公开(公告)号：US08276506B2

公开(公告)日：2012-10-02

申请号：US12249337

申请日：2008-10-10

申请人： Tsuyoshi Tojo ,  Takanobu Tanimoto ,  Osamu Mizuno ,  Tohru Nakamura ,  Soichiro Fujioka

发明人： Tsuyoshi Tojo ,  Takanobu Tanimoto ,  Osamu Mizuno ,  Tohru Nakamura ,  Soichiro Fujioka

IPC分类号： A47J37/00

CPC分类号： B25J9/0003 ,  A47J27/62 ,  A47J36/165

摘要： A cooking assistance robot is capable of efficient mixing using ingredients that are unlikely to be evenly heated. The cooking assistance robot performs cooking by physically moving ingredients in a cooking container selects a mixing direction for leveling a mountain and performs a mountain leveling operation in the selected mixing direction in a presence of a mountain of a specified height or higher in the cooking container.

摘要翻译： 烹饪辅助机器人能够使用不太可能均匀加热的成分进行有效的混合。 烹饪辅助机器人通过在烹饪容器中物理地移动成分进行烹饪，选择用于使山平整的混合方向，并且在烹饪容器中在指定高度或更高的山的存在下，在所选择的混合方向上进行山平整操作。

公开(公告)号：US20090099691A1

公开(公告)日：2009-04-16

申请号：US12249337

申请日：2008-10-10

申请人： Tsuyoshi TOJO ,  Takanobu Tanimoto ,  Osamu Mizuno ,  Tohru Nakamura ,  Soichiro Fujioka

发明人： Tsuyoshi TOJO ,  Takanobu Tanimoto ,  Osamu Mizuno ,  Tohru Nakamura ,  Soichiro Fujioka

IPC分类号： G06F19/00 ,  B25J19/02 ,  B25J13/08

CPC分类号： B25J9/0003 ,  A47J27/62 ,  A47J36/165

摘要： It is aimed to provide a cooking assistance robot and a cooking assistance method capable of efficient mixing, with which ingredients are unlikely to be unevenly heated.A cooking assistance robot for cooking by physically moving ingredients in a cooking container selects a mixing direction for leveling a mountain and performs a mountain leveling operation in the selected mixing direction in the presence of a mountain of a specified height or higher in the cooking container.

摘要翻译： 其目的在于提供一种烹饪辅助机器人和能够高效混合的烹饪辅助方法，其中成分不太可能不均匀地加热。 通过在烹饪容器中物理移动成分进行烹饪烹饪的烹调辅助机器人选择用于使山平整的混合方向，并且在烹饪容器中在指定高度或更高的山的存在下，在所选择的混合方向上进行山平整操作。

公开(公告)号：US07848850B2

公开(公告)日：2010-12-07

申请号：US10595810

申请日：2004-11-15

申请人： Kiyoshi Hoshino ,  Takanobu Tanimoto

发明人： Kiyoshi Hoshino ,  Takanobu Tanimoto

IPC分类号： G06K9/20 ,  G05B17/02 ,  G06K9/00 ,  G05B15/02

CPC分类号： B25J15/0009 ,  G06K9/00362

摘要： A method for driving a robot in a manner of imitation by watching (non-contact manner) based on the movement of a moving object, which has a complicated shape often causing self-occlusion, is provided. A plurality of image data of the robot is associated with pre-arranged operation commands and stored in an image corresponding operation command storing means 11. In order to have the robot perform a movement, the moving objecting caused to perform a desired movement, and at the same time, image data of the moving object are obtained as robot operational image data in time-series. The image data specifying and operation command generating means 14 specifies image data corresponding to the operational image data included in the robot operational image data in time-series among the plurality of image data stored in the image corresponding operation command storing means 11, and provides a pre-arranged operation command corresponding to the specified image data to the robot as an operation command to drive the robot. Owing to this, such problems as complicated shape and self-occlusion of the moving object are eliminated, and the robot performs the movement in an imitating manner by watching.

摘要翻译： 提供了一种以通过观察（非接触的方式）基于移动物体的运动来模拟机器人的方法，该移动物体具有经常引起自遮挡的复杂形状。 机器人的多个图像数据与预先设置的操作命令相关联并存储在图像对应的操作命令存储装置11中。为了使机器人执行移动，使得移动的对象进行期望的移动，并且在 同时，以时间序列作为机器人操作图像数据获得移动物体的图像数据。 图像数据指定和操作命令生成装置14根据存储在图像对应操作命令存储装置11中的多个图像数据中的时间序列来指定与机器人操作图像数据中包括的操作图像数据相对应的图像数据，并且提供 将与指定的图像数据相对应的预先布置的操作命令作为驱动机器人的操作命令发送到机器人。 由此，消除了运动物体的复杂形状和自闭塞等问题，机器人通过观察以模仿方式进行运动。

公开(公告)号：US20070078564A1

公开(公告)日：2007-04-05

申请号：US10595810

申请日：2004-11-15

申请人： Kiyoshi Hoshino ,  Takanobu Tanimoto

发明人： Kiyoshi Hoshino ,  Takanobu Tanimoto

IPC分类号： G06F19/00

CPC分类号： B25J15/0009 ,  G06K9/00362

摘要： A method for driving a robot in a manner of imitation by watching (non-contact manner) based on the movement of a moving object, which has a complicated shape often causing self-occlusion, is provided. A plurality of image data of the robot is associated with pre-arranged operation commands and stored in an image corresponding operation command storing means 11. In order to have the robot perform a movement, the moving objecting caused to perform a desired movement, and at the same time, image data of the moving object are obtained as robot operational image data in time-series. The image data specifying and operation command generating means 14 specifies image data corresponding to the operational image data included in the robot operational image data in time-series among the plurality of image data stored in the image corresponding operation command storing means 11, and provides a pre-arranged operation command corresponding to the specified image data to the robot as an operation command to drive the robot. Owing to this, such problems as complicated shape and self-occlusion of the moving object are eliminated, and the robot performs the movement in an imitating manner by watching.

摘要翻译： 提供了一种以通过观察（非接触的方式）基于移动物体的运动来模拟机器人的方法，该移动物体具有经常引起自遮挡的复杂形状。 机器人的多个图像数据与预先设置的操作命令相关联并存储在图像对应的操作命令存储装置11中。为了使机器人执行移动，使得移动的对象进行期望的移动，并且在 同时，以时间序列获得作为机器人操作图像数据的移动物体的图像数据。 图像数据指定和操作命令生成装置14根据存储在图像对应操作命令存储装置11中的多个图像数据中的时间序列来指定与机器人操作图像数据中包括的操作图像数据相对应的图像数据，并且提供 将与指定的图像数据相对应的预先布置的操作命令作为驱动机器人的操作命令发送到机器人。 由此，消除了运动物体的复杂形状和自闭塞等问题，机器人通过观察以模仿方式进行运动。