Meal delivery cabinet, method and storage medium

Abstract

The application discloses a meal delivery cabinet, method and storage medium, which is used for automatically providing corresponding meal products to a meal serving port according to needs, and comprises a plurality of conveying channels arranged in a cabinet body and used for conveying meal products, and a transfer tray used for receiving the meal products conveyed from the conveying channels, and further comprises a conveying device used for conveying the transfer tray between the conveying channels and the meal serving port, the transfer tray is provided with a blocking body opposite to the conveying channels and a distance detection device used for detecting the distance between the blocking body and the meal products on the transfer tray. The sensor is arranged on the conveying device, different conveying speed change processes are adopted according to the position state of the meal products on the conveying device, so that better conveying speed and stability are obtained.

Description

Technical Field

[0001] This invention relates to the field of catering equipment technology, and in particular to food delivery cabinets, methods, and storage media. Background Technology

[0002] Meal delivery lockers are smart devices designed to provide convenient food distribution services. They are commonly used in hospitals, offices, schools, restaurants, or other locations where food delivery is required. These lockers combine automation technology with smart features to enable food storage and distribution. Meal delivery lockers can store various types of food, from pre-packaged meals to fresh ingredients. Users can select the desired food through an interface or app on the locker, and the locker will automatically dispense the corresponding food.

[0003] The food delivery locker is equipped with various workstations for storing and transporting food products. These workstations can also transport food products outwards. A conveyor system receives the food products from these workstations and then transports them to the serving area for customers to retrieve. A key component of the conveyor system is typically a "cantilever trolley." During operation, the cantilever trolley needs to maintain stability and speed to ensure efficient food delivery while preventing it from crashing into the locker and causing food products to fall. However, conveying speed and stability are often contradictory; therefore, it is necessary to resolve this conflict and optimize the conveying method. Summary of the Invention

[0004] To address the issues of speed and stability in delivering food products using food delivery lockers, this invention proposes a food delivery locker and method. By installing sensors in the delivery device, different delivery speed variations are applied based on the position of the food products within the device, thereby achieving better delivery speed and stability.

[0005] The technical solution adopted in this invention is to design a food delivery cabinet for automatically providing corresponding food products to the food preparation port as needed. The cabinet includes several conveying channels for conveying food products and a transfer tray for receiving food products delivered from the conveying channels. It also includes a conveying device for conveying the transfer tray between the conveying channels and the food preparation port. The transfer tray has a stop opposite to the conveying channel and a distance detection device for detecting the distance between the stop and the food products on the transfer tray.

[0006] In some embodiments, the distance detection device is an ultrasonic sensor.

[0007] In some embodiments, the conveying channels are arranged in a matrix in the height direction of the cabinet body, and the conveying device includes a lifting mechanism and a horizontal moving mechanism.

[0008] In some embodiments, it further includes a distance detection device for detecting the distance between the transfer tray and the ends of the lifting mechanism and the horizontal moving mechanism.

[0009] In some embodiments, the distance detection device is an ultrasonic sensor.

[0010] A meal delivery method for the meal delivery cabinet, determines the maximum speed Vmax and maximum acceleration a of the transfer tray. When the total distance S that the transfer tray needs to move is known, the speed of the transfer tray reaches Vmax when the distance moved without exceeding S / 2 under an acceleration not exceeding a.

[0011] In some embodiments, compare S with "Vmax 2 / a",

[0012] If S is greater than Vmax 2 / a, then the transfer tray accelerates from 0 to the maximum speed Vmax at an acceleration of a, then maintains the maximum speed Vmax and moves for (S - Vmax 2 / a) / Vmax seconds, and finally decelerates to a speed of 0 at an acceleration of -a;

[0013] If S is equal to Vmax 2 / a, then the transfer tray accelerates from 0 to the maximum speed Vmax at an acceleration of a, and then decelerates to a speed of 0 at an acceleration of -a;

[0014] If S is less than Vmax 2 / a, then the transfer tray accelerates from 0 at an acceleration of a seconds, and then decelerates at an acceleration of -a seconds to a speed of 0.

