Invention name: Cooking system
Technical field
[0001]
　The present technology relates to cooking systems, and in particular to cooking systems that have made it possible to provide new cooking experiences.
Background technology
[0002]
　With the development of AI (Artificial Intelligence) and sensing technology, so-called smart kitchens, which apply technology to cooking in the kitchen, are attracting attention. Many smart kitchen technologies have been proposed that realize easy, convenient, and speedy cooking.
[0003]
　For example, a device has been proposed that mixes the correct dose of seasoning according to the recipe.
[0004]
　In addition, there is a technique for automating cooking by learning the movement of the chef's hand during cooking and imitating the movement of the chef with a robot arm (Patent Document 1).
Prior art literature
Patent documents
[0005]
Patent Document 1: Japanese Patent Application Laid-Open No. 2017-506169
Outline of the invention
Problems to be solved by the invention
[0006]
　Not only is it easy, convenient, and speedy, but it also requires a new user experience during cooking.
[0007]
　This technology was made in view of such a situation, and makes it possible to provide a new cooking experience.
Means to solve problems
[0008]
　The cooking system on one aspect of the present technology includes at least one of a top plate portion composed of a first top plate and a second top plate, and the first top plate and the second top plate. A cooking function is provided along the top plate driving unit that moves the top plate, the cooking assistance unit provided in the cooking assistance space that appears when the top plate moves, and the movement mechanism provided in the cooking assistance space. It is provided with an arm moving unit for moving a cooking arm having a detachable portion for attaching and detaching an attachment having the above, and an arm control unit for controlling the drive of the cooking arm according to a cooking process.
[0009]
　In one aspect of the present technology, the cooking auxiliary space appears by moving at least one of the first top plate and the second top plate.
A brief description of the drawing
[0010]
FIG. 1 is a perspective view showing a configuration example of the appearance of a robot kitchen according to an embodiment of the present technology.
[Fig. 2] Fig. 2 is a diagram showing a state of a cooking arm during work.
FIG. 3 is a diagram showing a first example of collaborative work.
[Fig. 4] Fig. 4 is a diagram showing a second example of collaborative work.
[Fig. 5] Fig. 5 is a diagram showing a third example of collaborative work.
[Fig. 6] Fig. 6 is a diagram showing a state of a room during a meal.
[Fig. 7] Fig. 7 is a diagram showing an example of deformation of a transport robot.
[Fig. 8] Fig. 8 is a diagram showing the appearance of a robot kitchen in sleep mode.
[Fig. 9] Fig. 9 is a diagram showing the appearance of a robot kitchen in sleep mode.
[Fig. 10] Fig. 10 is a diagram showing the appearance of a robot kitchen in the active mode.
[Fig. 11] Fig. 11 is a front view of the cooking assistance system.
[Fig. 12] Fig. 12 is a diagram showing a state in which a cooking arm appears.
[Fig. 13] Fig. 13 is a diagram schematically showing the position of a groove portion.
[Fig. 14] Fig. 14 is a diagram showing an example of use of a groove portion.
FIG. 15 is a diagram showing a cross section of a groove portion.
[Fig. 16] Fig. 16 is a diagram showing an example of other uses of the groove portion.
[Fig. 17] Fig. 17 is a diagram showing an example of still another use of the groove portion.
FIG. 18 is a diagram showing a state in which the cooking arm is activated.
[Fig. 19] Fig. 19 is a diagram showing an example of routing of a pipe connected to a cooking arm.
FIG. 20 is a front view showing an example of how to route a pipe connected to a cooking arm.
[Fig. 21] Fig. 21 is a diagram showing a cooking auxiliary space.
FIG. 22 is a front view showing an example of a space provided in a housing.
[Fig. 23] Fig. 23 is a diagram showing a state in which a material handling robot is dispatched.
[Fig. 24] Fig. 24 is a diagram showing a state in which a material handling robot is dispatched.
FIG. 25 is a diagram showing the appearance of a cooking arm.
FIG. 26 is a diagram showing an example of the range of motion of each part of the cooking arm.
FIG. 27 is an enlarged cross-sectional view showing the vicinity of the rail.
FIG. 28 is a diagram showing a moving direction of an arm moving portion.
[Fig. 29] Fig. 29 is a diagram showing a state of attachment / detachment of a cooking arm.
FIG. 30 is a diagram showing an example of the function of the cooking arm.
FIG. 31 is a diagram showing an example of an attachment attachment / detachment mechanism.
FIG. 32 is a cross-sectional view of the attachment / detachment portion of the cooking arm and the attachment.
[Fig. 33] Fig. 33 is a diagram showing a flow of attachment attachment.
[Fig. 34] Fig. 34 is a diagram showing a flow of mounting attachments.
[Fig. 35] Fig. 35 is a diagram showing an example of an attachment.
[Fig. 36] Fig. 36 is a diagram showing an example of an attachment.
[Fig. 37] Fig. 37 is a diagram showing an example of an attachment.
[Fig. 38] Fig. 38 is a diagram showing an example of an attachment.
[Fig. 39] Fig. 39 is a diagram showing a configuration example of a manipulator attachment.
FIG. 40 is a diagram showing an example of movement of the grip portion.
[Fig. 41] Fig. 41 is a diagram showing a state of grasping a food material.
[Fig. 42] Fig. 42 is a diagram showing a state of gripping foodstuffs.
[Fig. 43] Fig. 43 is an enlarged view of a cleaner attachment.
[Fig. 44] Fig. 44 is a diagram showing an example of other uses of the cleaner attachment.
[Fig. 45] Fig. 45 is a diagram showing an example of use of a cover attachment.
[Fig. 46] Fig. 46 is a block diagram showing an example of hardware configuration of a robot kitchen.
[Fig. 47] Fig. 47 is a block diagram showing an example of hardware configuration of a cooking arm.
[Fig. 48] Fig. 48 is a block diagram showing an example of a functional configuration of a controller.
[Fig. 49] Fig. 49 is a diagram showing an example of recipe data.
[Fig. 50] Fig. 50 is a diagram showing an example of acquiring recipe data.
[Fig. 51] Fig. 51 is a diagram showing an example of description of recipe data.
[Fig. 52] Fig. 52 is a diagram showing a specific example of description of recipe data.
[Fig. 53] Fig. 53 is a diagram showing an example of a condition for determining the description content of recipe data.
[Fig. 54] Fig. 54 is a diagram showing an example of processing recipe data.
[Fig. 55] Fig. 55 is a diagram showing another example of processing recipe data.
[Fig. 56] Fig. 56 is a flowchart illustrating a recipe data acquisition process of the robot kitchen.
[Fig. 57] Fig. 57 is a flowchart illustrating a cooking process of a robot kitchen.
FIG. 58 is a flowchart illustrating a transportation process performed in step S18 of FIG. 57.
[Fig. 59] Fig. 59 is an enlarged view showing the appearance of a material handling robot.
FIG. 60 is a perspective view showing a configuration of a connecting portion between a base portion and a support arm.
FIG. 61 is a perspective view showing a configuration of a connecting portion between a top plate and a support arm.
[Fig. 62] Fig. 62 is a diagram showing an example of a posture of a material handling robot.
[Fig. 63] Fig. 63 is a diagram showing another example of the posture of the transport robot.
[Fig. 64] Fig. 64 is a diagram showing an example of movement of a material handling robot.
[Fig. 65] Fig. 65 is a block diagram showing an example of hardware configuration of a material handling robot.
[Fig. 66] Fig. 66 is a diagram showing an example of temperature adjustment of the top plate.
[Fig. 67] Fig. 67 is a block diagram showing an example of a functional configuration of a controller.
[Fig. 68] Fig. 68 is a flowchart illustrating processing of a material handling robot.
FIG. 69 is a front view showing an example of another appearance of the robot kitchen.
FIG. 70 is a side view showing an example of another appearance of the robot kitchen.
[Fig. 71] It is a top view of a robot kitchen.
[Fig. 72] Fig. 72 is a diagram showing an example of movement of the top plate.
[Fig. 73] Fig. 73 is a diagram showing a state of operation of the cooking arm.
[Fig. 74] Fig. 74 is a diagram showing the position of a cooking space.
[Fig. 75] Fig. 75 is a diagram showing an arrangement example of a cooking assistance unit.
[Fig. 76] Fig. 76 is a perspective view showing an example of a peripheral side surface inside the housing.
[Fig. 77] Fig. 77 is a diagram showing an arrangement example of a groove portion.
[Fig. 78] Fig. 78 is a diagram showing a cross section of a housing.
[Fig. 79] Fig. 79 is a diagram showing a state of waste treatment.
FIG. 80 is a top view showing an example of movement of the top plate.
FIG. 81 is a top view showing another example of movement of the top plate.
[Fig. 82] Fig. 82 is a diagram showing an example of a moving direction of the top plate.
[Fig. 83] Fig. 83 is a diagram showing another configuration example of the robot kitchen.
[Fig. 84] Fig. 84 is a diagram showing another configuration example of the robot kitchen.
FIG. 85 is a diagram schematically showing an arrangement example of a cooking assistance unit.
[Fig. 86] Fig. 86 is a diagram showing an example of movement of a cooking assistance unit.
[Fig. 87] Fig. 87 is a diagram showing a state at the time of cleaning the robot kitchen.
[Fig. 88] Fig. 88 is a diagram showing another configuration example of the robot kitchen.
[Fig. 89] Fig. 89 is a diagram showing another configuration example of a robot kitchen.
[Fig. 90] Fig. 90 is a diagram showing a state at the time of cleaning of a robot kitchen.
[Fig. 91] Fig. 91 is a diagram showing a configuration example of a control system.
FIG. 92 is a diagram showing another example of an attachment.
FIG. 93 is a diagram showing another example of an attachment.
FIG. 94 is a diagram showing another example of an attachment.
FIG. 95 is a diagram showing another example of an attachment.
FIG. 96 is a diagram showing another example of an attachment.
[Fig. 97] Fig. 97 is a block diagram showing an example of computer hardware configuration.
Mode for carrying out the invention
[0011]
　Hereinafter, modes for implementing the present technology will be described. The explanation will be given in the following order.
　1. 1. Overall configuration and function of the robot kitchen
　2. Details of the robot kitchen configuration
　3. Robot kitchen operation
　4. Other functions
　5. Details of the transport robot
　6. Other configuration examples of the robot kitchen
　7. Other examples
　8. Summary
[0012]
<< 1. Overall configuration and function of the robot kitchen >>

