調理ロボットで学んだ自動化のコツ

by kemako

Slide 1

Slide 1 text

ௐཧϩϘοτͰֶΜͩ ࣗಈԽͷίπ ౦ژେֶେֶӃిؾܥ޻ֶઐ߈ɹٶ෢ᣈࢠ

Slide 2

Slide 2 text

ྉཧʷ΋ͷͮ͘Γ ٶ෢ᣈࢠ ࠷ۙ͸ݚڀͯ͠·͢

Slide 3

Slide 3 text

ௐཧͷࣗಈԽ

Slide 4

Slide 4 text

ே৯ϩϘοτ ʢʣ

Slide 5

Slide 5 text

No content

Slide 6

Slide 6 text

ͳΜͰ΋͔ͭΊΔϋϯυʁ ࣗࡏʹಈ͚ΔϩϘοτʁ "*Ͱ෺ମݕ஌ʁ

Slide 7

Slide 7 text

https://youtu.be/Wl8ggFsR2zA

Slide 8

Slide 8 text

ສԁͷϩϘοτ %ϓϦϯλͰ࡞ͬͨϋϯυ ϩϘοτͷγεςϜ

Slide 9

Slide 9 text

େֶੜਓͰ όʔδϣϯϲ݄Ͱ੍࡞

Slide 10

Slide 10 text

࿡ຊ໦ͷϗςϧͰ࣮ূ࣮ݧ

Slide 11

Slide 11 text

No content

Slide 12

Slide 12 text

ɹϓϩδΣΫτ։࢝ ɹબߟձͰσϞʢWFSʣ ɹςΩαεͰలࣔʢWFSʣ ɹϗςϧͰ࣮ূ࣮ݧʢWFSʣ εέδϡʔϧ

Slide 13

Slide 13 text

ɹϓϩδΣΫτ։࢝ ɹબߟձͰσϞʢWFSʣ ɹςΩαεͰలࣔʢWFSʣ ɹϗςϧͰ࣮ূ࣮ݧʢWFSʣ εέδϡʔϧ ϲ݄ͷ௕ظٳՋͰόʔδϣϯΛ੍࡞

Slide 14

Slide 14 text

࠷଎Ͱ࡞ΔͨΊͷ ཁ݅ఆٛ

Slide 15

Slide 15 text

ே৯ϩϘοτͰ΍Γ͍ͨ͜ͱ ɾΞϓϦͰϝχϡʔબ୒Ͱ͖Δ ɾύϯΛম͘ ɾ͝൧Λਬ͘ ɾཛΛׂΔ ɾ໨ۄম͖Λ࡞Δ ɾϕʔίϯΛম͘ ɾ໺ࡊΛম͘ ɾίʔώʔΛυϦοϓ͢Δ ɾίʔώʔΛग़͢ ɾिؒ෼ͷ৯ࡐΛอଘͰ͖Δ ɾௐຯྉͰຯ෇͚͢Δ ɾম͖ՃݮΛΧϝϥͰೝࣝ͢Δ ɾϕου·Ͱே৯Λ͍࣋ͬͯ͘ ɾΦϜϨπΛ࡞Δ ɾ໨ۄম͖ͷݻ͞Λௐ੔͢Δ ɾϕʔίϯͷম͖ՃݮΛ޷Έʹ߹ΘͤΔ ɾ໺ࡊΛ੾Δ ɾ੝Γ෇͚Λ͢Δ ɾຯḩोΛ࡞Δ ɾཛম͖Λ࡞Δ ɾ໺ࡊͷछྨΛ೔ʹΑͬͯม͑Δ ɾຯ෇͚ΛΧελϚΠζͰ͖Δ ɾΞϓϦ͔Β৯ࡐΛ஫จͰ͖Δ ɾ໨֮ΊΔͱಉ࣌ʹྉཧ͕Ͱ͖ͯΔ