[0015] In some embodiments, detect whether the distance between the baffle and the meal product on the transfer tray is greater than the set distance Hs. If it is greater, then a is replaced with the set value Ha, where Ha < a, and the larger Hs is, the smaller the value of Ha is.

[0016] In some embodiments, the moving distance S is the distance in the linear moving direction.

[0017] A computer-readable storage medium for storing a computer program, and the computer program executes the meal delivery method when running.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] This invention installs ultrasonic ranging sensors along the X-axis and Y-axis of the cantilever trolley, which calculate the distances from the trolley to the ends of the X and Y axes in real time. An additional ultrasonic ranging sensor is installed inside the cantilever trolley to measure the depth to which the lunchbox is pushed. Different conveying speeds are applied based on the position of the food product on the conveying device to achieve better conveying speed and stability. This improves the stability and speed of the cantilever trolley during the food delivery cabinet's movement, reducing the food delivery time. The stability and speed of the cantilever trolley are enhanced through ultrasonic ranging and control algorithms. Given the total distance to be moved, the cantilever trolley reaches its maximum speed before reaching half the total distance, maximizing speed while maintaining the most stable state throughout the movement, thus reducing retrieval time. When the lunchbox is close to the edge, the acceleration is reduced accordingly, sacrificing some speed to improve stability. Attached Figure Description

[0020] The present invention will now be described in detail with reference to specific embodiments and accompanying drawings. To illustrate the details and facilitate understanding of its principles, the drawings are not necessarily to scale, and similar reference numerals may describe similar components in different views. The accompanying drawings generally illustrate the embodiments discussed herein by way of example and not limitation. Wherein:

[0021] Figure 1 This is a cross-sectional view of the food delivery locker.

[0022] Figure 2 yes Figure 1 A schematic diagram of the AA section.

[0023] Figure 3 This is a schematic diagram showing the food product being close to the baffle.

[0024] Figure 4 yes Figure 3 An enlarged diagram of point B in the diagram.

[0025] Figure 5 This is a schematic diagram showing the food product being far from the baffle.

[0026] Figure 6 yes Figure 5 An enlarged diagram of point C in the diagram.

[0027] Figure 7 This is a flowchart illustrating the delivery method of the food delivery locker.

[0028] Figure 8 The distance S is greater than Vmax 2 A schematic diagram of the speed change of the cantilever trolley / a.

[0029] Figure 9 The distance S equals Vmax 2 A schematic diagram of the speed change of the cantilever trolley / a.

[0030] Figure 10 S is less than Vmax 2 A schematic diagram of the speed change of the cantilever trolley / a.

[0031] In the diagram, 1. Cabinet; 2. Transfer tray; 3. Conveying channel; 4. Food preparation port; 5. Food products; 6. Baffle; 7. Ultrasonic sensor; 8. Vertical guide rail; 9. Horizontal guide rail; 10. Cantilever trolley. Detailed Implementation

[0032] The following are specific embodiments of the present invention, and the technical solution of the present invention will be further described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments, and the following embodiments do not limit the invention covered by the claims. Furthermore, not all combinations of the features described in the embodiments are necessary for the inventive solution.

[0033] The principles and structure of the present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0034] Example

[0035] Meal delivery lockers are smart devices designed to provide convenient food distribution services. They are commonly used in hospitals, offices, schools, restaurants, or other locations where food delivery is required. These lockers combine automation technology with smart features to enable food storage and distribution. Meal delivery lockers can store various types of food, from pre-packaged meals to fresh ingredients. Users can select the desired food through an interface or app on the locker, and the locker will automatically dispense the corresponding food.

