A Chinese dish serving and filling system and method

Abstract

This invention discloses a Chinese dish serving and filling system and method. A conveying module transports meal boxes to the corresponding filling position. A weighing device and a barcode scanning device perform online weighing and barcode scanning of the meal boxes, respectively, transmitting the collected information to the corresponding control module. The control module then transmits the meal box weighing and barcode information to a central processing module. A depth image capture module transmits RGBD images of the meal box and the side dish container to the central processing module. A filling module uses a robotic arm to pick up side dishes from the side dish container and place them into the corresponding meal box. A fixture cleaning module performs high-temperature steam cleaning and sterilization of the filling fixtures that come into contact with the food. The central processing module identifies and segments the RGBD images of the meal box and reconstructs the RGBD images of the side dish container. Based on a dish model database, it calculates weight deviations to achieve weight compensation trajectory planning and monitors and controls all actions of each filling module. This invention has advantages such as safety, hygiene, and high filling efficiency.

Description

Technical Field

[0001] This invention relates to the field of food processing technology, specifically to a Chinese dish serving and filling system and method. Background Technology

[0002] Central kitchens are a crucial component of the modern catering and food service industries. Central kitchens for finished product processing can serve chain restaurants, corporate employee catering, large events, hospital catering, and airline / railway catering, among others. The efficient operation of central kitchens is key to ensuring food quality and service levels in the modern catering industry. Especially in the preparation and supply of Chinese dishes, how to quickly and accurately complete the large-scale preparation and packaging of dishes has become a pressing issue. Traditional manual meal preparation methods are often inefficient and struggle to handle peak-hour order demands, impacting service efficiency and increasing operating costs. Furthermore, manual operation carries certain risks regarding food safety and food quality, easily leading to food contamination and inconsistent food quality.

[0003] With the continuous advancement of automation technology and intelligent manufacturing, the introduction of automated filling systems has become an effective way to improve the production efficiency of central kitchens. Traditional automated filling systems are only suitable for one or a few fixed materials and cannot be applied to the complex and diverse nature of Chinese dishes. For multi-axis robot filling systems with a certain degree of flexibility, repeated teaching is required when using different materials, and the accuracy of filling cannot be guaranteed, resulting in low efficiency and losses due to overfilling. Summary of the Invention

[0004] To overcome the shortcomings of traditional automated filling systems and address the technical problems of requiring extensive manual intervention in central kitchens and the inability of existing filling machinery to meet the complex and diverse needs of Chinese dishes, this invention provides a Chinese dish preparation and filling system and method. This system integrates advanced machine vision technology, robotic arm technology, and intelligent control technology, enabling automatic proportioning and filling of dishes. It not only significantly improves production efficiency but also ensures the uniformity of food quality and hygiene safety, greatly reducing the occurrence of human error.

[0005] The technical solution adopted is as follows:

[0006] On one hand, the present invention provides a Chinese dish serving and filling system, the system comprising a central processing module and multiple conveying modules connected in series, each conveying module being provided with a control module and electrically connected to the control module a weighing device, a barcode scanning device, a depth image capture module, a filling module, and a fixture cleaning module; the central processing module is connected to each of the control modules;

[0007] The conveying module is used to convey the lunch box to the corresponding filling position. The weighing device and the barcode scanning device respectively perform online weighing and barcode scanning of the lunch box and transmit the collected information to the corresponding control module. The control module transmits the lunch box weighing information and barcode information to the central processing module.

[0008] The depth image capture module acquires RGBD images of the lunch box and side dish containers and transmits them to the central processing module;

[0009] The loading module uses a robotic arm to pick up the side dishes from the side dish container and place them into the corresponding lunch box;

[0010] The clamp cleaning module is used to perform high-temperature steam cleaning and disinfection of food-contacting loading clamps.

[0011] The central processing module identifies and segments the received RGBD image of the lunch box, identifies and reconstructs the RGBD image of the side dish container, reads the lunch box barcode information and corresponding weight, calculates the weight deviation based on the dish model database to realize weight compensation trajectory planning, and monitors and controls all actions of each filling module.