Slide 16

Slide 16 text

೥͔͚ͯ׬ᘳͳ΋ͷΛ࡞Δ ϲ݄Ͱͦͦ͜͜ಈ͘΋ͷΛ࡞Δ

Slide 17

Slide 17 text

ಈ͘΋ͷΛ࡞Δ ࣮ࡍʹಈ͔͢ վળ఺୳͢

Slide 18

Slide 18 text

ே৯ϩϘοτͰ΍Γ͍ͨ͜ͱ ɾௐຯྉͰຯ෇͚͢Δ ɾ੝Γ෇͚Λ͢Δ ɾίʔώʔΛग़͢ ɾཛΛׂΔ ɾϕου·Ͱே৯Λ͍࣋ͬͯ͘ ɾΦϜϨπΛ࡞Δ ɾ໨ۄম͖ͷݻ͞Λௐ੔͢Δ ɾϕʔίϯͷম͖ՃݮΛ޷Έʹ߹ΘͤΔ ɾ໺ࡊΛ੾Δ ɾຯḩोΛ࡞Δ ɾཛম͖Λ࡞Δ ɾ໺ࡊͷछྨΛ೔ʹΑͬͯม͑Δ ɾຯ෇͚ΛΧελϚΠζͰ͖Δ ɾΞϓϦ͔Β৯ࡐΛ஫จͰ͖Δ ɾ໨֮ΊΔͱಉ࣌ʹྉཧ͕Ͱ͖ͯΔ ɾίʔώʔΛυϦοϓ͢Δ ɾম͖ՃݮΛΧϝϥͰೝࣝ͢Δ ɾिؒ෼ͷ৯ࡐΛอଘͰ͖Δ ɾ͝൧Λਬ͘ ɾΞϓϦͰϝχϡʔબ୒Ͱ͖Δ ΍Δ ઈର΍Δ͜ͱ ɾύϯΛম͘ ɾ໨ۄম͖Λ࡞Δ ɾϕʔίϯΛম͘ ɾ໺ࡊΛম͘ ՋͳΒ΍Δ͜ͱ ΍Βͳ͍͍ͯ͘͜ͱ

Slide 19

Slide 19 text

Slide 20

Slide 20 text

޻ఔͷॻ͖ग़͠ ઈର΍Δ͜ͱ ɾύϯΛম͘ ɾ໨ۄম͖Λ࡞Δ ɾϕʔίϯΛম͘ ɾ໺ࡊΛম͘ ύϯΛऔΓग़͢ ύϯΛτʔελʔʹೖΕΔ τʔελʔͷεΠονΛೖΕΔ ׂΒΕͨཛΛऔΓग़͢ ཛΛম͘ ໺ࡊΛऔΓग़͢ ໺ࡊΛম͘ ϕʔίϯΛऔΓग़͢ ϕʔίϯΛম͘

Slide 21

Slide 21 text

ڞ௨͢ΔཁૉΛऔΓग़͢ ύϯΛऔΓग़͢ ύϯΛτʔελʔʹೖΕΔ τʔελʔͷεΠονΛೖΕΔ ׂΒΕͨཛΛऔΓग़͢ ཛΛম͘ ໺ࡊΛऔΓग़͢ ໺ࡊΛম͘ ϕʔίϯΛऔΓग़͢ ϕʔίϯΛম͘ Ճ೤ௐཧ ৯ࡐͷϐοΫΞοϓ ৯ࡐͷอ؅ ྫ

Slide 22

Slide 22 text

֤ཁૉʹඞཁͳγεςϜઃܭ ύϯΛऔΓग़͢ ύϯΛτʔελʔʹೖΕΔ τʔελʔͷεΠονΛೖΕΔ ׂΒΕͨཛΛऔΓग़͢ ཛΛম͘ ໺ࡊΛऔΓग़͢ ໺ࡊΛম͘ ϕʔίϯΛऔΓग़͢ ϕʔίϯΛম͘ Ճ೤ௐཧ ৯ࡐͷϐοΫΞοϓ ৯ࡐͷอ؅ ྫ

