set. If the usage frequency exceeds the preset frequency in the area, the center of the cooking container 5 is set as the accumulation target position (S209).

  Next, a stirring direction for making a mountain of the cooking material 6 is set, and a mountain making operation is started (S210).

  Next, the stirring device 4 is inserted by the stirring device driving unit 2 so as to be perpendicular to the cooking surface of the cooking container 5 at the operation start point obtained in the processing step S210.

  Next, the abnormality detection unit 104 monitors the abnormal state of the mixing device 4 and the cooking material 6 (S211), and if it is determined as an abnormal state (error) (YES in S212), the abnormal state is identified. To do. Then, an error recovery operation for the specified abnormal state is performed (S214), and the process proceeds to the completion confirmation step S216 of the predetermined mixing operation.

  On the other hand, when it is determined that the state is not abnormal (No in S212), the stirring device drive unit 2 starts to move the stirring device 4 toward the accumulation target point (S213).

  Next, as a result of performing the stirring operation, it is determined whether or not the stirring tool 4 has reached the predetermined range from the accumulation target point (S215). If not, the stirring tool 4 and the cooking material 6 are determined. The process returns to the abnormal state detection step (S211).

  On the other hand, when the mixing device 4 has reached the predetermined range from the accumulation target point (YES in S215), whether or not there is an unselected one among the operation start points set in the processing step S210. Is determined (S216). Here, when there is an unselected operation start point (No in S216), any one of the unselected operation start points is selected and set as the next operation start point (S218).

  When there is no unselected operation start point (YES in S216), a stirring completion determination (S217) is performed. Here, the value of the elapsed time timer 108 is compared with the value of the operation time designated by the user, and when they match, it is determined that the mixing is completed (S219).

  When the value of the elapsed time timer 108 is within the range of the operation time designated by the user (No in S219), it is determined that the stirring has not been completed, and the process returns to the height distribution measuring step (S205).

  On the other hand, if it is determined that the mixing is completed (YES in S219), the user is notified of the completion of mixing using a predetermined means as necessary, and the operation is stopped (S220).

  Next, processing steps of the mountain climbing operation 202 will be described.

  First, similarly to the mountain making operation 201, based on the position and size of the cooking container 5 detected in processing step S203, the temperature distribution of the cooking material 6 inside the cooking container 5 is measured using the temperature distribution measuring unit 310 ( S222). Next, of the temperature distributions measured by the temperature distribution measuring unit 310, it is determined whether or not the dispersion of the temperature distribution is equal to or greater than the fourth threshold value of the stirring operation determination condition in the stirring operation parameter acquired in processing step S204 ( S223). Here, when the dispersion of the temperature distribution is smaller than the fourth threshold (No in S223), it is determined that the mountain climbing has been completed, and the process proceeds to the processing step S207 of the above-described mountain creation operation 201.

  Next, when the dispersion of the temperature distribution is equal to or greater than the fourth threshold value, the lowest temperature region of the cooking material 6 inside the cooking container 5 is calculated (S224). In accordance with this, the maximum temperature region of the cooking material 6 inside the cooking container 5 is calculated (S225).

  Next, the cross-sectional direction with the largest dispersion of the temperature distribution is set as the stirring direction (S226).

  And the movement target point in the stirring direction is set as follows. That is, the minimum temperature area | region of the cooking material 6 is set as an operation | movement start point among the selected cross sections. In addition, the maximum temperature region of the cooking material 6 in the selected cross section is set as the movement target point (S227).

  Next, the agitation device drive unit 2 inserts the agitation device 4 at the operation start point obtained in the processing step S227 (S228). Next, the abnormality detection unit 104 monitors the abnormal state of the stirring device 4 and the cooking material 6 (S229).

  Here, when it is determined as an abnormal state (YES in S230), the abnormal state is specified. Then, an error recovery operation for the specified abnormal state is performed (S232), and the process proceeds to the stirring completion determination step S234. On the other hand, when it is determined that the state is not abnormal (No in S230), the agitation device 4 is moved toward the movement target point set in the processing step S227 (S231).

  Next, as a result of the mixing operation, it is determined whether or not the movement target point has reached a predetermined range (S233). If not, detection of abnormal states of the mixing device 4 and the cooking material 6 is detected. The process returns to step (S229).

  On the other hand, when it is determined that the stirring device 4 has reached the predetermined range from the center of the cooking container 5, stirring completion determination is performed (S234). Specifically, the value of the elapsed time timer 108 is compared with the value of the operation time designated by the user, and when they match, it is determined that the mixing is completed. (S235).

  Here, when it is determined that the value of the elapsed time timer 108 is within the range of the operation time specified by the user (No in S235), it is determined that the mixing is not completed, and the cooking material height distribution measuring step (S222). Return to.

  On the other hand, when it is determined that the stirring is completed (YES in S235), the mixing is notified to the user using a predetermined means in the same manner as the mountain making operation 201 (S220), and the operation is stopped.

(Third embodiment)
Next, a cooking assistance robot according to a third embodiment of the present invention will be described.

  The cooking assistance robot according to the third embodiment of the present invention is for performing cooking by uniformly stirring the cooking material while reducing the burning and shape loss. Specifically, the cooking assistance robot according to the present embodiment measures the height distribution state of the cooking material by the height measurement unit, and measures the temperature distribution state of the cooking material by the temperature distribution measurement unit. Based on these measurement results, the position and posture of the stirring utensil / cooking container are changed according to the height / temperature distribution of the cooking material by the stirring utensil / cooking container drive unit.

  In the third embodiment of the present invention, there are provided means for holding the stirring device to change the position and posture, and means for measuring the height distribution / temperature distribution of the cooking material. A cooking assistance robot that adjusts the mixing operation according to the height distribution and temperature distribution of the cooking material will be described as an embodiment.

  The configuration will be described below with reference to the drawings. The same parts as those in the first embodiment of the present invention are denoted by the same reference numerals, and detailed description thereof is omitted.

  FIG. 10 is a diagram showing an outline of a cooking assistance robot according to the third embodiment of the present invention.

  Differences between the cooking assistance robot 301 according to the third embodiment of the present invention and the cooking assistance robot 1 according to the first embodiment of the present invention are the following three points. The first point is that a sound collection unit 311 that records sounds generated during the mixing operation is further provided. The second point is that a stirrer / cooking container drive unit 302 that changes the positions and postures of the stirrer 4 and the cooking container 5 instead of the stirrer driving unit 2 is provided. The third point is that the control unit 309 controls the cooking assist robot 301 by further using the output results of the temperature distribution measuring unit 310, the sound collecting unit 311 and the mixing utensil / cooking container driving unit 302 instead of the control unit 9. It is a point with.

