一个机器人，一把铲子，欲颠覆烘焙业

国智清创雄安机器人研究院

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英文版正文5892字，

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中文版正文2051字，

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Service robots are now technically able to perform very complex tasks and are therefore increasingly used in demanding applications. They are already used very often in industrial scenarios, but also more and more frequently in the home and private environment. In addition, they already take over the initial contact, communication and support of customers, which requires an intuitive, clear interaction with people. Because of this trend, it is important that people without robotics experience can also interact directly, easily and without training with these new service robots. However, there are also service robots that are autonomous and the user does not have to interact with them or anything. For example, cleaning robots only have to do their job while avoiding collisions with people and obstacles by reactively changing the direction of their movement. An interaction is therefore rather secondary for such a vacuum cleaner. For other tasks, interaction with humans is a critical aspect, especially when robot movements need to be dynamically adapted to the customer.

服务机器人现在在技术上能够执行非常复杂的任务，因此越来越多地用于要求高的应用中。它们已经在工业场景中非常频繁地使用，但在家庭和私人环境中也越来越频繁地使用。此外，他们已经接管了客户的最初联系、沟通和支持，这需要与人进行直观、清晰的互动。由于这一趋势，重要的是，没有机器人经验的人也可以直接、轻松地与这些新型服务机器人进行互动，而无需进行培训。然而，也有自主的服务机器人，用户不必与它们或任何东西交互。例如，清洁机器人只需通过反应性地改变其运动方向来完成工作，同时避免与人和障碍物发生碰撞。因此，这种真空吸尘器的相互作用是次要的。对于其他任务，与人的交互是一个关键的方面，特别是当机器人的运动需要动态地适应客户时。

The FZI CookieBot allows the user to decorate cookies with different kitchen utensils. An intuitive web -based user interface has been developed to facilitate interaction and enable each user to quickly understand how to control the robot and its behaviour. This supports the user in the different phases of the interaction and allows him to be more precise in the control and a clear feedback on robot behaviour. The setup includes our service robot HoLLiE, the marker -based localization system OptiTrack and a monitor to display the interactive user interface.

Fzi Cookiebot允许用户用不同的厨房用具装饰饼干。一个直观的基于网络的用户界面已经开发出来，以促进交互，并使每个用户能够快速了解如何控制机器人及其行为。这支持用户在不同的交互阶段，并允许他更精确的控制和对机器人行为的清晰反馈。设置包括我们的服务机器人Hollie，基于标记的定位系统光学跟踪和显示器显示交互用户界面。

HoLLiE is a mobile service robot developed within the FZI House of Living Labs (HoLL). Thanks to the two arms with six degrees of freedom, HoLLiE reaches all relevant areas on the work surface. The right arm is equipped with an anthropomorphic hand with nine degrees of freedom (Schunk SVH). This hand allows you to safely grasp the different tools with the different shapes. For the left arm have been used an industrial baking gripper to hold the column with which the cookies are moved to the different positions. In addition, the two joints in the neck were used to align the robot's head naturally and humanly with the view of the cookie as well as the guests.

HOLLIE是一个移动服务机器人开发的Fzi生活实验室（霍尔）。由于有六个自由度的两个手臂，Hollie可以到达工作面上的所有相关区域。右臂装备有一只九自由度的拟人手（Schunk SVH）。这只手可以让你安全地抓住不同形状的不同工具。因为左臂已经使用了一个工业烘焙夹具来固定将饼干移动到不同位置的柱。此外，脖子上的两个关节被用来将机器人的头部自然地、人性化地与饼干以及客人的视线对齐。

On the right side of the table, HoLLiE has a set of four different bakery utensils to decorate the butter cookies. This includes three cans of sprinkles, sugar stars and marshmallows that can be applied to the cookies by turning the can. The ingredients have different colors, sizes and shapes, so that everyone can design their own cookies very individually.

在桌子的右边，Hollie有一套四种不同的烘焙用具来装饰黄油曲奇。这包括三罐喷雾剂、糖星和棉花糖，可以通过转动罐子来涂抹到饼干上。这些原料有不同的颜色、大小和形状，所以每个人都可以单独设计他们自己的饼干。

We also added a sugar -coated syringe bag so that the user can draw letters or shapes on the cookie. On the left side of the table, the new cookies are stored in between. When a new cookie is to be decorated, HoLLiE uses her left arm to place a new cookie in the work area directly in front of her. While the right arm is busy decorating, the left arm can reserve the next cookie and apply a thin layer of sugar casting with a sugar dispenser. Each user has four minutes to decorate individually. In the end, HoLLiE delivers the biscuit with the left arm through an opening in the glass pane.

我们还增加了一个糖衣注射器袋，这样用户可以在饼干上画字母或形状。在桌子的左侧，新的cookie存储在中间。当一个新的饼干要装饰时，Hollie用她的左臂把一个新的饼干直接放在她前面的工作区。当右臂忙于装饰时，左臂可以保留下一块饼干，并用一个糖分配器涂上一层薄薄的糖模。每个用户有四分钟的时间单独装饰。最后，Hollie用左臂通过玻璃窗的开口送饼干。

In order to control the different baking tools in the robot's hand, there are a number of model tools whose positions and orientation are constantly recorded. As soon as the user grabs or resets one of the model tools, HoLLiE performs the same action. All baking utensils are available on the user side as well as in the robot's work area. The two areas are separated by a glass pane.