　FIG. 1 is a perspective view showing an example of an external configuration of the robot kitchen 1 according to an embodiment of the present technology.
[0013]
　The robot kitchen 1 has a computer that controls the entire operation using AI (Artificial Intelligence), a drive system device such as a cooking arm, and various sensors, and is equipped with a robot function that autonomously cooks. It is a cooking system. The robot kitchen 1 is installed in a home, for example.
[0014]
　As shown in FIG. 1, the robot kitchen 1 has a horizontally long rectangular parallelepiped housing 11. Various devices such as a computer are provided inside the housing 11 which is the main body of the robot kitchen 1.
[0015]
　On the back side of the housing 11, a cooking assist system 31 is provided so as to stand upright from the upper surface of the housing 11. The cooking assistance system 31 is configured by arranging various cooking assistance units such as a refrigerator, a microwave oven, and a storage. Details of each part such as the cooking assistance unit will be described later.
[0016]
　A groove is formed in the longitudinal direction at substantially the center of the housing 11. A rail is provided along the groove, and cooking arms 51-1 to 54-1 are provided on the rail. The cooking arms 51-1 to 51-4 can be repositioned along the rail as a moving mechanism.
[0017]
　The cooking arms 51-1 to 51-4 are robot arms configured by connecting cylindrical members at joints. Various operations such as cooking and tidying up are performed by the cooking arms 51-1 to 51-4.
[0018]
　The space above the top plate 21A on the front side of the housing 11 serves as a cooking space for the cooking arms 51-1 to 51-4 to cook. The cooking space is a general term for cooking arms 51-1 to 51-4 or a space in which a user cooks. The cooking space includes not only a space that perfectly matches the cooking arms 51-1 to 51-4 or the space in which the user cooks, but also a partial space included in such a space.
[0019]
　Although four cooking arms are shown in FIG. 1, the number of cooking arms is not limited to four. Hereinafter, when it is not necessary to distinguish each of the cooking arms 51-1 to 51-4 as appropriate, they are collectively referred to as the cooking arm 51.
[0020]
　FIG. 2 is a diagram showing a state of the cooking arm 51 during work.
[0021]
　As shown in FIG. 2, attachments having various cooking functions are attached to the tip of the cooking arm 51. As attachments, attachments having a manipulator function (hand function) for grasping foodstuffs and tableware, attachments having a knife function for cutting foodstuffs, and attachments having a mixer function for mixing liquids such as seasonings are prepared.
[0022]
　In the example of FIG. 2, a knife attachment, which is an attachment having a knife function, is attached to the cooking arm 51-1. A lump of meat placed on the top plate 21A is cut using a knife attachment.
[0023]
　A spindle attachment, which is an attachment used for fixing foodstuffs and rotating foodstuffs, is attached to the cooking arm 51-2.
[0024]
　A peeler attachment, which is an attachment having a function of a peeler for peeling ingredients, is attached to the cooking arm 51-3.
[0025]
　The potato skins lifted by the cooking arm 51-2 using the spindle attachment are peeled by the cooking arm 53-1 using the peeler attachment. In this way, it is possible for a plurality of cooking arms 51 to cooperate with each other to perform one operation.
[0026]
　A manipulator attachment, which is an attachment having a manipulator function, is attached to the cooking arm 51-4. Using a manipulator attachment, a frying pan with chicken is carried to a cooking aid unit that has an oven function.
[0027]
　Cooking by such a cooking arm 51 is carried out by appropriately replacing the attachment according to the content of the work. The replacement of attachments is also automatically performed by the robot kitchen 1.
[0028]