  The stirrer / cooking container drive unit 302 is further configured to change the position and posture of the cooking container 5 in addition to the stirrer driver 2 of the cooking assistance robot 1 according to the first embodiment of the present invention. It has a hand part structure capable of holding a load and a load capacity performance.

  The temperature distribution measuring unit 310 is fixed above the heating region (not shown) of the cooking stove 8 and is configured to measure the distribution of the surface temperature of the cooking material 6 inside the cooking container 5 in a non-contact manner.

  Since the temperature distribution of the cooking container 5 and the cooking material 6 can be measured by the temperature distribution measuring unit 310, the heat of the cooking container 5 can be used effectively. That is, it is possible to perform a stirring operation so that the contact area between the insufficiently heated portion of the cooking material 6 and the cooking container 5 is increased, or to actively use the region where the average temperature of the cooking container 5 is high. Become.

  As the temperature distribution measuring unit 310, for example, a general far infrared camera that outputs the amount of far infrared rays emitted from an object as a color density can be used. In addition, a contact-type temperature sensor can be attached to the hand portion 24 of the stirring device driving unit 2. In this case, the temperature sensor is scanned over the measurement area according to the movement of the hand unit 24, and the contact with the cooking material 6 and the temperature measurement of the cooking container 5 are repeatedly and intermittently performed. Thereby, the temperature distribution of the whole area | region of the cooking container 5 can be measured. Furthermore, the temperature sensor may be built in the tip of the stirring device 4 to transmit temperature information.

  In the third embodiment of the present invention, the temperature distribution measuring unit 310 is fixed above the heating area of the cooking stove 8. However, it is necessary to always measure the temperature distribution from one place. For example, as with the height distribution measuring unit 3, the stirring device / cooking container driving unit 302 may be mounted on the arm unit or the hand unit.

  The sound collection unit 311 records sounds generated during the mixing operation.

  Thereby, when an excessive external force is detected by the force detection unit 25, based on the intensity of the frequency component included in the sound, whether the agitator has collided with the inner wall of the cooking container or the cooking material 6 is cooked. It is possible to identify whether the container 5 is sandwiched between the mixing device 4.

  As the sound collecting unit 311, a general moving coil microphone, a condenser microphone, a piezoelectric microphone, or the like can be used.

  Note that the temperature distribution measuring unit 310 and the sound collecting unit 311 of the present invention are attached to the hand unit 24 in consideration of incorporation into an existing cooking system. However, it is only necessary to be able to measure the temperature distribution of the cooking material 6 inside the cooking container 5, and it can also be realized by being configured to be fixed to another movable part or a fixed part, for example, the cooking stove 8 for cooking.

  FIG. 11 is a block diagram showing the configuration of the cooking assistance robot 301 in the third embodiment of the present invention.

  The difference between the cooking assistance robot 301 according to the third embodiment of the present invention and the cooking assistance robot 1 according to the first embodiment of the present invention is that, as a configuration of the control unit 309, an output result of the temperature distribution measurement unit 310. The heating state detection unit 401 that detects the heating state of the cooking ingredients using the mixing state detection unit 401 that detects the mixing state of the cooking ingredients using the output results of the temperature distribution measurement unit 310 and the height distribution measurement unit 3 402, a stirring direction selection unit 403 that selects the direction of the stirring operation using the output results of the temperature distribution measurement unit 310 and the height distribution measurement unit 3, a temperature distribution measurement unit 310, a height distribution measurement unit 3, and a sound collection And an abnormality detection unit 404 that detects an abnormal state from the output results of the unit 311 and the force detection unit 25.

  When the dispersion of the temperature distribution inside the cooking vessel 5 measured by the temperature distribution measurement unit 310 is equal to or greater than a predetermined threshold, the heating state detection unit 401 determines that the cooking material 6 is not heated uniformly. Moreover, the part of the cooking material 6 with the least heating is extracted by extracting the small area | region which becomes minimum temperature among temperature distribution.

  By performing the mixing operation so that the contact area between the insufficiently heated portion of the cooking material 6 and the cooking container 5 is increased, the cooking material 6 can be heated more uniformly.

  Further, by extracting a small region having the highest temperature, a region having the largest amount of heat can be extracted. Thereby, it becomes possible to utilize effectively the heat of the cooking container 5 and the cooking stove 8 by actively utilizing a small area having a high average temperature.

  Based on the output results from the height distribution measurement unit 3 and the temperature distribution measurement unit 310, the mixed state detection unit 402 has a maximum height region, a minimum height region, and a height dispersion of the cooking material 6 inside the cooking vessel 5. Calculate the maximum temperature range, minimum temperature range, and temperature variance. Moreover, the mixing state detection part 402 determines that mixing of the cooking material 6 is inadequate when dispersion | distribution of height, dispersion | distribution of temperature, or any one is more than a predetermined threshold value. Further, the mixed state detection unit 402 determines that the maximum height region or the minimum temperature region is a portion where the temperature of the cooking material 6 is low, and the minimum height region or the maximum temperature region is a portion where the temperature of the cooking material 6 is high, and determines the result. Output.

  The operation history recording unit 405 records the history of the mixing operation that has been performed. The cooking surface of the cooking container 5 is divided into small regions, the presence of the cooking material 6 in each region is detected using the height distribution measuring unit 3 or the temperature distribution measuring unit 310, and the time that has existed is recorded cumulatively. . Thereby, the usage frequency of each small area can be calculated.

  At the time of the mountain making operation, the stirring direction selection unit 403 determines the target mountain creation position of the next cooking material 6 using the frequency of use of each of the small areas recorded in the operation history recording unit 405, and moves to the target position. The moving direction of the stirring device 4 for collecting the cooking ingredients 6 is selected. Further, at the time of mountain climbing operation, the starting position and target position of the mountain cooking operation 6 of the cooking material 6 are determined from the output result of the temperature distribution measuring unit 310, and the moving direction of the mixing tool 4 for spreading the cooking material 6 is selected. To do. In the present embodiment, only the temperature distribution is used for selecting the moving direction of the hill-climbing operation. However, the configuration using the measurement result of the height distribution measuring unit 3 or the height distribution measuring unit 3 and the temperature is used. A configuration using both measurement results of the distribution measurement unit 310 may also be used.

  The abnormality detection unit 404 detects an abnormal state based on the output results from the height distribution measurement unit 3, the temperature distribution measurement unit 310, the force detection unit 25, and the sound collection unit 311, and informs the operation instruction unit 107 of the abnormal state. Notice. Specifically, the abnormality detection unit 404 detects that the cooking material 6 is likely to spill from the cooking container 5 based on the output result of the height distribution measurement unit 3. Further, the abnormality detection unit 404 detects the presence of an excessive temperature part based on the output result of the temperature distribution measurement unit 310.