为了控制机器人手上不同的烘焙工具，有许多模型工具，它们的位置和方向会被不断地记录下来。一旦用户抓取或重置其中一个模型工具，Hollie就会执行相同的操作。所有烘焙用具都可以在用户端以及机器人的工作区域内使用。这两个区域用玻璃板隔开。

Each tool on the user side has a set of reflective markers that are continuously captured by the OpiTrack Motion Tracking System. Different marker patterns were used to distinguish the tools. The starting positions of the four tools are marked on the operating surface by light circles. As a feedback to the user, the surface visually highlights which tool was removed and informs that the robot is now also using this tool.

用户端的每个工具都有一组反射标记，这些标记被OpitTrack运动跟踪系统连续捕获。使用不同的标记模式来区分工具。四个工具的起始位置用光圈标记在操作面上。作为对用户的反馈，表面会以视觉方式突出显示移除的工具，并通知机器人现在也在使用该工具。

After grabbing the desired tool, the robot goes into the working area above the cookie and the user interface informs the user that the robot can start controlling the robot. This is made possible by the use of the ROS -based FZI Motion Pipeline, which sends internal Cartesian targets to the robot arms. The captured position of the model tool is first transformed into the robot coordinate system. The parameters of the Cartesian control can be set in such a way that a very direct, pressurised or rather softer movement of the robot occurs. The web -based user interface in front of the operator displays a virtual representation of the workspace above the cookie. This simplifies the spatial understanding and allows, for example, to write with sugar on the cookie.

抓取所需工具后，机器人进入cookie上方的工作区域，用户界面通知用户机器人可以开始控制机器人。这是通过使用基于ROS的FZI运动管道实现的，该管道将内部笛卡尔目标发送到机器人手臂。首先将模型工具的捕获位置转化为机器人坐标系。笛卡尔控制参数的设置可以使机器人发生非常直接、加压或更柔和的运动。操作员前面的基于Web的用户界面显示了cookie上方工作区的虚拟表示。这简化了对空间的理解，例如，允许在饼干上用糖写字。

The flow of the sugar mold through the injection bag can be activated and deactivated by control commands. When the user moves the model injection bag near the interactive user interface, the real injection bag is activated and the sugar pour flows onto the cookie. Raising the tool deactivates the sugar flow via a valve in the syringe bag. The valve and the sugar -casting pump are controlled by ROS via Arduino. When the injection bag is activated, the user interface simulates the flow of the sugar and gives the user a feedback about the control command currently sent to the real tool.

通过注射袋的糖模流可以通过控制命令激活和停用。当用户将模型注射袋移动到交互用户界面附近时，会激活真正的注射袋，并将糖倒流到饼干上。提升工具可通过注射袋中的阀门关闭糖流。阀门和注糖泵由活性氧通过Arduino控制。当注射袋被激活时，用户界面模拟糖的流动，并向用户提供有关当前发送到实际工具的控制命令的反馈。

Since the Cookie Bot is to be controlled easily and without training, it is important to provide for restrictions on position, rotation, speed and acceleration. In this way, risks and undesirable collisions can be avoided if the user is unfamiliar with the system while he has full control of the robot.

由于cookie机器人易于控制，且无需训练，因此必须提供位置、旋转、速度和加速方面的限制。这样，如果用户在完全控制机器人的同时不熟悉系统，就可以避免风险和不良碰撞。

The kinetics of the robot could otherwise cause problems if any positions and rotations were allowed. For example, target positions that are not achievable or require a robot configuration change could be selected. To decorate the cookies with the sprinklers it is necessary to control the rotation of the cans on the real robot. For this purpose, a special control strategy was developed which allows only the last joint of the robot to rotate instead of turning the whole arm. The rotation of this last joint depends on the orientation of the measured doses.

如果允许任何位置和旋转，机器人的动力学可能会导致问题。例如，可以选择无法实现或需要更改机器人配置的目标位置。为了用洒水器装饰饼干，有必要在真正的机器人上控制罐子的旋转。为此，开发了一种特殊的控制策略，只允许机器人的最后一个关节旋转，而不需要转动整个手臂。最后一个关节的旋转取决于测量剂量的方向。

As soon as the user is finished decorating the cake and wants to end the interaction, the left robot arm hands over the finished cookie. The control of the two arms is completely independent, so that the robot with the left arm can prepare new cookies while the right arm is used to decorate another. This way the CookieBot can prepare cookies while one arm still uses and places the baking tool.

一旦用户完成了蛋糕的装饰，并且想要结束交互，左臂机器人就会把完成的饼干递给他。两个手臂的控制是完全独立的，这样左臂的机器人可以准备新的饼干，而右臂则用来装饰另一个。这样，当一只手臂仍在使用和放置烘焙工具时，Cookiebot可以准备饼干。

HoLLiE already decorated hundreds of cookies at the stable keeper party 2019 in Berlin and two other events in Germany. All users could use the system intuitively without training. They had a lot of fun decorating the cookies together with a service robot, writing and designing them according to their personal taste.

Hollie已经在柏林的2019年stable keeper派对上以及德国的另外两个活动上装饰了数百块饼干。所有用户都可以在没有培训的情况下直观地使用系统。他们很喜欢用服务机器人装饰饼干，根据自己的喜好进行写作和设计。

https://www.fzi.de/aktuelles/news/detail/artikel/hollies-patisserie-serviceroboter-dekoriert-kekse-in-enger-kooperation-mit-dem-menschen/

https://spectrum.ieee.org/automaton/robotics/home-robots/cookiebot-robot-armed-with-a-frosting-gun

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编译：J<4

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