　Cooking in the robot kitchen 1 performed by using the cooking arm 51 is performed so as to cooperate with a user in a part of the work. When the robot kitchen 1 is installed in the home, cooking is performed in cooperation with the family and the like.
[0029]
　Which work is performed by the user is defined, for example, in the recipe data prepared for each dish. As will be described later, the recipe data also describes information indicating the operation of each cooking arm 51 at each work. The robot kitchen 1 controls the operation of each part such as the cooking arm 51 according to the description of the recipe data to perform cooking.
[0030]
　It is possible for the user to select the degree of involvement in cooking by himself / herself so that all the work is performed by the robot kitchen 1 or more work is performed by the user himself / herself. The recipe data description is processed according to the degree of involvement selected by the user.
[0031]
　For example, when cooking a dish with a high degree of difficulty, the user can leave the cooking that cannot be done by himself / herself to the robot kitchen 1 by setting the degree of involvement to be low.
[0032]
　In addition, a user who has a hobby of cooking can enjoy a lot of work by setting a high degree of involvement.
[0033]
　In addition, cooking means a product produced through cooking. Cooking means the process of cooking or the act of cooking.
[0034]
　FIG. 3 is a diagram showing a first example of collaborative work.
[0035]
　The upper part of FIG. 3 shows a user cutting potatoes using a kitchen knife. Potatoes before cutting are prepared near the potatoes that the user is cutting. A cooking arm 51-1 with a knife attachment is waiting near the user.
[0036]
　Ingredients such as potatoes and potatoes used by the user are prepared by the cooking arm 51.
[0037]
　For example, when the user says, "Like this, finally," as shown at the end of arrow A1 at the stage when one potato has been cut, the robot kitchen 1 targets the potato before cutting. It is specified that the continuation of the cut is performed as. From the robot kitchen 1, a synthetic voice of "smart" is output.
[0038]
　That is, the robot kitchen 1 is also provided with a function of learning the user's behavior, a function of recognizing the meaning of the user's utterance, and a function of responding. At a predetermined position of the robot kitchen 1, a camera for photographing a user's action, a microphone (microphone) for detecting voice, and a speaker for outputting synthetic voice are provided.
[0039]
　When it is specified that the cut is to be continued, the cooking arm 51-1 continues the cut for the remaining potatoes, as shown at the tip of arrow A2. The direction of the cut, the width of the cut, etc. follow the user's method obtained by learning.
[0040]
　Simple work such as cutting the same ingredients several times can be said to be a work that the user wants to omit as much as possible in the cooking work. By learning the user's behavior and having the robot kitchen 1 take the same behavior as the user's behavior, the user does not have to perform such a simple task.
[0041]
　FIG. 4 is a diagram showing a second example of collaborative work.
[0042]
　The upper part of FIG. 4 shows a sliced ​​baguette and smoked salmon placed on the top plate 21A. Preparation of ingredients, slicing of ingredients, and smoke cooking of salmon were performed by the cooking arm 51.
[0043]
　A manipulator attachment is attached to the cooking arm 51-1. A piece of smoked salmon is lifted by the cooking arm 51-1 and carried towards the baguette. In this example, a baguette with smoked salmon is cooked.
[0044]
　When smoked salmon is placed on the baguette, the finished dish baguette is presented to the user by the cooking arm 51-1 as shown at the tip of arrow A11. In addition, a synthetic voice of "please taste" is output, and the user is required to perform tasting.
[0045]
　The user will receive the offered baguette and taste it. If the tasting user makes a positive utterance, such as "delicious," the task of placing smoked salmon on the baguette continues.
[0046]
　Tasting is an important part of the cooking process and is also a fun task for the user. Users can do fun tasks themselves.
[0047]
　FIG. 5 is a diagram showing a third example of collaborative work.
[0048]
　The upper part of FIG. 5 shows how the cooking arm 51-1 is performing the work of the nappe for coating the sponge with cream. A spatula attachment having a spatula function is attached to the cooking arm 51-1. The sponge and cream are prepared by the cooking arm 51.
[0049]
　When the nappe work is completed, as shown at the tip of the arrow A21, a synthetic voice of "Please finish" is output from the robot kitchen 1, and the user is requested to perform the finishing work.
[0050]
　As shown at the tip of the arrow A22, the user will perform the work of decorating with cream as the finishing work in response to the request from the robot kitchen 1.
[0051]
　Finishing work such as cream decoration in cake making and serving of dishes is a work that the user exerts creativity and can be said to be a fun work. The user can do such a fun task himself.
[0052]
　In this way, cooking in the robot kitchen 1 is appropriately carried out in cooperation with the user. Since the work is shared as the robot kitchen 1 performs simple tasks such as preparation, the user can perform only fun tasks by himself and leave the troublesome tasks to the robot kitchen 1.
[0053]
　The user can obtain a new cooking experience such as cooking in cooperation with the robot kitchen 1.
[0054]
　The user can also enjoy watching the work performed by the cooking arm 51 on the top plate 21A. If cooking is performed inside the housing 11 and the finished dish comes out, such a kitchen can be said to be a mere manufacturing device for cooking, which is convenient but uninteresting.
[0055]
　By using various attachments different from the tools used by humans for cooking and cooking in a form shown to the user, the robot kitchen 1 can produce a space such as a room by the cooking work itself.
[0056]
　The robot kitchen 1 can be said to be an entertaining kitchen because the space can be produced by the cooking work and the user can be involved in the work that can be enjoyed.
[0057]