  Furthermore, the abnormality detection unit 404 determines whether the stirring utensil 4 is in contact with the cooking container 5 based on the result of the force detection unit 25 or the cooking material 6 is between the stirring utensil 4 and the cooking container 5. It is discriminated whether the pinched state or the stirring device 4 is in contact with the user. Specifically, the abnormality detection unit 404 performs frequency analysis (for example, audio information from a certain period before recorded in the sound collection unit 311 when an external force equal to or greater than a predetermined threshold is detected in the mixing device 4. Fourier mixing), and the mixing device 4 contacts the cooking container 5 depending on whether the intensity and the content ratio of the frequency component in the vicinity of the natural frequency of the cooking container 5 is lower than a predetermined threshold among the frequency components of the audio information. It is discriminated whether or not it is in the state.

  In addition, the heating state detection unit 401, the mixing state detection unit 402, the mixing direction selection unit 403, the elapsed time timer 108, the operation type determination unit 103, the operation history recording unit 405, the abnormality detection unit 404, and the operation instruction unit 107 of the control unit 309. The functions of the agitation information storage unit 105 and the operation instruction input unit 106 may be realized by hardware such as a dedicated circuit, or each function is described by software and executed inside the computer. It may be realized.

  Next, the operation of the cooking assistance robot 301 in the third embodiment of the present invention will be described. 12A and 12B are flowcharts showing the processing steps of the cooking assistance robot 301 in the third embodiment of the present invention.

  First, like the cooking assistance robot 1 according to the first embodiment of the present invention, the cooking assistance robot 301 waits for an instruction input from the user. That is, it waits for the user to turn on the cooking stove 8, insert the cooking material 6, and input the operation instruction (S 301).

  When the user designates the cooking recipe or the used cooking material, the amount used, and the operation time by the operation unit 27 and inputs the operation start, the elapsed time timer 108 and the operation history recording unit 405 are initialized (S302). Next, the position and size of the cooking container 5 and the height of the peripheral edge are measured (S303).

  Next, the agitation operation parameter corresponding to the type, usage amount and operation time of the cooking recipe or cooking material 6 designated by the user is acquired from the agitation information storage unit 105 and set in the operation instruction unit 107 (S304). The process proceeds to the processing step of the mountain making operation 205.

  In the mountain making operation 205, based on the position and size of the cooking vessel 5 detected in step S302, the height distribution of the cooking material 6 inside the cooking vessel 5 is measured using the height distribution measuring unit 3 (S305). If the maximum height of the height distribution is equal to or greater than the fifth threshold value of the stirring operation determination condition in the stirring operation parameter acquired in processing step S304 (YES in S306), a mountain already exists (mountain It is determined that the preparation has been completed), the current accumulation position of the cooking ingredients 6 is recorded in the operation history recording unit 405 (S321), and the process proceeds to step S324 described later.

  On the other hand, when the maximum height of the height distribution is lower than the fifth threshold value of the stirring operation determination condition (No in S306), the most frequently used frequency among the cooking surfaces of the cooking container 5 recorded in the operation history recording unit 405. Read out low places. At the same time, it is determined whether the usage frequency is less than a preset usage frequency (S307). Here, when the usage frequency is less than the preset usage frequency, the position with the lowest usage frequency is set as the accumulation target point for creating the mountain of the cooking material 6 (S308). On the other hand, when the usage frequency exceeds the preset frequency, the center of the cooking container 5 is set as the accumulation target position (S309).

  Next, a stirring direction for making a pile of the cooking material 6 is set, and a pile making operation is started by the stirring tool / cooking container driving unit 302 (S310).

  Next, the temperature distribution on the surface of the cooking material 6 is measured using the temperature distribution measuring unit 310 (S340). And it is determined whether the highest temperature of the surface temperature of the cooking material 6 is more than a 7th threshold value (S341). And when the maximum temperature of the surface temperature of the cooking material 6 is more than a 7th threshold value (it is YES at S341), in order to utilize effectively the heat from the cooking surface of the cooking vessel 5, the maximum temperature area | region Is set as the accumulation target position (S342), and the mountain creation operation of S310 is resumed. On the other hand, when the maximum temperature of the surface temperature of the cooking material 6 is less than the seventh threshold (NO in S341), the abnormality detection unit 404 monitors the abnormal state of the stirring device 4 and the cooking material 6 described later. Perform (S311). And when it is judged as an abnormal state (it is YES at S312), the abnormal state is specified. Then, an error recovery operation for the specified abnormal state is performed (S314), and the process proceeds to the stirring completion determination step S315. On the other hand, when it is determined that the state is not abnormal (NO in S312), the agitation device 4 is moved toward the accumulation target point set in the processing steps S308, S309, and S342 (S313).

  Next, as a result of the stirring operation, it is determined whether or not the stirring device 4 has reached the predetermined range from the accumulation target point (S315). If not, the stirring device 4 and the cooking material 6 are determined. The process returns to the abnormal state detection step (S311).

  On the other hand, when the mixing device 4 has reached the predetermined range from the accumulation target point (YES in S315), it is determined whether or not there is an unselected one among the start points set in the processing step S310. (S316). If there is an unselected operation start point (No in S316), an arbitrary one of the unselected division points is selected and set as the next operation start point (S318). As a selection method of the next operation start point, for example, a method of selecting a division point adjacent to a division point for which the mixing operation has already been completed, and the height of the cooking material 6 located nearby among the unselected operation start points. For example, a method of selecting a dividing point having the largest average can be given.

  When there are no unselected division points (YES in S316), the mixing completion determination (S317) is performed. Here, the value of the elapsed time timer 108 is compared with the value of the operation time designated by the user, and if they match, it is determined that the mixing is complete (S319).

  When the value of the elapsed time timer 108 is within the range of the operation time designated by the user (No in S319), it is determined that the mixing has not been completed, and the process returns to step S305.

  On the other hand, if it is determined that the stirring is completed (YES in S319), the user is notified of the completion of stirring using a predetermined means, and the operation is stopped (S320). As the predetermined means, a general notification means such as a means for emitting sound toward the outside or a means for blinking light can be used.

  Next, processing steps of the mountain climbing operation 206 will be described.