[0036] The food delivery locker is equipped with various workstations for storing and transporting food products. These workstations can also transport food products outwards. A conveyor system receives the food products from these workstations and then transports them to the serving area for customers to retrieve. A key component of the conveyor system is typically a "cantilever trolley." During operation, the cantilever trolley needs to maintain stability and speed to ensure efficient food delivery while preventing it from crashing into the locker and causing food products to fall. However, conveying speed and stability are often contradictory; therefore, it is necessary to resolve this conflict and optimize the conveying method.

[0037] To address this, a food delivery cabinet is proposed for automatically supplying corresponding food products 5 to the food preparation port 4 as needed. It includes several conveying channels 3 within the cabinet body 1 for transporting the food products 5, and a transfer tray 2 for receiving the food products 5 delivered from the conveying channels 3. It also includes a conveying device for transporting the transfer tray 2 between the conveying channels 3 and the food preparation port 4. The transfer tray 2 has a baffle 6 opposite to the conveying channels 3 and a distance detection device for detecting the distance between the baffle 6 and the food products 5 on the transfer tray 2. Since the distance between the food products 5 and the baffle 6 varies when they are delivered to the transfer tray 2 from different conveying channels 3, the farther the distance from the baffle 6, the more likely it is to fall off the transfer tray 2. In this case, the conveying speed or acceleration of the conveying device can be reduced accordingly to prevent the food products 5 from falling. Conversely, if the food products 5 are closer to the baffle 6, the probability of them falling off the transfer tray 2 is smaller. In this case, the conveying speed or acceleration of the conveying device can be increased accordingly to prevent the food products 5 from falling.

[0038] The distance detection device is an ultrasonic sensor 7. The ultrasonic sensor 7 can perform measurements without contacting the target object, making it safe for use in various environments and with different object types. It can measure distance without touching the target. The ultrasonic sensor 7 can be applied to various objects and surfaces, whether solid, liquid, powder, or even transparent objects, and can perform relatively accurate distance measurements. The ultrasonic sensor 7 is less affected by environmental conditions, and compared to some other high-precision measuring devices, its cost is generally lower.

[0039] The conveying channels 3 are arranged in a matrix along the height of the cabinet 1. The conveying device includes a lifting mechanism and a horizontal moving mechanism. In this embodiment, the conveying device is a two-dimensional planar trolley that moves in a vertical plane. The lifting mechanism includes a vertical guide rail 8 in the vertical Y-axis direction, and the horizontal moving mechanism includes a horizontal guide rail 9 in the horizontal X-axis direction. A cantilever trolley 10 is provided on the horizontal guide rail 9. The cantilever trolley 10 can move horizontally on the horizontal guide rail 9 in the X-axis direction, and the horizontal guide rail 9 can move up and down on the vertical guide rail 8 in the Y-axis direction. The transfer tray 2 is provided on the cantilever trolley 10 and is moved by the cantilever trolley 10.

[0040] It also includes a distance detection device for detecting the distance between the transfer tray 2 and the ends of the lifting mechanism and the horizontal moving mechanism, so as to detect the distance between the cantilever trolley 10 and the end of the guide rail and prevent impact to the end.

[0041] The distance detection device is an ultrasonic sensor 7. The ultrasonic sensor 7 can perform measurements without contacting the target object, making it safe for use in various environments and with different object types. It can measure distance without touching the target. The ultrasonic sensor 7 can be applied to various objects and surfaces, whether solid, liquid, powder, or even transparent objects, and can perform relatively accurate distance measurements. The ultrasonic sensor 7 is less affected by environmental conditions, and compared to some other high-precision measuring devices, its cost is generally lower.

[0042] Food delivery methods

[0043] Since the cantilever trolley 10 has two linear movement directions, the X-axis and the Y-axis, the control principle for X-axis movement is the same as that for Y-axis movement. The following explanation will only focus on the X-axis direction. When the total distance to be moved is known, the cantilever trolley 10 is set to reach its maximum speed before moving halfway through the total distance. This ensures the fastest speed while maintaining the most stable state throughout the movement, thus reducing the meal retrieval time. When the lunchbox is close to the edge, the acceleration is correspondingly reduced, sacrificing some speed to improve stability.