[0012] Preferably, the conveying module includes a first conveying module, a second conveying module, and a third conveying module connected in series. The loading module on the first conveying module is used to load dishes with weight differences that cannot be adjusted by loading fixtures; the loading module on the second conveying module is used to load dishes with adjustable weight differences; and the loading module on the third conveying module is used to load dishes with relatively fixed physical properties after processing.

[0013] Preferably, the filling module includes a mounting bracket, a food preparation container, a robotic arm, and a filling fixture. The food preparation container and the robotic arm are mounted on the mounting bracket, and the filling fixture is located at the gripper position of the robotic arm. The filling fixture of the filling module mounted on the first conveying module is a flexible pneumatic gripping fixture. The filling fixture of the filling module mounted on the second conveying module is a container-type fixture. The filling fixture of the filling module mounted on the third conveying module is a shovel-type fixture.

[0014] Preferably, the depth image capture module includes a bracket, a depth camera, and a fill light. The depth camera and fill light are mounted on the bracket. The food preparation container and the food box filling position are located directly below the depth camera and the fill light. The depth camera captures RGBD images of the dishes in the food box and the food preparation container, respectively, and transmits them to the central processing module to complete the food box filling position recognition and the three-dimensional reconstruction of the dishes.

[0015] Preferably, the fixture cleaning module includes a cleaning water tank, a steam generator, nozzles, a recovery water tank, a splash guard, and a cleaning controller. At least three nozzles are arranged in a circular pattern. Multiple nozzles are housed within the splash guard and connected to the steam generator. The splash guard is positioned above the recovery water tank for recovering cleaning water. The steam generator is connected to the cleaning water tank. Water level sensors are installed in both the recovery water tank and the cleaning water tank. The cleaning controller is connected to both the water level sensors and the steam generator. The cleaning controller is also connected to a corresponding control module to receive start / stop commands from the control module and to send the obtained water level information to the control module.

[0016] More preferably, the opening of the splash guard is provided with three nozzles at 120° intervals, and the spray angle formed by the inward bending of the nozzles is a bending angle relative to the horizontal plane.

[0017] Preferably, each of the conveying modules is provided with four weighing devices, which are installed below the conveyor belt of the conveying module. When the average value of the weighing device changes beyond a threshold t1, the weight transmitter on the conveying module will send the weight as an analog quantity to the control module.

[0018] On the other hand, the present invention also provides a method for serving Chinese dishes, which uses the above-mentioned Chinese dish serving system, and the method includes the following steps:

[0019] Set the dish parameters, filling position, weight, and filling parameters;

[0020] The system performs online weighing and barcode scanning of the lunch boxes on each conveying module, and acquires RGBD images of the lunch boxes and side dish containers. The lunch box barcode information, weighing information and RGBD images are then transmitted to the central processing module.

[0021] The central processing module identifies and segments the selected lunchbox, determining the geometric parameters of each compartment within the lunchbox used for holding food.

[0022] Read the barcode of the lunch box and plan the weight compensation trajectory for filling the lunch box based on the weight deviation value;

[0023] Based on the type of food being filled, a food filling trajectory is planned to complete the food filling of the lunch box;

[0024] Re-stack the remaining dishes in the side dish containers and remove any remaining dishes from the filling clamps;

[0025] The loading fixture is moved to the cleaning position of the fixture cleaning module for high-temperature steam cleaning and disinfection.

[0026] Control the loading fixture to return to the initial position, preparing for the loading operation of the next meal box.

[0027] Furthermore, it also includes: after the food container filling operation is completed, the food parameters and trajectory planning parameters are corrected based on the weight deviation after filling. The specific method is as follows:

[0028] The current weight of the lunchbox is read and recorded by the system before filling;

[0029] Loading weight deviation value δ w and weight deviation correction θ ma Calculate the loading weight m. θ ;

[0030] After filling is complete, the current weight of the lunchbox is read and recorded by the system;

[0031] Calculate the weight deviation δ for this loading operation. w This is used for the next loading position and updates the weight deviation correction θ. ma .

[0032] Preferably, the built-in dish model database in the central processing module is retrieved according to the selected dish, and the dish parameters are set including dish type, dish density, dish density difference, dish viscosity, and dish adhesion characteristics; the dish type includes: pick-up type dishes, serving type dishes, and shovel type dishes; the dish adhesion characteristics include: non-adhesive, not easy to adhere, easy to adhere, and will definitely adhere.