  First, similarly to the mountain making operation 205, based on the position and size of the cooking container 5 detected in step S303, the height from the cooking surface of the cooking material 6 inside the cooking container 5 using the height distribution measuring unit 3 is used. The distribution is measured (S322). Next, in the height distribution measured by the height distribution measuring unit 3, it is determined whether or not the maximum height is equal to or greater than the sixth threshold value of the stirring operation determination condition in the stirring operation parameter acquired in the processing step S304. (S323). If the maximum height is smaller than the sixth threshold (No in S323), it is determined that the mountain climbing has been completed, and the process proceeds to the processing step S307 of the above-described mountain creation operation 205.

  On the other hand, if it is equal to or greater than the sixth threshold of the stirring operation determination condition (YES in S323), the maximum height position of the cooking material 6 inside the cooking container 5 is extracted and set as the operation start point (S324). .

  Next, the cooking material 6 in a plurality of planes (virtual vertical planes) set at predetermined angles around the axis in the direction perpendicular to the cooking surface of the cooking container 5 while passing through the maximum height position of the cooking material 6. A cross-sectional shape having a height is extracted (S325).

  Next, the surface temperature distribution of the cooking material 6 inside the cooking container 5 is measured (S326).

  Next, it is determined whether or not the maximum temperature of the surface of the cooking material 6 is equal to or higher than a seventh threshold (S327). When the maximum temperature on the surface of the cooking material 6 is equal to or higher than the seventh threshold (YES in S327), the lowest temperature region is selected as the operation start point and the highest temperature region is selected as the movement target point (S329).

  Next, when the maximum temperature of the surface of the cooking material 6 is lower than the seventh threshold (NO in S327), the cross-sectional direction 502 having the largest dispersion in height is selected as the stirring direction (S328).

  Next, among the intersections 504 and 505 between the stirring direction 502 and the inner wall of the cooking container 5, the side 504 with the perpendicular foot 503 lowered from the center of the cooking container 5 is selected as the movement target point (S330).

  Next, a stirrer is inserted at the operation start point of the cooking material 6 set in S328 or 329 (S331).

  Next, the abnormality detection unit 404 monitors the abnormal state of the stirring device 4 and the cooking material 6 described later (S332), and if it is determined as an abnormal state (error) (YES in S333), the abnormal state is displayed. Identify. Then, an error recovery operation for the specified abnormal state is performed (S335), and the process proceeds to the stirring completion determination step S336. On the other hand, when it is determined that the state is not abnormal (NO in S333), the agitation device 4 is moved toward the movement target point set in the processing step S329 or S330 (S334).

  Next, stirring completion determination is performed (S337). Here, the value of the elapsed time timer 108 is compared with the value of the operation time designated by the user, and if they match, it is determined that the mixing is complete (S38). When the value of the elapsed time timer 108 is within the range of the operation time designated by the user (No in S338), it is determined that the stirring has not been completed, and the process returns to the cooking material height distribution measurement step (S322).

  On the other hand, when it is determined that the stirring is completed (YES in S338), the completion of the stirring is notified to the user using a predetermined means in the same manner as the mountain making operation 205, and the operation is stopped (S320).

  In addition, in embodiment, although it is set as the structure which compares the value of the elapsed time timer 108 with the operation | movement time designated by the user as a judgment of completion of stirring, the temperature of the cooking material 6 measured by the temperature distribution measuring unit 310 is used. It is also conceivable to determine whether or not the distribution exceeds a preset value.

  Further, as the determination of the completion of the mixing, it may be considered to compare the sound stored in advance by the sound collecting unit 311 after the mixing is completed with the sound collected at the present time.

  Furthermore, in this Embodiment, although it is supposed that the range with the lowest utilization frequency among the cooking surfaces of the cooking vessel 5 is set as the accumulation target position of the mountain making operation, This position can be set as the accumulation target position.

  Further, in the present embodiment, the portion of the cooking surface of the cooking container 5 that is least frequently used is set as the accumulation target position for creating a mountain, and the division point between the accumulation target position and the peripheral edge of the cooking container 5 Is set to pass through the region having the lowest average temperature among the regions on the cooking container 5 divided by connecting the accumulation target position and each dividing point. The direction from the edge of the cooking container 5 to the accumulation target position can also be set as the stirring direction.

  Moreover, in this Embodiment, the operation start point and the movement target point were set inside the cooking container 5, and the stirring tool 4 was moved between these. However, instead of this, it is also possible to stir by setting the inclination start position and the inclination end position and inclining the cooking container 5 so that the inclination start position is vertically above and the inclination end position is vertically below. Here, it is preferable that the inclination angle of the cooking container 5 is set so as to increase as the distance between the inclination start position and the inclination end position increases. Moreover, not only the cooking container 5 is inclined, but the cooking container 5 is vibrated with a predetermined period (for example, 0.5 seconds) and a predetermined amplitude (for example, 10 mm). Thereby, when the inclination start position is close to the inclination end position, that is, when the cooking material 6 is steeply unevenly distributed, the inclination angle becomes small, so that it is possible to reduce spilling from the cooking container. On the contrary, when the inclination start position and the inclination end position are separated, that is, when the cooking material is gently unevenly distributed, the inclination angle becomes large, and the cooking material 6 moves due to friction with the bottom surface of the cooking container 5. You can improve the situation that does not. Here, the inclination angle of the cooking container 5 is increased as the distance between the inclination start position and the inclination end position is increased. However, the cooking container 5 may be inclined by a predetermined constant angle (for example, 15 degrees). Moreover, the vibration of the cooking container 5 does not necessarily need to be performed.

  Next, the operation for detecting an abnormal state during the mixing operation will be described in more detail. FIG. 13 is a flowchart showing the abnormal state detection processing steps during the mixing operation of the cooking assistance robot in the first to third embodiments of the present invention.

  First, an abnormality detection threshold value corresponding to the specified type of cooking recipe or cooking material, amount of use, and operation time is acquired from the stirring information storage unit 105 (S101). The abnormality detection threshold includes information for determining that an abnormal external force is generated based on the output result of the force detection unit 25 and information for detecting a collision between the cooking container 5 and the mixing device 4. It is. Specifically, examples of the abnormality detection threshold include a limit threshold for external force generated when a mixing operation corresponding to a specific recipe is performed, and the natural frequency of the cooking container 5.

  Next, the output value of the force detection unit 25 is acquired (S102) and compared with an abnormality detection threshold value (S103).

  If the output value of the force detection unit 25 is equal to or greater than the abnormality detection threshold (YES in S103), the process proceeds to a contact state determination process described later. If the output value is below the abnormality detection threshold (No in S103), The process proceeds to the next cooking material overflow warning determination process.