[0044] Specifically, when it is necessary to provide the corresponding food products 5 to the food preparation port 4, firstly, the conveying device moves the transfer tray 2 so that it corresponds to the corresponding conveying channel 3, and then the conveying channel 3 pushes the food products 5 in it onto the transfer tray 2. In this embodiment, the transfer tray 2 is a simple base plate.

[0045] The optimal maximum speed Vmax and optimal maximum acceleration a of the cantilever trolley were determined using experimental data.

[0046] Given the total distance S that the transfer disk needs to move, the speed of the transfer disk reaches Vmax when the distance moved does not exceed S / 2 while the acceleration does not exceed a.

[0047] Compare S with "Vmax" 2 The size of / a”, if S is greater than Vmax 2 / a, then the transfer disk accelerates from 0 to the maximum speed Vmax by a, and then moves at the maximum speed Vmax (S-Vmax). 2 / a) / Vmax seconds, then press -a to decelerate to 0 speed;

[0048] If S equals Vmax 2 If / a, then the transfer disk starts from 0 and accelerates to the maximum speed Vmax by pressing a, then decelerates to 0 by pressing -a;

[0049] If S is less than Vmax 2 / a, the transfer tray accelerates from 0 at a rate of a seconds later, and then decelerates at -a seconds until the speed reaches 0.

[0050] Detect whether the distance between the baffle and the dietary product on the transfer tray is greater than the set distance Hs. If it is greater, a is replaced with the set value Ha, where Ha < a, and the larger Hs is, the smaller the value of Ha is.

[0051] The distance parameter "Hs" and the acceleration parameter "Ha" can be set by the customer according to needs. "Ha" must not be greater than a, and the moving distance S is the distance in the straight-line moving direction.

[0052] Of course, it is not limited to one "Hs" and one "Ha". Specifically, multiple "Hs" can correspond to multiple "Ha", and just make them correspond one by one.

[0053] The computer program that executes the above dietary delivery method is stored in a computer-readable storage medium.

[0054] A computer-readable storage medium refers to various physical devices or media that can store and read data. These media can store various types of information, including files, programs, multimedia content, etc. A hard disk drive (HDD) is one of the most common storage devices in a computer. It stores and reads data through disks and read / write heads, and is usually used for long-term storage of large amounts of data. A solid state drive (SSD) uses flash memory storage technology. Compared with traditional mechanical hard disks, it has faster read / write speeds and can provide higher performance. Optical discs include CD (Compact Disc), DVD (Digital Versatile Disc), and Blu-ray Disc, etc. These optical discs use laser technology to read the data stored on their surfaces. Flash drives, also known as USB flash drives or pen drives, are portable storage devices that use flash memory storage technology and can be connected to a computer through a USB interface. Memory cards such as SD cards and MicroSD cards are usually used in cameras, mobile phones, and other portable devices and can store photos, videos, and other data. Although cloud storage is not a physical medium, as a form of online storage, it allows users to store data on remote servers through the Internet.

[0055] \These storage media have different characteristics and application scenarios, and users can choose the most suitable storage medium to store and read data according to their needs. In actual use, the appropriate storage medium is often selected based on factors such as the importance of the data, the required access speed, and the long-term preservation requirements.

[0056] Other ranging sensors can also replace ultrasonic ranging sensors, for example:

[0057] Infrared sensors can be used: these sensors use infrared light to measure the distance between an object and the sensor. They perform well in short-distance measurements and certain specific environments, but may be affected by specific lighting conditions or special surface conditions.