　FIG. 6 is a diagram showing a state of a room during a meal.
[0058]
　The food prepared by the robot kitchen 1 is transported by the transport robot 2, which is a mobile body for transport. When the food is completed, the robot kitchen 1 places the completed food on the top plate of the transport robot 2 and transports the completed food to the position of the person to whom it is provided, as shown in FIG.
[0059]
　In the example of FIG. 6, three people are sitting on chairs around a dining table placed in front of the robot kitchen 1. When the transport robot 2 comes near, one of the three people receives the food on the top plate and arranges it on the dining table.
[0060]
　The robot kitchen 1 also controls the transport robot 2 such as setting a destination and setting a movement route to the destination. For example, the position of the person to whom the food is served is set as the destination.
[0061]
　Not only the finished dish, but also the transport of cutlery, the transport of tableware, and the like are performed by the transport robot 2. In addition, the transport robot 2 also transports the used tableware for receiving it from the user and returning it to the robot kitchen 1. The finished dishes, tableware, cutlery, glasses, etc. are the items to be transported by the transport robot 2.
[0062]
　FIG. 7 is a diagram showing an example of deformation of the transport robot 2.
[0063]
　As shown in FIG. 7, the transport robot 2 is configured by connecting an annular base portion and a circular top plate with a thin rod-shaped support arm. The length and angle of the support arm can be adjusted as appropriate. The state shown at the left end of FIG. 7 is a normal state in which the support arm is extended to the maximum.
[0064]
　The state shown in the center of FIG. 7 is a state in which the support arm is contracted to approximately half the maximum length and is tilted from the state at the left end.
[0065]
　The state shown at the right end of FIG. 7 is a state in which the support arm is folded. When the support arm is folded, the top plate is placed on top of the base. In the standby mode, the transport robot 2 is housed inside the housing 11 of the robot kitchen 1 in a state of being thinned into a flat columnar shape at the right end.
[0066]
　In this way, since the food is transported by the transport robot 2, the user does not need to transport the food prepared by the robot kitchen 1 to the dining table. The details of the configuration and function of the transport robot 2 will also be described later.
[0067]
<< 2. Details of the configuration of the
robot kitchen >>
　FIGS. 8 and 9 are views showing the appearance of the robot kitchen 1 in the sleep mode.
[0068]
　FIG. 8 shows a state in which the robot kitchen 1 in the sleep mode is viewed from the front, and FIG. 9 shows a state in which the robot kitchen 1 in the sleep mode is viewed from the front right. As shown in FIG. 8, the horizontally long rectangular parallelepiped housing 11 is provided on a columnar base portion 12 fixed to the floor. A space having a predetermined height is formed between the bottom surface of the housing 11 and the floor.
[0069]
　In the sleep mode, the cooking assist system 31 is housed in the housing 11. The cooking assist system 31 is provided at a position lower than the top plate portion 21.
[0070]
　As shown in FIG. 9, the top plate 21A and the top plate 21B constituting the top plate portion 21 are provided at the same height with a slight gap between them. By providing the top plate 21A and the top plate 21B in contact with each other at the same height, the upper surface of the housing 11 becomes a substantially flat surface.
[0071]
　FIG. 10 is a diagram showing the appearance of the robot kitchen 1 in the active mode.
[0072]
　When the operation mode of the robot kitchen 1 is switched from the sleep mode to the active mode, the cooking assistance system 31 is raised, and as shown in FIG. 10, the cooking assistance system 31 is erected on the back side of the housing 11. .. As the top plate 21B rises, the cooking assist system 31 provided on the bottom surface side of the top plate 21B appears.
[0073]
　The switching from the sleep mode to the active mode is performed at a predetermined timing such as the timing when the preset cooking start time is reached and the timing when it is detected that the collaborator is near the robot kitchen 1. .. Such deformation of the robot kitchen 1 is performed electrically.
[0074]
　FIG. 11 is a front view of the cooking assistance system 31.
[0075]
　The front surface, the back surface, and the left and right side surfaces surrounding the box-shaped cooking assistance system 31 are composed of transparent members such as tempered glass having heat insulating properties. The inside of the cooking assistance system 31 can be seen through.
[0076]
　The cooking assistance system 31 is composed of cooking assistance units 31-1 to 31-6. The cooking assist units 31-1 to 31-6 are devices having a function of assisting the cooking of the robot kitchen 1.
[0077]
　Each cooking assistance unit is separated by a thin plate-shaped member. By partitioning by two thin plate-shaped shelves, three upper and lower spaces are formed inside each cooking auxiliary unit. For example, by sliding the front member open, it becomes possible to access each stage of each cooking assistance unit.
[0078]
　The cooking auxiliary unit 31-1 is a device having a freezing function. Meat, fish and the like are stored in a frozen state in the cooking assistance unit 31-1.
[0079]
　The cooking auxiliary unit 31-2 is a device having a refrigerating function. Fruits and beverages are stored in the cooking auxiliary unit 31-2 in a cooled state.
[0080]
　The cooking auxiliary unit 31-3 is a device having a function of maintaining a low temperature state. Vegetables and the like are stored in the cooking auxiliary unit 31-3 in a low temperature state. For example, an attachment attached to the cooking arm 51 is stored in the lower part of the cooking assist unit 31-3. By storing the attachment in a low temperature state, it is possible to suppress the growth of various germs.
[0081]
　The cooking auxiliary unit 31-4 has a function as a storage at room temperature. Bread, pasta, seasonings, etc. are stored in the cooking auxiliary unit 31-4. Tableware, cutlery, etc. are also stored in the cooking assistance unit 31-4.
[0082]
　The cooking auxiliary unit 31-5 is a device having a heat retaining function. The cooking auxiliary unit 31-5 stores soup, food being thawed, food being cooked at low temperature, and the like.
[0083]
　The cooking auxiliary unit 31-6 is a device having an oven function. Using the cooking auxiliary unit 31-6, cooking such as baking bread and baking meat is performed.
[0084]
　The arrangement of cooking assistance units 31-1 to 31-6 is such that the unit having a function of storing foodstuffs at a lower temperature is located on the left side, and the unit having a function of storing foods at a higher temperature is located on the right side. Become.
[0085]
　A device for adjusting the temperature in each cooking auxiliary unit is provided at a predetermined position such as under each cooking auxiliary unit. The temperature inside each unit is adjusted by sending the cold air and hot air discharged from the temperature controller.
[0086]
　When the operation mode of the robot kitchen 1 is switched from the sleep mode to the active mode and the cooking assistance system 31 appears, the cooking arm 51 is on the front side of the cooking assistance system 31 as shown in FIG. 12, following the cooking assistance system 31. Appears in.
[0087]
　The cooking arm 51 is housed in a groove that appears as the top plate 21B rises. As shown in FIG. 12, the width of the cooking assistance system 31 in the depth direction is narrower than the width of the top plate 21B in the depth direction. The groove portion blocked by the top plate 21B in the sleep mode appears as the top plate 21B rises, and the cooking arm 51 is activated from the groove portion.
[0088]