Slide 23

Slide 23 text

࠷଎Ͱಈ͘΋ͷΛ࡞Δʹ͸ʁ

Slide 24

Slide 24 text

࠷଎Ͱಈ͘΋ͷΛ࡞Δʹ͸ʁ ϩϘοτͷ͖΋ͪΛߟ͑Δ

Slide 25

Slide 25 text

ϩϘοτͷ͖΋ͪͰ γεςϜઃܭ

Slide 26

Slide 26 text

No content

Slide 27

Slide 27 text

ܗ͕ҧ͏΋ͷۤख ॏ͍΋ͷ࣋ͪͨ͘ͳ͍ ԕ͘·Ͱख͕ಧ͔ͳ͍

Slide 28

Slide 28 text

Ճ೤ௐཧ

Slide 29

Slide 29 text

ΦʔϒϯϨϯδ Ճ೤ௐཧ

Slide 30

Slide 30 text

Ճ೤ௐཧ

Slide 31

Slide 31 text

൶͸ҙ֎ʹॏ͍ λονύωϧݏ Ԟ·Ͱख͕ಧ͔ͳ͍ Ճ೤ௐཧ

Slide 32

Slide 32 text

ϗοτϓϨʔτʹ ஔ͚ͩ͘ Ճ೤ௐཧ

Slide 33

Slide 33 text

໺ࡊ ৯ࡐͷϐοΫΞοϓ

Slide 34

Slide 34 text

ܗ͕όϥόϥ ͔ͨ͞΋όϥόϥ Ӵੜతʹ৮Γͨ͘ͳ͍ ৯ࡐͷϐοΫΞοϓ

Slide 35

Slide 35 text

ΧοϓʹೖΕΔ ৯ࡐͷϐοΫΞοϓ

Slide 36

Slide 36 text

ྫྷଂݿ ৯ࡐͷอଘ

Slide 37

Slide 37 text

൶͸ҙ֎ʹॏ͍ Ԟ·Ͱख͕ಧ͔ͳ͍ ҐஔΛೝࣝ͢Δඞཁ ৯ࡐͷอଘ

Slide 38

Slide 38 text

खલʹ ৯΂෺͕ग़ͯ͘Δ୨ ৯ࡐͷอଘ

Slide 39

Slide 39 text

No content

Slide 40

Slide 40 text

ࣗಈԽͷίπ

Slide 41

Slide 41 text

ώτͷಈ࡞Λ ͦͷ··ϩϘοτԽ͢Δ

Slide 42

Slide 42 text

ϩϘοτͷ͖΋ͪʹͳͬͯ γεςϜઃܭ

Slide 43

Slide 43 text

ϩϘοτʹ༏͍͠γεςϜઃܭ ࣮૷͕γϯϓϧʹ ࠷଎Ͱಈ͘ϓϩτλΠϓΛ࡞ΕΔ

Slide 44

Slide 44 text

ಈ͘΋ͷͷ࡞Γํ

Slide 45

Slide 45 text

ΫϨʔϓ੝Γ෇͚ϩϘοτ ʢʣ

Slide 46

Slide 46 text

ΫϨʔϓੜ஍Λ࡞ΔϩϘοτͱ ίϥϘاը ΫϨʔϓ੝Γ෇͚ϩϘοτ ʢʣ

Slide 47

Slide 47 text

.PSJSPCPΫϨʔϓͷੜ஍Λম͘ϩϘοτ

Slide 48

Slide 48 text

ੜ஍Λম͍ͨޙͷ੝Γ෇͚Λ ࣗಈԽ͠·ͤΜ͔ʁ

Slide 49

Slide 49 text

ΫϨʔϓ੝Γ෇͚ϩϘοτ ϲ݄ޙʹలࣔձʂ