[0033] Preferably, the central processing module acquires the RGBD image of the lunchbox and calls the lunchbox segmentation model to segment the RGBD image; it segments each small compartment in the lunchbox used for holding food and numbers each compartment; it inputs the geometric parameters corresponding to the lunchbox compartments into the system; the geometric parameters of the lunchbox include the volume, top view area, depth and geometric center of each compartment.

[0034] Preferably, the filling position is set as the dish corresponding to the compartment of the lunch box, and the weight is set as the number of grams of dish filled in each compartment and the total number of grams of the meal.

[0035] Preferably, based on the settings for lunchbox recognition, dish parameters, filling position, and filling weight, the system calculates the filling fixture score according to the weight parameters to obtain a recommended filling fixture for each filling position; the system then inputs the fixture parameters into the filling module according to the recommended filling fixture to complete the setting of the filling fixture parameters; the filling fixture parameters include: fixture weight, fixture coordinate system parameters relative to the center coordinate system of the robotic arm end effector, and filling fixture number.

[0036] Preferably, dishes with significant weight differences during each loading are placed in the loading position of the first conveying module; dishes with relatively stable raw materials and processes, and relatively fixed physical properties after processing are placed in the loading position of the third conveying module; and dishes with weight differences but whose weight cannot be adjusted by a robotic arm are placed in the loading position of the second conveying module.

[0037] Preferably, the specific method for weight compensation trajectory planning is as follows:

[0038] If the dish is a serving dish, the serving action is divided into reaching the serving position diagonally above, descending in a curve, advancing in the serving direction, lifting upwards, and shaking off the dish with the soup hanging on it.

[0039] If the dish is a shovel-type dish, the shovel action is divided into cutting action, shovel descent in a shovel curve, shovel directional advancement, upward lifting, and shaking action;

[0040] If the dish is a pick-up type dish, the loading clamp performs the pick-up operation according to the coordinates.

[0041] More preferably, after completing the picking, serving, and scooping of dishes, the dish loading trajectory is planned, and the specific method is as follows:

[0042] If the dish is a pick-up type dish, place it directly according to the geometric center parameters of the food container compartments;

[0043] If the dish is to be served or scooped, calculate three interpolation points based on the depth of the food container compartment, the top view area, and the geometric center to complete the curved filling.

[0044] The technical solution of the present invention has the following advantages:

[0045] A. This invention, by configuring multiple filling positions and using different filling clamps, enables the filling of various dishes into meal boxes, achieving continuous filling of multiple dishes. Compared with traditional manual operation, it significantly improves the production efficiency of central kitchens while solving the problem of requiring a large number of people to participate in filling in central kitchens.

[0046] B. This invention ensures the consistency of food filling quality by using an automatic food preparation and filling system. The system can also reduce the risk of food contamination and cross-contamination, and improve food safety. Compared with traditional filling machinery, this food preparation and filling system can be adapted to a variety of Chinese dishes, and the filling production line has strong compatibility. At the same time, it simplifies the cost of changing dishes on the production line and is teach-free. Attached Figure Description

[0047] To more clearly illustrate the specific embodiments of the present invention, the accompanying drawings used in the specific embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of the filling system consisting of three filling positions according to the present invention;

[0049] Figure 2 This is a schematic diagram of a single filling position of the present invention;

[0050] Figure 3 This is a front view of a single loading position of the present invention;

[0051] Figure 4 This is a top view of a single loading position of the present invention;

[0052] Figure 5 This is a side view of the conveying module;

[0053] Figure 6 Schematic diagram of a clamping-type loading fixture;

[0054] Figure 7 Schematic diagram of a container for filling and retrieving items;

[0055] Figure 8 Schematic diagram of a shovel-type loading fixture;

[0056] Figure 9 This is a schematic diagram of the fixture cleaning module;

[0057] Figure 10 Schematic diagram of the loading module and the depth image capture module;

[0058] Figure 11 System composition diagram;

[0059] Figure 12 Architecture for Chinese dish serving and filling system;

[0060] Figure 13 Flowchart of the method for setting up lunchbox recognition;

[0061] Figure 14 A flowchart illustrating the method of filling dishes.