　FIG. 13 is a diagram schematically showing the position of the groove portion.
[0089]
　When the robot kitchen 1 is viewed from above, the groove 101 is formed in the vicinity of the boundary between the top plate 21A and the top plate 21B in the longitudinal direction of the housing 11, as shown by diagonal lines. The length of the groove portion 101 is substantially the same as the length in the longitudinal direction of the housing 11 except for the wall surface portions having a predetermined width on the left side surface side and the right side surface side.
[0090]
　A rail 102 is provided near the opening of the groove 101 along the side surface of the groove 101. In the example of FIG. 13, as shown in color, the rail 102 is provided along the front side surface of the groove 101. It can also be said that the groove 101 is formed along the rail 102. The cooking arm 51 is attached so as to be movable along the rail 102.
[0091]
-About the cleaning function
　FIG. 14 is a diagram showing an example of use of the groove 101.
[0092]
　The groove 101 is provided with a cleaning function for washing the hands of a person placed in the groove 101. When the user puts his / her hand in the groove 101 as shown in FIG. 14, the cleaning function operates to wash, dry, and disinfect the hand.
[0093]
　The fact that the user has touched the groove 101 is detected by an infrared sensor or the like. By analyzing the image taken by the camera, it may be detected that the user has touched the groove 101.
[0094]
　FIG. 15 is a diagram showing a cross section of the groove portion 101.
[0095]
　In FIG. 15, the vicinity of the opening of the groove 101 is enlarged and shown. The left side of FIG. 15 corresponds to the front side of the robot kitchen 1, and the right side corresponds to the back side of the robot kitchen 1. A side wall portion 101A is formed on the front side of the robot kitchen 1, and a side wall portion 101B is formed on the back side.
[0096]
　A slope slightly obliquely downward is formed in the vicinity of the upper ends of the side wall portion 101A and the side wall portion 101B. On this slope, an ultraviolet irradiation port 111 by an ultraviolet disinfectant, a jet wind ejection port 112 by a hand dryer, and a water ejection port 113 are provided.
[0097]
　The user can perform cleaning, drying, and disinfection all at once by putting his / her hand in and out of the groove 101 as shown by the arrow A31.
[0098]
　As shown in FIG. 15, a rail 102 is provided at a position near the opening of the groove 101, which is the edge of the top plate 21A.
[0099]
　A plurality of sets of an ultraviolet irradiation port 111, a jet wind ejection port 112, and a water ejection port 113 that realize such a cleaning function are provided at predetermined intervals in the longitudinal direction of the groove portion 101. The set in the position where the user puts his hand is driven to wash his hands.
[0100]
　Tableware, cutlery, attachments attached to the cooking arm 51, and the like are also cleaned using the cleaning function of the groove 101. In addition to cleaning, tableware, cutlery and attachments are dried and disinfected in the same way as human hands.
[0101]
　For example, the dishes and cutlery are washed by the cooking arm 51 during the tidying up work. Cleaning of tableware and the like is performed by inserting the tableware and the like gripped by the manipulator attachment into the groove 101.
[0102]
　Similarly, cleaning of the attachment is performed by inserting the tip of the cooking arm 51 into the groove 101 while it is attached to the cooking arm 51.
[0103]
　The washing of the food material may be performed in the groove 101. The washing time, the movement of the cooking arm 51 during washing, and the like can be switched according to the washing target.
[0104]
　In this way, a configuration is provided in the groove 101 at a position deep when viewed from the front of the robot kitchen 1 so that cleaning is performed according to the action of the user putting his / her hand and the action of the cooking arm 51 to put the tableware and the like. By cleaning the hands and the like in the groove 101, it is possible to prevent water from splashing around.
[0105]
　If the object of cleaning is the user's hand or attachment, the cleaning, drying, and disinfecting functions are activated, and if the object of cleaning is tableware, the cleaning and drying functions are activated. The function to be operated may be switched according to the target of.
[0106]
-Regarding the waste treatment function
　FIG. 16 is a diagram showing an example of other uses of the groove 101.
[0107]
　The groove 101 is provided with a waste treatment function for treating waste such as garbage generated during cooking. For example, the waste scattered on the top plate 21A is swept by the cooking arm 51 and thrown into the groove 101. The waste on the top plate 21A is detected by analyzing the image taken by the camera. In FIG. 16, the waste is indicated by colored triangles.
[0108]
　As shown by the arrow A41, the waste charged into the groove 101 reaches the slope 101C formed below the groove 101. When the waste is thrown in, water is ejected from the spout 113, and the power of the water is used to deliver the waste.
[0109]
　A camera 121 for sensing is provided in the vicinity of the slope 101C. By analyzing the image taken by the camera 121, the type, size, etc. of the waste are detected.
[0110]
　The waste whose type and the like are detected is put into the waste treatment device 122 provided at the tip of the slope 101C and sorted according to the type and size. The waste treatment device 122 is provided with a function of separating waste by using centrifugal force or the like.
[0111]
　For food waste such as foodstuffs, crushing treatment, drying treatment, compression treatment and the like are performed in the waste treatment apparatus 122. The waste treatment device 122 is provided with a disposer function.
[0112]
　The waste treated by the waste treatment device 122 is discharged through the piping in the base portion 12 as shown by arrow A42.
[0113]
　The waste processed by the waste treatment apparatus 122 may be carried by the transport robot 2 as shown by arrow A43.
[0114]
　In this case, the waste treated by the waste treatment device 122 is packed in a dedicated container, for example, by the waste treatment device 122. The container filled with waste is discharged from a discharge port provided at a predetermined position on the bottom surface of the housing 11, and is placed on the top plate of the transport robot 2 waiting under the discharge port.
[0115]
　The transport robot 2 moves the container filled with waste to the position of the dust box while placing it on the top plate, and discards the waste together with the container.
[0116]
　By providing the waste treatment function in the groove 101 in this way, it is possible to treat the waste generated during cooking simply by dropping it into the groove 101.
[0117]
-About the storage function
　FIG. 17 is a diagram showing an example of still another use of the groove 101.
[0118]
　The groove 101 also has a function as a storage space for the cooking arm 51. In the sleep mode, the folded cooking arm 51 is housed in the groove 101 as shown in FIG.
[0119]
　In this case, the cooking assist system 31 is also stored in the storage unit 103, which is a space formed in the housing 11. When the groove 101 in which the cooking arm 51 is housed is closed by the top plate 21B, the cooking arm 51 is hidden as described with reference to FIG. 8 and the like.
[0120]
　When the operation mode of the robot kitchen 1 is switched from the sleep mode to the active mode, as shown in FIG. 18, the cooking arm 51 is driven so as to be pulled out from the groove 101, and the cooking arm 51 is lined up in front of the front of the cooking assist system 31. It becomes a state. As shown in FIG. 18, the folded state immediately after appearing from the groove 101 is the standby state of the cooking arm 51.
[0121]
　In this way, the cooking arm 51 is housed in the groove 101 in the sleep mode, and is pulled out from the groove 101 in the active mode. The cooking arm 51 is stored / removed according to the opening / closing of the top plate portion 21.
[0122]