  As the cooking material overflow warning determination processing, the height distribution measuring unit 3 measures the height distribution of the cooking material 6 in the vicinity of the peripheral edge of the cooking container 5 (S104), and this height distribution and the above-described processing step S4 or processing are performed. A comparison is made with a threshold value obtained by multiplying the average height of the peripheral edge of the cooking container acquired in step S204 by a predetermined safety factor (for example, 0.75) (S105). Here, when the average height of the cooking material 6 exceeds the threshold (No in S105), it is determined that the cooking material 6 is likely to overflow from the cooking container 5, and a warning error is output (S107). ). On the other hand, when the average height of the cooking material 6 is equal to or less than the threshold value (YES in S105), it is determined that there is no abnormality, and no abnormality is output (S106).

  As the contact state determination process, the recorded waveform from the time point that goes back for a predetermined time from the time point when the external force is detected by the force detection unit 25 among the sound information measured by the sound collecting unit 311 to the present time. Extract (S108). That is, the voice information of the section from the time when the stirring device 4 is thought to have contacted an unknown object to the present is extracted.

  Next, frequency analysis (for example, Fourier transform) is performed (S109), and the intensity and content ratio of the frequency component near the natural frequency of the cooking vessel 5 are compared with a predetermined threshold (S110). When the intensity and the content ratio of the frequency component near the natural frequency of the cooking container 5 exceed a predetermined threshold (No in S110), it is determined that the inner wall of the cooking container 5 and the mixing device 4 are in contact with each other. A container contact error is output (S111). On the other hand, when the intensity and the content ratio of the frequency component are equal to or less than the threshold value (YES in S110), it is determined that the cooking material 6 is sandwiched between the cooking container 5 and the mixing device 4, and a cooking material sandwiching error is output. (S112).

  The specific embodiments described above mainly include inventions having the following configurations.

  That is, the cooking assistance robot according to one aspect of the present invention is a cooking assistance robot that performs cooking by physically moving the cooking material inside the cooking container, and performs the stirring operation for moving the cooking material. Based on the height distribution of the cooking material measured by the drive unit, the height distribution measurement unit that measures the height distribution of the cooking material in the cooking container, and the height distribution measurement unit, the mixing direction of the mixing operation is selected. A stirring direction selection unit and an operation instruction unit for instructing the stirring driving unit according to the stirring direction to the stirring drive unit, and when a mountain having a predetermined height or more is formed in the cooking container, the mixing direction selection is performed. The part selects the mixing direction for breaking the mountain.

  According to the present invention, when a mountain having a predetermined height or more is formed in the cooking container, that is, when the cooking material is deposited at a position that is difficult to be heated away from the cooking surface of the cooking container, This cooking material can be dropped to a low position and heated.

  Therefore, according to the present invention, it is possible to perform efficient stirring cooking in which uneven cooking of the cooking material inside the cooking container hardly occurs.

  Specifically, the stirring direction selection unit is a surface perpendicular to the cooking surface of the cooking container, and the cooking material in each virtual vertical surface among a plurality of virtual vertical surfaces passing through the vertex where the height of the cooking material is maximum. The direction along which the variance with respect to the average of the heights becomes the maximum can be selected as the stirring direction.

  According to this configuration, the mountain can be broken along the direction in which the variance with respect to the average height is maximized in the virtual vertical plane, that is, the direction in which the cooking material is most unevenly distributed. By reducing the dispersion, the entire cooking material can be heated evenly.

  In the cooking assistance robot, the stirring direction selection unit sets the vertex as the movement start point, and the farther from the vertex of the two intersections where the vertical plane selected as the stirring direction and the edge of the cooking container intersect. It is preferable to set the intersection point as the movement target point.

  According to this configuration, the cooking material can be moved in the direction in which the distance to the edge is long with the apex as a reference, so that the mountain can be broken. Therefore, the cooking material accumulated in the mountain is spread over a wide range in the cooking container. This allows the cooking ingredients to be heated evenly.

  In the cooking assistance robot, when there is no mountain having a predetermined height or more in the cooking container, it is preferable that the stirring direction selection unit selects a stirring direction for creating the mountain in the cooking container.

  According to this configuration, when there is no mountain having a predetermined height or more in the cooking container, that is, when the cooking material spreads relatively uniformly in the cooking container, the mountain is once formed and the above-described hill-breaking operation is performed. Since the cooking material that has been in contact with the cooking surface of the cooking container and the cooking material that has been positioned on the surface layer can be interchanged, the cooking material can be heated more uniformly.

  The cooking assistance robot further includes an operation history recording unit that records a history of past agitation operations, and the agitation direction selection unit uses less frequently than a predetermined value on the cooking surface of the cooking container based on the agitation activity history. It is preferable to specify a range, set a target position for creating a mountain in a low-use range, and select the direction from the edge of the cooking container to the target position as the stirring direction.

  According to this configuration, since it is decided to make a mountain in a range where the use frequency is lower than the predetermined value, that is, in a range where the heat of the cooking surface of the cooking container has not been effectively used until now, the heat of the cooking container is reduced. It can be used effectively. In addition, the configuration can shorten the time during which a part of the cooking container is heated more than necessary, and thus has the effect of extending the life of the cooking container.

  In the cooking assistance robot, the stirring direction selection unit is a direction along a line segment having a predetermined length or more among a plurality of line segments respectively connecting a plurality of start points and target positions set at the edge of the cooking container. Is preferably selected as the agitation direction.

  According to this configuration, a stirring direction for making a pile of cooking ingredients is selected to be longer than a predetermined length, so that it is possible to prevent selection of a stirring direction with a short distance that hardly collects cooking ingredients. As a result, the efficiency of the mixing operation can be improved.

  In the cooking assistance robot, the stirring direction selection unit sets the center of the cooking surface of the cooking container as a target position for creating a mountain when there is no range where the use frequency is lower than a predetermined value among the cooking surfaces of the cooking container. Is preferred.

  According to this configuration, even if there is no mountain having a predetermined height or more and there is no range of use frequency lower than the specified value, the mountain is once formed at the center of the cooking container and the above-described mountain collapse. By performing the operation, the cooking material in contact with the cooking surface of the cooking container and the cooking material located on the surface layer can be exchanged. Moreover, according to a structure, a cooking material can be collected uniformly toward the center from the whole cooking surface of a cooking container. Further, in the configuration, since the cooking material is collected at the center of the cooking container, it is possible to reduce spilling of the cooking material from the cooking container as compared with a case where the cooking material is collected at a portion other than the center of the cooking container.

  The cooking assistance robot further includes a temperature distribution measurement unit that measures the temperature distribution inside the cooking container, and the stirring direction selection unit sets a position where the temperature is highest among the cooking surfaces of the cooking container as a target position for creating a mountain. The direction from the edge of the cooking container to the target position is preferably selected as the stirring direction.