[0058] Infrared sensors and laser rangefinders can also be used: Laser sensors use laser beams to measure distance, typically offering high accuracy and stability. They are commonly used in precision measurement and industrial applications, but may be more expensive than ultrasonic sensors. Microwave radar sensors can also be used: These sensors use microwaves to measure the distance to objects, offering better stability and penetration for certain applications, such as measurements in harsh environments. These sensors have their own advantages and limitations in different scenarios and applications. Choosing the right sensor depends on the specific application requirements, such as accuracy, measurement range, environmental conditions, and cost.

[0059] The conveying device described is a two-dimensional guide rail conveyor, a device used to move and transport objects on a plane. It typically consists of two mutually perpendicular guide rails, allowing objects to move in both horizontal and vertical directions. These devices are commonly found in automated production lines, robotic applications, and various situations requiring precise movement of objects on a plane. Two-dimensional guide rail conveyors allow objects to move freely in both horizontal and vertical directions. They typically consist of two mutually perpendicular tracks, allowing objects to move in two dimensions on a plane. These devices are generally designed for precise object positioning and movement. They can provide high-precision position control, enabling objects to be accurately moved to specific locations. Two-dimensional guide rail conveyors are commonly used in automated production lines and robotic applications. They can be integrated with automated systems to achieve automated object handling and positioning. These devices are typically equipped with a control system that can be programmed to control the object's movement path, speed, and dwell position. This programmability makes them suitable for various complex production processes.

[0060] The conveyor channel can be, for example, a conveyor belt. Conveyor belts are a common material handling system widely used in various applications, including the food service industry. In the food service industry, conveyor belts can be used to transport food containers or food. They enable automated food transport, allowing food or containers to flow along specific routes, providing a more convenient food retrieval experience. They can transport large quantities of food within a limited space, helping to save space and improve operational efficiency.

[0061] Acceleration control is a crucial component in preventing objects from falling. In engineering and logistics, preventing objects from falling typically involves controlling their speed and acceleration to ensure they don't fall or get damaged during movement or transport due to sudden acceleration or deceleration. When an object is in motion, the control system can be designed to achieve smooth acceleration and deceleration, avoiding abrupt speed changes, thereby reducing the impact and inertial forces on the object and lowering the risk of falling. Setting appropriate maximum speed limits ensures that objects don't exceed safe speed ranges during transport or movement. Exceeding safe speeds can cause objects to lose control and fall. Using cushioning devices or shock-absorbing materials in the transport system reduces vibration and impact during movement, preventing falls or damage. Using a precise position control system ensures objects accurately reach their target location. Precise control prevents falls caused by sudden stops or inaccurate positioning. Real-time monitoring of the object's position, speed, and acceleration, and timely adjustments to the control system to maintain stable movement, are essential. Utilizing sensors and feedback mechanisms for control adjustments ensures the stability of objects during movement, guaranteeing safe transport and minimizing the risk of damage and falling.

[0062] Speed ​​control is a crucial means of preventing objects from falling. When an object is in motion, rapid speed changes can cause it to lose control and fall or become damaged. Ensuring smooth speed changes is essential when transporting or moving objects. Sudden increases or decreases in speed can increase the inertial forces and impacts on the object, potentially leading to loss of control. Establishing appropriate maximum speed limits prevents objects from exceeding safe speed ranges. Control systems can set speed limits to ensure objects move within safe limits. Control systems can be designed to achieve smooth starts and stops, avoiding abrupt acceleration or deceleration, thus reducing the risk of falling objects. Installing deceleration devices at the end of the object's path or in areas requiring slowdown can effectively reduce the object's speed, ensuring a smooth deceleration near the destination. Utilizing sensor systems to monitor the object's position and motion status allows for real-time adjustments to the speed control system, ensuring stability during movement. Where necessary, support structures or fixing devices can be considered to ensure stability during transport and reduce the risk of falling objects.

[0063] These methods ensure that objects remain stable during movement, preventing them from falling or being damaged. A comprehensive consideration of speed control, position monitoring, and system stability is crucial for ensuring the safe transport of objects.