　FIG. 19 is a diagram showing an example of routing of piping connected to the cooking arm 51.
[0123]
　As shown in FIG. 19, a pipe storage portion 104 for storing the pipe connected to the cooking arm 51 is formed inside the housing 11 at a position in front of the groove portion 101. The pipe accommodating portion 104 is formed in the longitudinal direction of the housing 11 in the same manner as the groove portion 101 and the rail 102.
[0124]
　As will be described in detail later, the cooking arm 51 has a function of supplying electricity (electric power), heat, cold air, water, cooking oil, and air to the attachment attached to the tip. Further, the cooking arm 51 has a function of sucking a liquid or a gas.
[0125]
　The arm moving portion 131, which is the base of the cooking arm 51 and is the mounting destination of the cooking arm 51, is fitted into the rail 102. As shown in FIG. 19, a pipe 132 for realizing a supply function and a suction function is attached to the arm moving portion 131 through the pipe accommodating portion 104.
[0126]
　The pipe 132 is composed of a plurality of pipes such as a pipe for passing a gas such as heat or cold air, a pipe for passing water, a pipe for passing cooking oil, and a pipe for passing a sucked liquid or gas. The pipe 132 is made of a flexible material such as rubber, vinyl, or plastic.
[0127]
　The tip of the pipe 132 is connected to the arm function control device 133. The arm function control device 133 changes the state of the power supply unit that conducts electricity based on the power supply of the robot kitchen 1, the boiler unit that generates heat by burning fuel or passing an electric current through the heating wire, and the state of the refrigerant. It is composed of a cooling unit that generates cold air. The arm function control device 133 is also provided with a compressor for supplying the heat generated by the boiler unit and the cold air generated by the cooling unit, a suction unit for generating a suction force, and the like.
[0128]
　Such a pipe 132 is connected to each of the cooking arms 51-1 to 51-4.
[0129]
　FIG. 20 is a front view showing an example of how to route the pipe connected to the cooking arm 51.
[0130]
　In the example of FIG. 20, the cooking arms 51-1 to 51-4 and the arm function control device 133 are connected by pipes 132-1 to 132-4, respectively. The arrangement of the pipes 132-1 to 132-4 changes according to the movement of the cooking arms 51-1 to 51-4.
[0131]
　As described above, the robot kitchen 1 is provided with a groove 101 having a cleaning function, a waste treatment function, a storage function of the cooking arm 51, and the like. The function of the groove 101 is a function of assisting cooking by the robot kitchen 1 in the same manner as the function of the cooking assist system 31.
[0132]
　As shown with diagonal lines in FIG. 21, the space of the groove 101 and the space of the cooking assistance system 31 are cooking assistance spaces that are spaces for assisting cooking by the robot kitchen 1.
[0133]
　The cooking auxiliary space is a space that appears when the operation mode of the robot kitchen 1 becomes the active mode and the top plate 21B, which is a part of the top plate portion 21, is moved. In the sleep mode, the cooking auxiliary space is a space that cannot be seen from the outside. The cooking assistance space is a general term for a space in which a function of assisting cooking appears when a part of the top plate is moved. The cooking assistance space includes not only a space that completely matches the space in which the function of assisting cooking is exerted, but also a partial space included in such a space.
[0134]