  According to this configuration, since the mountain is to be created in the position where the temperature is the highest among the cooking surfaces of the cooking container, that is, the heat of the cooking surface of the cooking container has not been used effectively so far, Can be used effectively. In addition, the configuration can shorten the time during which a part of the cooking container is heated more than necessary, and thus has the effect of extending the life of the cooking container.

  In the cooking assistance robot, it is preferable that the stirring direction selection unit sets the center of the cooking surface of the cooking container as a target position for creating a mountain, and selects the direction from the edge of the cooking container toward the target position as the stirring direction.

  According to this configuration, cooking materials can be collected from the entire cooking surface of the cooking container toward the center evenly. Moreover, in a structure, since cooking material is collected to the center of a cooking container, it can reduce that cooking material spills from a cooking container compared with the case where it collects in parts other than the center of a cooking container.

  In the cooking assistance robot, the stirring direction selection unit sets the center of the cooking surface of the cooking container as a target position for creating a mountain, sets a plurality of starting points at the edge of the cooking container, and is perpendicular to the cooking surface of the cooking container. A direction along the virtual vertical plane in which the variance with respect to the average height of the cooking material in each virtual vertical plane is the largest among the plurality of virtual vertical planes passing through the target position and each starting point. It is preferable to select the stirring direction.

  According to this configuration, in addition to the effect of collecting the cooking ingredients at the center of the cooking container as described above, the direction in which the variation in the height of the cooking ingredients is the largest, that is, the direction in which the formation of the cooking ingredient is insufficient is detected. Therefore, the mountain-building operation can be efficiently performed by performing the mixing operation in that direction.

  The cooking assistance robot further includes a temperature distribution measurement unit that measures the temperature distribution inside the cooking container, and the stirring direction selection unit sets the center of the cooking surface of the cooking container as a target position for creating a mountain and the edge of the cooking container. A plurality of division points are set in the section, and the cooking container set to pass through the region having the lowest average temperature among the plurality of regions on the cooking container divided by connecting the target position and each division point. The direction from the edge to the target position is preferably selected as the stirring direction.

  According to this configuration, cooking materials that are not sufficiently heated can be collected in the central region where the temperature of the cooking container is high, so that the cooking materials can be heated evenly by effectively using the heat of the cooking container.

  In the cooking assistance robot, the agitation drive unit is configured to perform the agitation operation by changing the position and angle of the agitation utensil attached to the agitation drive unit in the cooking container. Of the utensils, it is preferable to move the mixing utensil in an inclined state so that the part farther from the cooking container precedes the movement in the mixing direction.

  According to this configuration, since the stirring operation can be performed by directly applying a force to the cooking material via the stirring tool, the crushed operation of the cooking material in the cooking container can be performed accurately and stably. it can. In addition, in the configuration, the stirrer is moved in a state where the stirrer is tilted so that the part farther from the cooking container moves in the stirrer direction, so that the cooking material that has collapsed from the mountain is in the middle of the stirrer. By pressing from above with the part, it is possible to prevent the cooking material from spilling out of the cooking container.

In the cooking assistance robot, the stirring drive unit is configured to perform the stirring operation by changing the position and angle of the stirring tool attached to the stirring drive unit in the cooking container. Of the utensils, it is preferable to move the stirring utensil in an inclined state so that the portion closer to the cooking utensil precedes the movement in the mixing direction.

  According to this configuration, the tip of the stirring utensil is slid between the cooking surface of the cooking container and the cooking material in a state where the stirring utensil is inclined so that the portion closer to the cooking utensil is preceded by the movement in the stirring direction. Since the stirring utensil is moved while the stirring utensil is laid down, a pile of cooking materials can be made while scooping up the cooking material in contact with the cooking surface of the cooking container. Therefore, according to a structure, the heat of a cooking container can be uniformly transmitted by a cooking material by replacing the cooking material which touches the cooking surface of a cooking container, and the cooking material located in a surface layer.

  In the cooking assistance robot, it is preferable that the stirring drive unit is configured to perform a stirring operation by changing the position and angle of the cooking container or by applying vibration to the cooking container.

  According to this configuration, the foreign material is not brought into direct contact with the cooking material, and no extra force is applied to the cooking material, so that it is possible to suppress the occurrence of mold deformation even when the cooking material is easily deformed. .

  In the cooking assistance robot, a stirring information storage unit for storing stirring information set in advance for each cooking material and cooking recipe, and input of information including at least the type of cooking material, the amount used, the start of operation, and the operation time It is preferable that an operation instruction input unit is further provided, and the mixing operation by the mixing drive unit is controlled based on the information input by the operation instruction input unit and the mixing information.

  According to this configuration, for example, based on the type of cooking material input by the user, cooking suitable for the cooking material, for example, control of the mixing speed for reducing the deformation of the cooking material, etc. Can do.

  The cooking assistance robot further includes a mixing state detection unit that detects the mixing state of the cooking material based on the height distribution measured by the height distribution measuring unit, and the heating amount based on the mixing state by the mixing state detection unit It is preferable that the heating time, the stirring direction and the stirring time are adjusted.

  According to this configuration, since the mixing state of the cooking ingredients can be detected, the heating amount, the heating time, the stirring direction, and the stirring time can be adjusted based on the mixing state.

  In the cooking assistance robot, the agitation drive unit is configured to perform the agitation operation by changing the position and angle of the agitation device attached to the agitation drive unit in the cooking container, and applies an external force applied to the agitation device. When a force detection unit to detect, a sound collection unit that records sound generated when the mixing device comes into contact with an object other than the mixing device, and when an external force applied to the mixing device exceeds a predetermined threshold, a predetermined time By extracting the sound from the sound collecting unit until the time when the threshold value is exceeded, and by determining whether or not the intensity of the frequency component in the vicinity of the natural frequency of the cooking container is below a predetermined value among the frequency components of the sound And an abnormality detection unit that detects whether or not the abnormality is present. When the abnormality detection unit detects that there is an abnormality, the adjustment is performed between the cooking container and the mixing utensil. It is determined that the material is sandwiched, it is preferably configured to stop the operation stirring being performed at present.

  According to this configuration, the stirring operation can be stopped when the cooking material is sandwiched between the cooking container and the stirring utensil, thereby suppressing an excessive force from being applied to the cooking material. Shape loss can be suppressed even for relatively soft cooking ingredients.