Slide 50

Slide 50 text

࠷଎ͰϓϩτλΠϓ࡞Γ ΫϨʔϓ੝Γ෇͚ϩϘοτ ϲ݄ޙʹలࣔձʂ

Slide 51

Slide 51 text

ϓϩδΣΫτ࢝ಈ

Slide 52

Slide 52 text

޻ఔͷॻ͖ग़͠

Slide 53

Slide 53 text

https://www.youtube.com/watch?v=xmNcTNnMALo

Slide 54

Slide 54 text

޻ఔ ஫จ ੜ஍Λম͘ ੜ஍ΛҠಈ ΫϦʔϜΛͷͤΔ ΫοΩʔΛͷͤΔ ંΓͨͨΉ ఏڙ͢Δ

Slide 55

Slide 55 text

޻ఔ ஫จ ੜ஍Λম͘ ੜ஍ΛҠಈ ΫϦʔϜΛͷͤΔ ΫοΩʔΛͷͤΔ ંΓͨͨΉ ఏڙ͢Δ

Slide 56

Slide 56 text

޻ఔ ஫จ ੜ஍Λম͘ ੜ஍ΛҠಈ ΫϦʔϜΛͷͤΔ ΫοΩʔΛͷͤΔ ંΓͨͨΉ ఏڙ͢Δ

Slide 57

Slide 57 text

ϩϘοτʹͳΓ͖ͬͯ ϓϩτλΠϓ࡞Γ

Slide 58

Slide 58 text

޻ఔ ஫จ ੜ஍Λম͘ ੜ஍ΛҠಈ ΫϦʔϜΛͷͤΔ ΫοΩʔΛͷͤΔ ંΓͨͨΉ ఏڙ͢Δ

Slide 59

Slide 59 text

ΫϦʔϜΛͷͤΔ ϩϘοτϋϯυͰΫϦʔϜΛߜΓͳ͕Β ϩϘοτΞʔϜΛಈ͔ͯ͠ ੜ஍ͷಛఆͷ৔ॴʹΫϦʔϜΛͷͤΔ

Slide 60

Slide 60 text

ΫϦʔϜΛͷͤΔ ϩϘοτϋϯυͰΫϦʔϜΛߜΓͳ͕Β ϩϘοτΞʔϜΛಈ͔ͯ͠ ੜ஍ͷಛఆͷ৔ॴʹΫϦʔϜΛͷͤΔ ΰʔϧ

Slide 61

Slide 61 text

ΫϦʔϜΛͷͤΔ ΰʔϧ θϩ

Slide 62

Slide 62 text

ΫϦʔϜΛͷͤΔ Ұؾʹ࣮૷͢Δͱࣦഊͨ͠ͱ͖ʹ θϩ͔Β΍Γ௚͢ඞཁ͕͋Δ ΰʔϧ θϩ

Slide 63

Slide 63 text

ΫϦʔϜΛͷͤΔ ΰʔϧ θϩ ໨ඪ̍ ໨ඪ̎ ໨ඪ̏

Slide 64

Slide 64 text

ΫϦʔϜΛͷͤΔ ໨ඪΛ۠੾Δͱࣦഊͯ͠΋ Ұͭલͷͱ͜Ζʹ໭Δ͚ͩ ΰʔϧ θϩ ໨ඪ̍ ໨ඪ̎ ໨ඪ̏

Slide 65

Slide 65 text

ΫϦʔϜΛͷͤΔ ΰʔϧ θϩ ໨ඪ̍ ໨ඪ̎ ໨ඪ̏ ϋϯυऔΓ෇͚ ΞʔϜಈ࡞ ΫϦʔϜΛग़͢

Slide 66

Slide 66 text

ΫϦʔϜΛͷͤΔ ΰʔϧ θϩ ໨ඪ̍ ໨ඪ̎ ໨ඪ̏ ϋϯυऔΓ෇͚ ΞʔϜಈ࡞ ΫϦʔϜΛग़͢ ଞͷػೳ͕࣮૷͞Εͯͳ͍

Slide 67

Slide 67 text

ΫϦʔϜΛͷͤΔ ΰʔϧ θϩ ଞͷػೳ͕࣮૷͞Εͯͳ͍ ໨ඪ̍ ໨ඪ̎ ໨ඪ̏ ΫϦʔϜΛग़͢ ϋϯυऔΓ෇͚ ΞʔϜಈ࡞ ࣗ෼͕ϩϘοτʹͳΓ͖ͬͯಈ࡞Λิ͏