　FIG. 22 is a front view showing an example of the space provided in the housing 11.
[0135]
　As shown in FIG. 22, a storage portion 151R serving as a storage space for the transport robot 2 is provided at a position closer to the right side surface in the housing 11. A storage unit 151L, which serves as a storage space for the transport robot 2, is provided at a position closer to the left side in the housing 11.
[0136]
　In this way, it is possible to prepare a plurality of transport robots 2 in the robot kitchen 1. The robot kitchen 1 can control a plurality of transport robots 2 to transport food and the like. Three or more transport robots 2 may be controlled by the robot kitchen 1.
[0137]
　The transport robot 2 is dispatched from the storage units 151R and 151L at a predetermined timing such as when it is time to perform the transport work, and performs the work according to the control by the robot kitchen 1.
[0138]
　23 and 24 are views showing the state of dispatch of the transport robot 2.
[0139]
　When the transport robot 2 is stored, the member on the bottom surface of the storage unit 151R forms substantially the same surface as the bottom surface of the housing 11. When the transport robot 2 is dispatched, as shown in the upper part of FIG. 23, the circular plate-shaped tray portion 161 constituting the bottom surface of the storage portion 151R is lowered, and the transport robot 2 mounted on the tray portion 161 appears.
[0140]
　As shown at the tip of the arrow A51, the tray portion 161 is suspended by the support members 162-1, 162-2. By gradually increasing the length of the support members 162-1, 162-2 extending from the bottom surface of the housing 11, the transport robot 2 is lowered to the floor surface.
[0141]
　The state shown in the upper part of FIG. 24 is a state in which the tray portion 161 is on the floor surface. When the tray portion 161 reaches the floor surface, the transport robot 2 starts to move as shown at the tip of the arrow A52. After leaving the space between the housing 11 and the floor surface, the transport robot 2 changes its shape and starts work.
[0142]
　Similarly, the transport robot 2 stored in the storage unit 151L is also dispatched at a predetermined timing to perform the work. When the transporting work is completed, the transporting robot 2 changes its posture to the posture in the standby mode and returns to the tray portion 161 lowered so as to reach the floor surface. By raising the tray portion 161, the transport robot 2 is housed in the housing 11. The posture and position of the transport robot 2 are controlled so that they can be stored in the storage units 151R and 151L.
[0143]
　The mode of storing and dispatching the transport robot 2 is not limited to the mode shown in FIGS. 23 and 24. For example, as a storage structure, there is a structure in which the transport robot 2 is suspended from above and stored by opening and closing the suspension mechanism in the storage portions 151R and 151L. In this case, when the transport robot 2 is stored, the hanging mechanism of the storage portions 151R and 151L opens in conjunction with the extension (raising) of the top plate of the transport robot 2, and the top plate is moved to the storage portions 151R and 151L. When the timing is settled, the suspension mechanism is closed and the top plate of the transport robot 2 is suspended. When the transport robot 2 is dispatched, the suspension mechanism of the storage portions 151R and 151L opens at the timing when the base portion of the transport robot 2 descends first and the base portion lands in the state of being stored in the housing 11, and the sky is raised. This is done by removing the board from the hanging mechanism. After the top plate is removed from the hanging mechanism, the transport robot 2 contracts once to, for example, the thinnest state, and then leaves the space under the housing 11 in that state.
[0144]