  A cooking assistance method according to another aspect of the present invention is a cooking assistance method in which cooking is performed by physically moving a cooking material inside a cooking container by a cooking assistance robot, and cooking is performed in the cooking assistance robot. A step of measuring the height distribution of the cooking material in the container; a step of determining whether or not a mountain having a predetermined height or more is formed in the cooking container in the cooking assistance robot; Select the mixing direction for breaking the mountain when a mountain exists, while selecting the mixing direction for creating the mountain when no mountain exists, and the mixing drive selected by the mixing drive of the cooking assistance robot Performing the operation of breaking the mountain or the operation of creating the mountain by moving the cooking ingredients in the direction.

According to the present invention, when a mountain having a predetermined height or more is formed in the cooking container, that is, when the cooking material is deposited at a position that is difficult to be heated away from the cooking surface of the cooking container, This cooking material can be dropped and heated to a low position. On the other hand, when there is no mountain higher than the predetermined height, that is, when the cooking material spreads relatively uniformly in the cooking container, the mountain is temporarily formed and the above-described hill-climbing operation is performed. Since the cooking material in contact with the cooking surface and the cooking material located on the surface layer can be replaced, the cooking material can be heated uniformly.

Therefore, according to the present invention, uneven heating of the cooking container inside the cooking material can perform difficult efficient stirring cooking occurs.

It is a figure which shows the outline | summary of the cooking assistance robot which concerns on the 1st Embodiment of this invention. It is a figure which shows the detailed structure of the stirring tool drive part of the cooking assistance robot of FIG. It is a block diagram which shows the electrical structure in the cooking assistance robot of FIG. It is a flowchart which shows the process step of the cooking assistance robot of FIG. It is a flowchart which shows the process step of the cooking assistance robot of FIG. It is the schematic when a cooking container is seen in the direction perpendicular | vertical to the cooking surface of the said cooking container. It is the schematic when a cooking container is seen in the direction perpendicular | vertical to the cooking surface of the said cooking container. It is a figure which shows the cross-sectional shape along the direction a of FIG. 6, the direction b, and the direction c, respectively. It is a histogram which shows distribution with respect to the average of height about the cross-sectional shape of FIG. It is the schematic for demonstrating the method of setting the movement target point of the stirring direction. It is a figure which shows the outline | summary of the cooking assistance robot which concerns on the 3rd Embodiment of this invention. It is a block diagram which shows the electrical structure in the cooking assistance robot of FIG. It is a flowchart which shows the process step of the cooking assistance robot of FIG. It is a flowchart which shows the process step of the cooking assistance robot of FIG. It is a flowchart which shows the detail of the error process step in the stirring operation | movement of the cooking assistance robot which concerns on the 1st to 3rd embodiment of this invention. It is a flowchart which shows the process step of the cooking assistance robot which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows the process step of the cooking assistance robot which concerns on the 2nd Embodiment of this invention.

L1 line segment P1 accumulation target position 1,301 Cooking assist robot 2 Appliance drive unit 3 Height distribution measuring unit 4 Stirring utensil 5 Cooking container 6 Cooking material 9,309 Control unit 24 Hand unit 25 Force detection unit 27 Operation unit 101, 402 Mixing state detection unit 102, 403 Mixing direction selection unit 103 Operation type determination unit 104, 404 Abnormality detection unit 105 Stirring information storage unit 106 Operation instruction input unit 107 Operation instruction unit 302 Cooking container driving unit 310 Temperature distribution measurement unit 311 Sound collection unit 401 Heating state detection unit 405 Operation history recording unit

Claims (19)