[0062] The symbols provided in the diagram are explained as follows:

[0063] 1-Central Processing Control Cabinet

[0064] 2-Display Controller

[0065] 3-Depth Image Capture Module

[0066] 31-Fill light, 32-Depth camera, 33-Tripod

[0067] 4-Conveying Module

[0068] 4a - First conveyor module, 4b - Second conveyor module, 4c - Third conveyor module

[0069] 41-Conveyor belt, 42-Weighing device, 43-Barcode scanning device

[0070] 44- Conveyor belt controller, 45- Weight transmitter, 46- Drive motor and reducer

[0071] 5-Loading Module

[0072] 51-Food preparation container, 52-Robotic arm, 53-Mounting bracket, 54-Two-finger food gripper

[0073] 55-Serving utensils for dishes, 56-Serving utensil for rice

[0074] 6- Fixture Cleaning Module

[0075] 61-Cleaning water tank, 62-Steam generator, 63-Nozzle, 64-Recovery water tank

[0076] 65 - Splash guard, 66 - Cleaning controller

[0077] 7-Control module;

[0078] a - First loading position; b - Second loading position; c - Third loading position. Detailed Implementation

[0079] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0080] like Figure 1 and Figure 11As shown, the present invention provides a Chinese dish serving and filling system. The system includes a central processing module and multiple conveying modules 4 connected in series. Each conveying module 4 is equipped with a control module 7 and a weighing device 42, a barcode scanning device 43, a depth image capture module 3, a filling module 5, and a fixture cleaning module 6 electrically connected to the control module 7. The central processing module is connected to each control module 7. The conveying module 4 is used to convey the lunch boxes to the corresponding filling position. The weighing device 42 and the barcode scanning device 43 respectively perform online weighing and barcode scanning of the lunch boxes and transmit the collected information to the corresponding control module 7. The control module 7 transmits the lunch box weighing information and barcode information to the central processing module.

[0081] The depth image capture module 3 acquires RGBD images of the lunch box and the side dish container 51 and transmits them to the central processing module; the filling module 5 uses the robotic arm 52 to pick up the side dishes from the side dish container 51 and place them into the corresponding lunch box;

[0082] The clamp cleaning module 6 is used to perform high-temperature steam cleaning and disinfection of the food-contacting clamps; the central processing control cabinet 1 and the display controller 2, as important components of the central processing module, identify and segment the received RGBD images of the lunch boxes, identify and reconstruct the RGBD images of the side dish containers, read the lunch box barcode information and corresponding weight, calculate the weight deviation based on the dish model database to realize weight compensation trajectory planning, and monitor and control all actions of each filling module 5.

[0083] Figure 1 The conveying module includes a first conveying module 4a, a second conveying module 4b, and a third conveying module 4c connected in series. The loading module 5 on the first conveying module 4a is used to load dishes with weight differences that cannot be adjusted by the loading clamps. Figure 1 The first filling position a completes the picking up of dishes, typically chicken legs, meatballs, etc. After the dishes are picked up and filled at the first filling position a, the lunch box enters the second conveying module 4b. The filling module on the second conveying module 4b is used to fill dishes with adjustable weight, that is, to fill shredded Chinese dishes such as Kung Pao Chicken and Yu Xiang Rou Si at the second filling position b. After the dishes are filled at the second filling position b, the lunch box enters the third conveying module 4c. The filling module on the third conveying module 4c is used to fill dishes with relatively fixed physical properties after processing, that is, to fill rice, for example, at the third filling position c.

[0084] like Figures 2 to 5As shown, each conveying module 4 is used to transport lunch boxes to each filling position, and specifically includes a conveyor belt 41, a weighing device 42, a barcode scanning device 43, a conveyor belt controller 44, a weight transmitter 45, and a drive motor and reducer 46. The weighing device 42 is used to weigh the lunch boxes, and the barcode scanning device 43 is used to scan and record the barcode information of the lunch boxes. It scans the barcodes of the lunch boxes on the conveyor belt 41 in real time and sends the scanned barcode information to the control module.