-The configuration
　diagram 25 of the cooking arm is a diagram showing the appearance of the cooking arm 51.
[0145]
　As shown in FIG. 25, the cooking arm 51 is formed by connecting thin cylindrical members as a whole with a hinge portion serving as a joint portion. Each hinge portion is provided with a motor or the like that generates a force for driving each member.
[0146]
　As a cylindrical member, a detachable member 501, a relay member 503, and a base member 505 are provided in this order from the tip. The detachable member 501 is a member having a length of about 1/5 of the length of the relay member 503. The total length of the detachable member 501 and the relay member 503 is substantially the same as the length of the base member 505.
[0147]
　The detachable member 501 and the relay member 503 are connected by a hinge portion 502, and the relay member 503 and the base member 505 are connected by a hinge portion 504. Hinge portions 502 and hinge portions 504 are provided at both ends of the relay member 503.
[0148]
　In this example, the cooking arm 51 is composed of three cylindrical members, but it may be composed of four or more cylindrical members. In this case, a plurality of relay members 503 are provided.
[0149]
　A detachable portion 501A to which the attachment is attached / detached is provided at the tip of the detachable member 501. The detachable member 501 has a detachable portion 501A to which attachments having various cooking functions are attached and detached, and functions as a cooking function arm portion for cooking by operating the attachments.
[0150]
　At the rear end of the base member 505, a detachable portion 506 attached to the arm moving portion 131 fitted in the rail 102 is provided. The base member 505 has a detachable portion 506 attached to the arm moving portion 131, and functions as a moving function arm portion that realizes the movement of the cooking arm 51.

The scope of the claims
[Claim 1]

　A top plate drive that moves a top plate 　portion composed of a first top plate and a second top plate, and at least one of the first top plate and the second top plate. A part,
　a cooking assistance unit provided in a cooking assistance space that appears when the top plate moves, and
　a detachable part in which an attachment having a cooking function can be attached and detached along a movement mechanism provided in the cooking assistance space. A cooking system including an arm moving unit for moving a cooking arm and
　an arm control unit for controlling the drive of the cooking arm according to a cooking process
　.
[Claim 2]

　The cooking according 　to claim 1, wherein the top plate driving unit raises or lowers or moves the top plate of at least one of the first top plate and the second top plate in the horizontal direction. system.
[Claim 3]

　The cooking system according 　to claim 1, wherein the cooking assist unit is provided at a position lower than the top plate .
[Claim 4]

　The cooking system according to claim 3, 　wherein the cooking assist unit is provided on the bottom surface side of the first top plate in a state of being housed in a housing, and appears in conjunction with the rise of the first top plate. ..
[Claim 5]

　The cooking system 　according to claim 1, further comprising a cleaning unit provided in the cooking auxiliary space and performing cleaning according to the movement of a person or the movement of the cooking arm .
[Claim 6]

　The cooking system according to claim 5, 　wherein the cleaning function included in the cleaning unit includes at least one of a function of cleaning a person's hand, a function of drying the person's hand, and a function of disinfecting the person's hand. ..
[Claim 7]

　The cooking system according to claim 5 　, wherein the cleaning function included in the cleaning unit includes at least one of a function of cleaning the attachment, a function of drying the attachment, and a function of disinfecting the attachment .
[Claim 8]

　The cooking system according to claim 5, 　wherein the washing function included in the washing unit includes at least one of a function of washing dishes and a function of drying dishes .
[Claim 9]

　The cooking system 　according to claim 1 , wherein a groove is formed in the cooking auxiliary space along the moving mechanism .
[Claim 10]

　The cooking system according to claim 9, 　further comprising a waste treatment unit for treating the waste charged into the groove .
[Claim 11]

　The cooking system 　according to claim 9, wherein the arm control unit stores the cooking arm in the groove portion according to an opening / closing operation of the top plate portion or according to the cooking process .
[Claim 12]
　The cooking arm according to claim 1, wherein the cooking arm is composed of a plurality of arm members and a hinge portion connecting the plurality of the arm members, and the
　arm control portion rotationally drives the arm member and the hinge portion
　. Cooking system.
[Claim 13]
　The cooking system
　according to
claim 1, 　further comprising a state recognition unit that recognizes the state of a person, and the arm control unit drives the cooking arm according to the state of the person recognized by the state recognition unit .
[Claim 14]

　The cooking system 　according to claim 13, wherein the arm control unit drives the cooking arm according to information regarding a person's taste recognized by the state recognition unit .
[Claim 15]

　The cooking system 　according to claim 1, wherein the arm control unit drives the cooking arm according to the position of a moving body that carries a transported object including a dish produced by the work of the cooking arm .
[Claim 16]

　The cooking system according 　to claim 1, wherein the arm moving portion is provided at a position lower than the top plate portion .
[Claim 17]

　The cooking system according to claim 1, 　wherein the arm moving portion has an arm attachment / detachment portion that allows the cooking arm to be attached / detached .
[Claim 18]

　The cooking system 　according to claim 1, wherein the arm control unit drives the cooking arm so as to perform cooking using the cooking assist unit .
[Claim 19]

　The cooking system 　according to claim 1, further comprising a temperature adjusting unit that adjusts the temperature of the surface of the top plate portion according to the cooking process .
[Claim 20]

　The cooking system according to claim 1 　, wherein the number of cooking arms is plural .
[Claim 21]

　The cooking system according to claim 1, 　further comprising the cooking arm.