A stirring drive that stirs the cooking ingredients inside the cooking container;
A height distribution measurement unit for measuring the height distribution of the cooking material with reference to the cooking surface of the cooking container;
When the height of the cooking material measured by the height distribution measuring unit is a predetermined value or more, a stirring direction selecting unit that selects a stirring direction of the stirring operation;
An operation instruction unit for instructing the stirring drive unit according to the stirring direction ,
The agitation direction selection unit passes through a vertex that maximizes the height of the cooking material on a surface perpendicular to the cooking surface, and a direction along the surface where the dispersion of the height of the cooking material is maximized. A cooking assistance robot characterized by being selected as a stirring direction . The stirring direction selection unit sets the vertex as a movement start point, and moves the intersection far from the vertex among the two intersections where the surface selected as the stirring direction and the edge of the cooking container intersect Must be set to a point
The cooking assistance robot according to claim 1. A stirring drive that stirs the cooking ingredients inside the cooking container;
A height distribution measurement unit for measuring the height distribution of the cooking material with reference to the cooking surface of the cooking container;
When the height of the cooking material measured by the height distribution measurement unit is less than a predetermined value, a stirring direction selection unit that selects a mountain-making stirring direction of the stirring operation;
An operation instructing unit for instructing the agitation driving unit to agitation operation according to the mountain-making agitation direction,
The mixing direction selection unit specifies an area of the cooking surface where the degree of exposure of the cooking surface is higher than a predetermined value, sets the region with the high degree of exposure as a mountain creation target position, and moves toward the mountain creation target position The direction should be selected as the mountain-shaking direction
Cooking assistance robot characterized by. A stirring drive that stirs the cooking ingredients inside the cooking container;
A height distribution measurement unit for measuring the height distribution of the cooking material with reference to the cooking surface of the cooking container;
When the height of the cooking material measured by the height distribution measurement unit is less than a predetermined value, a stirring direction selection unit that selects a mountain-making stirring direction of the stirring operation;
An operation instructing unit for instructing the agitation driving unit in accordance with the agitation direction of the mountain making;
An operation history recording unit that records a time during which cooking ingredients existed for each predetermined region of the cooking surface as a history of the stirring operation of the stirring drive unit;
The stirring direction selection unit specifies a region of the cooking surface whose usage frequency of the cooking surface is lower than a predetermined value based on the history of the stirring operation, and a mountain creation target position for creating a mountain in the region of low usage frequency And select the direction toward the mountain creation target position as the mountain agitation direction.
A cooking assistance robot characterized by The agitation direction selection unit selects a direction along a line segment having a predetermined length or more among a plurality of line segments respectively connecting a plurality of start candidate points set at an edge of the cooking container and the target position. It should be selected as the direction of stirring the mountain
The cooking assistance robot according to claim 3 or 4, characterized in that: The agitation direction selection unit sets the center of the cooking surface of the cooking container as the mountain creation target position when the use frequency of the entire cooking surface of the cooking container is higher than a predetermined value.
The cooking assistance robot according to claim 4. A stirring drive that stirs the cooking ingredients inside the cooking container;
A height distribution measurement unit for measuring the height distribution of the cooking material with reference to the cooking surface of the cooking container;
When the height of the cooking material measured by the height distribution measurement unit is less than a predetermined value, a stirring direction selection unit that selects a mountain-making stirring direction of the stirring operation;
An operation instructing unit for instructing the agitation driving unit in accordance with the agitation direction of the mountain making;
A temperature distribution measuring unit for measuring the temperature distribution of the cooking surface of the cooking container,
The stirring direction selection unit sets a position having the highest temperature among the cooking surfaces of the cooking container as a mountain creation target position, and selects a direction toward the mountain creation target position as the mountain creation stirring direction.
Cooking assistance robot characterized by. A stirring drive that stirs the cooking ingredients inside the cooking container;
A height distribution measurement unit for measuring the height distribution of the cooking material with reference to the cooking surface of the cooking container;
When the height of the cooking material measured by the height distribution measurement unit is less than a predetermined value, a stirring direction selection unit that selects a mountain-making stirring direction of the stirring operation;
An operation instructing unit for instructing the agitation driving unit to agitation operation according to the mountain-making agitation direction,
The stirring direction selection unit sets a center of the cooking surface of the cooking container as a mountain creation target position, and selects a direction toward the mountain creation target position as the mountain creation stirring direction.
Cooking assistance robot characterized by. The stirring direction selection unit sets the center of the cooking surface of the cooking container as a mountain creation target position, sets a plurality of start candidate points at the edge of the cooking container, and sets the mountain creation target position and each start candidate. The direction along the surface through which the dispersion of the height of the cooking material is maximized among the plurality of surfaces that pass through the point and is perpendicular to the cooking surface of the cooking container is selected as the mountain-making stirring direction.
The cooking assistance robot according to claim 8. A temperature distribution measuring unit for measuring the temperature distribution of the surface of the cooking material;
The stirring direction selection unit sets the center of the cooking surface of the cooking container as the mountain creation target position, sets a plurality of division points on the edge of the cooking container, and sets the mountain creation target position and each division point. Of the plurality of regions on the cooking container that are divided by tying together, the direction passing through the region where the average temperature of the surface of the cooking material is the lowest is selected as the mixing direction of the mountain.
The cooking assistance robot according to claim 8. The agitation drive unit performs the agitation operation in a state where the agitation device attached to the agitation drive unit is inclined.
The cooking assistance robot according to any one of claims 1 to 10, wherein: The agitation drive unit performs the agitation operation by changing the position and angle of the cooking container.
The cooking assistance robot according to any one of claims 1 to 11, wherein: Further comprising an operation instruction input unit that receives input of information including the type, amount of use, and operation time of the cooking ingredients,
The agitation drive unit controls the agitation speed based on information input by the operation instruction input unit.
The cooking assistance robot according to claim 1, wherein: A force detection unit for detecting an external force applied to the stirring device attached to the stirring drive unit;
A sound collection unit that records sound generated when the stirring device comes into contact with an object other than the stirring device;
Abnormal mixing operation based on the intensity of the frequency component in the vicinity of the natural frequency of the cooking container among the frequency components of the sound extracted from the sound collecting unit when the external force applied to the mixing device exceeds a predetermined threshold An anomaly detection unit for detecting
The agitation drive unit performs control to stop the agitation operation when the abnormality detection unit detects an abnormal state.
The cooking assistance robot according to claim 1, wherein: Measuring the height distribution of the cooking material from the cooking surface in the cooking container in the cooking assistance robot;
In the cooking assistance robot, determining whether the height of the cooking material in the cooking container is a predetermined value or more;
In the cooking assistance robot, when the height of the cooking material is equal to or higher than a predetermined value, the surface of the cooking material passes through an apex where the height of the cooking material is maximum, and the height of the cooking material is high. Selecting the direction along the surface with the maximum variance as the stirring direction;
Driving the stirring driving unit of the cooking assistance robot in the selected mixing direction to mix the cooking ingredients.
A cooking assistance method using a cooking assistance robot characterized by the above. Measuring the height distribution of the cooking material from the cooking surface in the cooking container in the cooking assistance robot;
Determining whether the height of the cooking material in the cooking container is less than a predetermined value in the cooking assistance robot;
In the cooking assistance robot, when the height of the cooking material is less than a predetermined value, an area of the cooking surface in which the degree of exposure of the cooking surface is higher than a predetermined value is specified, and the region with a high degree of exposure is A step of setting as a target position for making and selecting a direction toward the target position for mountain creation as a direction for stirring mountains;
Driving the stirring driving unit of the cooking assistance robot in the selected mountain-making stirring direction to stir the cooking ingredients.
A cooking assistance method using a cooking robot characterized by the above. Measuring the height distribution of the cooking material from the cooking surface in the cooking vessel in the cooking assistance robot;
Determining whether the height of the cooking material in the cooking container is less than a predetermined value in the cooking assistance robot;
In the cooking assistance robot, as a history of the stirring operation, recording time during which cooking ingredients existed for each predetermined area of the cooking surface;
In the cooking assistance robot, when the height of the cooking material is less than a predetermined value, based on the history of the stirring operation, identify the area of the cooking surface whose usage frequency of the cooking surface is lower than a predetermined value, Setting a mountain creation target position for creating a mountain in the less frequently used area, and selecting a direction toward the mountain creation target position as a mountain creation agitation direction;
Driving the stirring driving unit of the cooking assistance robot in the selected mountain-making stirring direction to stir the cooking ingredients.
A cooking assistance method using a cooking robot characterized by the above. Measuring the height distribution of the cooking material from the cooking surface in the cooking container in the cooking assistance robot;
Determining whether the height of the cooking material in the cooking container is less than a predetermined value in the cooking assistance robot;
In the cooking assistance robot, when the height of the cooking material is less than a predetermined value, the position where the temperature is the highest among the cooking surfaces of the cooking container is set as the mountain creation target position, and headed to the mountain creation target position. Selecting the direction as the mountain mixing direction,
Driving the stirring driving unit of the cooking assistance robot in the selected mountain-making stirring direction to stir the cooking ingredients.
A cooking assistance method using a cooking robot characterized by the above. Measuring the height distribution of the cooking material from the cooking surface in the cooking container in the cooking assistance robot;
Determining whether the height of the cooking material in the cooking container is less than a predetermined value in the cooking assistance robot;
In the cooking assistance robot, when the height of the cooking material is less than a predetermined value, the center of the cooking surface of the cooking container is set as a mountain creation target position, and the direction toward the mountain creation target position is stirred Selecting a direction,
Driving the stirring driving unit of the cooking assistance robot in the selected mountain-making stirring direction to stir the cooking ingredients.
A cooking assistance method using a cooking robot characterized by the above.

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