[0085] The drive motor and reducer 46 are designed to be installed on the side of the conveyor belt and are driven and controlled by the conveyor belt controller 44, which communicates with the control module 7 in real time. The conveyor belt 41 is relatively thin overall, and the different filling positions are connected together. No additional devices are needed when conveying lunch boxes to ensure that the lunch boxes can pass smoothly without causing food spillage.

[0086] In this invention, four weighing devices 42 are installed on each conveying module 4, respectively at four mounting positions on the conveyor belt 41 and the bottom profile support of the conveying module 4. When the average value of the weighing devices on the conveyor belt changes beyond a threshold t_1, the weight transmitter 45 sends the weight as an analog signal to the control module 7. The control module 7 is preferably a robotic arm control cabinet.

[0087] from Figure 10 As can be seen from the filling module, the filling module 5 includes a mounting bracket 53, a food preparation container 51, a robotic arm 52, and a filling fixture. The food preparation container 51 and the robotic arm 52 are mounted on the mounting bracket 53, and the filling fixture is located at the gripper position of the robotic arm 52. Using the robotic arm 52 and its filling fixture, food is filled to the designated position in the lunchbox, and the remaining food in the food preparation container 51 can be re-stacked. The filling fixture of the filling module 5 mounted on the first conveying module 4a is a flexible pneumatic gripper, such as... Figure 6 The two-finger food gripper 54 shown is used to clamp braised chicken legs, four-happiness meatballs, etc. Depending on the food being filled, other flexible grippers can be selected, such as different flexible finger weights, different flexible finger lengths, and different flexible finger spacing parameters. The flexible fingers are pneumatically controlled; by applying air pressure, the flexible fingers can bend to perform the gripping action. The filling fixture of the filling module 5 set on the second conveying module 4b is a container-type fixture, such as... Figure 7 The food retrieval device 55 shown is designed for human hand retrieval of food. The device's axis forms a certain angle with the axis of the robotic arm's end effector. Different sizes of food retrieval devices can be selected depending on the type of food being loaded and the type of food container used for various stir-fries, stews, etc. The loading clamp on the third conveying module is a shovel-type clamp, such as... Figure 8The rice scooping tool 56 shown is made of food-grade silicone material that is not easy to stick to rice. The surface is covered with tiny bumps to break the stickiness of the rice. The front end of the rice scoop is relatively flat, and there is a certain curvature near the connecting rod. When scooping rice, it can accurately divide the rice, and the rice is not easy to fall off during the scooping process.

[0088] The depth image capture module 3, for example... Figure 10 As shown, the system includes a support 33, a depth camera 32, and a fill light 31. The depth camera 32 and the fill light 31 are mounted on the support 33. The food preparation container 51 and the food box filling position are located directly below the depth camera 32 and the fill light 31. The fill light 31 is used to provide supplementary lighting for the conveying module. The depth camera 32 acquires RGBD images of the dishes in the food box and the food preparation container 51, respectively, and transmits them to the central processing module to complete the food box filling position recognition and the three-dimensional reconstruction of the dishes.

[0089] like Figure 9 As shown, the clamp cleaning module 6 can perform high-temperature steam cleaning and disinfection of clamp parts that come into contact with food. It mainly includes a cleaning water tank 61, a steam generator 62, nozzles 63, a recovery water tank 64, a splash guard 65, and a cleaning controller 66. At least three nozzles 63 are provided and arranged in a ring. Multiple nozzles 63 are set in the splash guard 65 and connected to the steam generator 62. The splash guard 65 is set above the recovery water tank 64 for recovering cleaning water. The steam generator 62 is connected to the cleaning water tank 61. Water level sensors (not shown in the figure) are respectively provided in the recovery water tank 64 and the cleaning water tank 61. The cleaning controller 66 is connected to the water level sensor and the steam generator 62 respectively. The cleaning controller 66 is connected to the corresponding control module 7 to receive the opening and closing commands of the control module 7 and send the obtained water level information to the control module 7.