Slide 68

Slide 68 text

ΫϦʔϜΛͷͤΔ ߜΓା εϓϨʔ؈

Slide 69

Slide 69 text

ߜΓା εϓϨʔ؈ ΫϦʔϜΛͷͤΔ

Slide 70

Slide 70 text

ΫϦʔϜΛͷͤΔ

Slide 71

Slide 71 text

ΫϦʔϜΛͷͤΔ

Slide 72

Slide 72 text

ΫϦʔϜΛͷͤΔ

Slide 73

Slide 73 text

ΫϦʔϜΛͷͤΔ

Slide 74

Slide 74 text

ΫϦʔϜΛग़͠ͳ͕Β ಈ͔ͤΔΑ͏ʹ ։࢝िؒ ΫϦʔϜΛͷͤΔ

Slide 75

Slide 75 text

ΫοΩʔ͕ೖͬͨ ΧοϓΛͻͬ͘Γฦ͢ ΫοΩʔΛͷͤΔ

Slide 76

Slide 76 text

޻ఔ ஫จ ੜ஍Λম͘ ੜ஍ΛҠಈ ΫϦʔϜΛͷͤΔ ΫοΩʔΛͷͤΔ ંΓͨͨΉ ఏڙ͢Δ

Slide 77

Slide 77 text

ંΓͨͨΉ ೉ͦ͠͏͔ͩΒ ఘΊΑ͏

Slide 78

Slide 78 text

೉ͦ͠͏͔ͩΒ ఘΊΑ͏ ંΓͨͨΉ

Slide 79

Slide 79 text

ંΓͨͨΉ https://www.youtube.com/watch?v=xmNcTNnMALo

Slide 80

Slide 80 text

ώτͱಉ͡ಈ࡞ ϩϘοτʹ༏͍͠ಈ࡞ ંΓͨͨΉ

Slide 81

Slide 81 text

ώτͱಉ͡ಈ࡞ ϩϘοτʹ༏͍͠ಈ࡞ ંΓͨͨΉ ॊΒ͔͍΋ͷΛ͔ͭΉͷ͸ۤख

Slide 82

Slide 82 text

ંΓͨͨΉ

Slide 83

Slide 83 text

ϩϘοτʹͳΓ͖ͬͯಈ࡞Λิ͏ ·࣮ͩ૷ͯ͠ͳ͍ػೳΛؚΊͨ Ұ࿈ͷಈ࡞ΛΠϝʔδͰ͖Δ

Slide 84

Slide 84 text

ંΓͨͨΉ ϩϘοτͱંΓͨͨΈ૷ஔʹͳΓ͖Δਓ

Slide 85

Slide 85 text

ંΓͨͨΉ ંΓͨͨΈ૷ஔʹͳΓ͖Δਓ

Slide 86

Slide 86 text

ંΓͨͨΉ ϞʔλݻఆύʔπʹͳΓ͖ΔਓʴϩϘοτʹͳΓ͖Δਓ

Slide 87

Slide 87 text

%ϓϦϯλͰ ϓϩτλΠϓ੍࡞ ંΓͨͨΉ ඞཁͳػೳ͕ Θ͔ͬͨ

Slide 88

Slide 88 text

ંΓͨͨΉ

Slide 89

Slide 89 text

εςϯϨεͷ൘ۚ ંΓͨͨΉ

Slide 90

Slide 90 text

ંΓͨͨΊΔΑ͏ʹ ંΓͨͨΉ

Slide 91

Slide 91 text

޻ఔ ஫จ ੜ஍Λম͘ ੜ஍ΛҠಈ ΫϦʔϜΛͷͤΔ ΫοΩʔΛͷͤΔ ંΓͨͨΉ ఏڙ͢Δ

Slide 92

Slide 92 text

ఏڙ͢Δ

Slide 93

Slide 93 text

ઃܭͨ͠ ϕϧτίϯϕΞͰ੒ޭ ఏڙ͢Δ

Slide 94

Slide 94 text

޻ఔ ஫จ ੜ஍Λম͘ ੜ஍ΛҠಈ ΫϦʔϜΛͷͤΔ ΫοΩʔΛͷͤΔ ંΓͨͨΉ ఏڙ͢Δ

Slide 95

Slide 95 text

Slide 96

Slide 96 text

ࠃࡍϩϘοτల https://youtu.be/HoCc6Pex0ns

Slide 97

Slide 97 text

࠷଎Ͱ࡞ͬͨϓϩτλΠϓ͸ ࡉ͔͍վળ఺͕͍ͬͺ͍ ஫ҙ఺

Slide 98

Slide 98 text

࠷଎Ͱ࡞ͬͨϓϩτλΠϓ͸ ࡉ͔͍վળ఺͕͍ͬͺ͍ ஫ҙ఺ ಈ͔͢ˠվྑͷϧʔϓΛճ͢

Slide 99

Slide 99 text

ಈ͘΋ͷΛ࡞Δ ࣮ࡍʹಈ͔͢ վળ఺୳͢

Slide 100

Slide 100 text

ಈ͘΋ͷΛ࡞Δ ࣮ࡍʹಈ͔͢ վળ఺୳͢ प͙Β͍͢Δͱ ͍͍ײ͡ͷ΋ͷ͕Ͱ͖Δ

Slide 101

Slide 101 text

·ͱΊ

Slide 102

Slide 102 text

ϩϘοτʹ༏͍͠γεςϜઃܭ ࣮૷͕γϯϓϧʹ ࠷଎Ͱಈ͘΋ͷΛ࡞ΕΔ

Slide 103

Slide 103 text

ಈ͘΋ͷΛ࡞Δ ࣮ࡍʹಈ͔͢ վળ఺୳͢ पͯ͠׬੒౓Λ্͛Δ

Slide 104

Slide 104 text

ϩϘοτʹ༏͘͠ ࠷଎ͰϓϩτλΠϓ ࡞Γ·͠ΐ͏ʂ σόοά͢ΔΫϨʔϓళһ