[0064] The specific embodiments described herein are merely illustrative examples illustrating the spirit of the invention. Those skilled in the art can make various modifications or additions to the described embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

[0065] Although this document uses a number of technical terms, the possibility of using other terms is not excluded. These terms are used merely for the convenience of describing and explaining the essence of the invention; interpreting them as any additional limitation would contradict the spirit of the invention. The order of actions, steps, etc., in the apparatus and methods shown in the specification and drawings can be implemented in any order unless otherwise expressly specified, and provided that the output of a preceding process is not used in a subsequent process. Similar sequential terms used for descriptive convenience (e.g., "firstly," "next," "secondly," "again," "then," etc.) do not imply that the actions must be performed in such an order.

[0066] Those skilled in the art will understand that all directional references (e.g., above, below, up, up, down, down, top, bottom, left, right, vertical, horizontal, etc.) are used descriptively in the drawings to aid the reader's understanding and do not imply (e.g., a limitation on the scope of the invention as defined by the appended claims) a limitation on the scope of the invention as defined by the appended claims. They are merely for the purpose of facilitating the description of this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a particular orientation or be constructed and operated in a particular orientation. The directional terms "inside" and "outside" refer to inside or outside relative to the outline of the respective component itself.

[0067] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0068] Additionally, some vague terms (e.g., substantially, certain, generally, etc.) may refer to slight inaccuracies or minor deviations in conditions, quantities, values, or dimensions, some of which are within manufacturing tolerances or limits. It should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components; unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application.

Claims

1. A meal delivery method for automatically providing corresponding meal products to the meal preparation port of the meal delivery method as needed, comprising several conveying channels for conveying meal products disposed within a cabinet and a transfer tray for receiving meal products delivered from the conveying channels, further comprising a conveying device for conveying the transfer tray between the conveying channels and the meal preparation port, the transfer tray having a stop opposite to the conveying channel and a distance detection device for detecting the distance between the stop and the meal products on the transfer tray; characterized in that, Determine the maximum speed Vmax and maximum acceleration a of the transfer disk. Given the total distance S the transfer disk needs to move, ensure that the speed reaches Vmax when the distance traveled does not exceed S / 2 without the acceleration not exceeding a. Compare S with "Vmax² / a". If S is greater than Vmax² / a, the transfer disk accelerates from 0 to the maximum speed Vmax by a, maintains the maximum speed Vmax for (S-Vmax² / a) / Vmax seconds, and finally decelerates to 0 by -a. If S equals Vmax² / a, the transfer disk accelerates from 0 to the maximum speed Vmax by a, and then decelerates to 0 by -a. If S is less than Vmax² / a, the transfer disk accelerates from 0 to the maximum speed a. After a few seconds, press -a to slow down. The speed reaches 0 seconds.

2. The meal delivery method according to claim 1, characterized in that, The distance detection device is an ultrasonic sensor.

3. The meal delivery method according to claim 1, characterized in that, The conveying channels are arranged in a matrix in the height direction of the cabinet body, and the conveying device includes a lifting mechanism and a horizontal moving mechanism.

4. The meal delivery method according to claim 3, characterized in that, It further includes a distance detection device for detecting the distance between the transfer tray and the ends of the lifting mechanism and the horizontal moving mechanism.

5. The meal delivery method according to claim 4, characterized in that, The distance detection device is an ultrasonic sensor.

6. The meal delivery method according to claim 1, characterized in that, Detect whether the distance between the baffle and the dietary product on the transfer tray is greater than a set distance Hs. If it is greater, then a is replaced with a set value Ha, where Ha < a, and the larger Hs is, the smaller the value of Ha is.

7. The meal delivery method according to claim 1, characterized in that, The moving distance S is the distance in the linear moving direction.

8. A computer-readable storage medium for storing computer programs, characterized in that, When the computer program runs, it executes the dietary distribution method according to any one of claims 1 to 7.

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