[0090] Preferably, this invention features three steam nozzles 63 at a 120° angle to each other at the upper opening of the splash guard 65. The nozzles 63 are bent inwards at a downward angle relative to the horizontal plane, ensuring the robotic arm 52's loading clamp is fully covered by steam when inserted into them. This invention also includes a clamp cleaning module 6 placement platform on the mounting bracket 53, which is lower than the robotic arm's mounting plane to prevent cross-contamination.

[0091] In addition, this invention also provides a method for serving and filling Chinese dishes, which mainly includes three main steps: parameter setting, filling operation process, and clamp steam cleaning operation; specifically including the following steps:

[0092]

S01

[0093] like Figure 12As shown, the corresponding parameter settings must be completed before the filling operation process can be carried out. The parameter settings mainly include meal box recognition settings, dish parameter settings, filling position and weight settings, and filling fixture settings (robot fixture settings). The filling operation process includes: information recognition and reading, filling and stacking, and weight deviation correction.

[0094] Based on the selected dish, the built-in dish model database in the central processing module is retrieved, and the dish parameters are set, including dish type, dish density ρ0, dish density difference δ, dish viscosity P, and dish adhesion characteristics. The dish type includes: pick-up type dishes, serving type dishes, and shovel type dishes. The dish adhesion characteristics include: non-adhesive, difficult to adhere, easy to adhere, and inevitable adhesion.

[0095] Setting filling positions and weights: Configure the corresponding dishes and filling positions for each compartment of the lunchbox, and set the weight per gram (m) per compartment. a (a is the corresponding filling position number) and total weight of the meal (m) t The side of the lunchbox must have a barcode number for identification. Different compartments of the lunchbox should be marked with different colors and numbers, and their corresponding geometric parameter information should be bundled and stored.

[0096] Setting the robotic arm gripper parameters: Based on the previously set parameters for food container recognition, dish parameters, filling position, and filling weight, the system will calculate the score of the loading gripper on the robotic arm according to the weight parameters, thus providing a system-recommended gripper for each filling position. After inputting the recommended gripper parameters into the system, the robotic arm gripper parameter settings are complete. The loading parameters include: gripper weight, gripper coordinate system parameters relative to the robotic arm end effector center coordinate system, and loading gripper number.

[0097]

S02

[0098]

S03

[0099] The central processing module acquires the RGBD image of the lunchbox and calls the lunchbox segmentation model to segment the RGBD image; it segments each small compartment in the lunchbox used for serving and numbers each compartment; it inputs the geometric parameters corresponding to the lunchbox compartments into the system; the geometric parameters of the lunchbox include the volume, top view area, depth and geometric center of each compartment.

[0100]

S04

[0101] Weight compensation trajectory planning involves the system calculating trajectory parameters based on the weight deviation value of the previous loading position, the dish parameters at the current position, and the position of the food container compartment being loaded. The system reads the current dish's RGBD image from the depth image capture module, calls the dish recognition model to reconstruct the dish in the serving container, and thus derives the robotic arm's trajectory.

[0102] If the dish is a serving dish, the serving action is divided into reaching the serving position diagonally above, descending in a curve, advancing in the serving direction, lifting upwards, and shaking off the dish with the soup hanging on it.

[0103] If the dish is a shovel-type dish, the shovel action is divided into cutting action, shovel descent in a shovel curve, shovel directional advancement, upward lifting, and shaking action;

[0104] If the dish is a pick-up type dish, the loading clamp performs the pick-up operation according to the coordinates.

[0105]

S05

[0106] If the dish is to be served or scooped, calculate three interpolation points based on the depth of the food container compartment, the top view area, and the geometric center to complete the curved filling.

[0107]

S06

[0108]

S07

[0109] The above-mentioned filling operations, total weight determination, and cleaning operations are applicable to all filling positions and different dishes during the filling process.

[0110]

S08

[0111] like Figure 14 The filling operation process is as follows: After the filling operation begins, the conveyor belt 41 will continue to work until the barcode scanning device 43 recognizes the barcode, and the system records the food container barcode information; the conveyor belt 41 then transports the food container to the filling position. The weighing device 42 reads the current weight of the food container, which is recorded by the system, and a weight deviation value δ is also loaded.w and weight deviation correction θ ma The loading weight this time is m θ =(m a -δ w )·θ ma The RGBD depth images of the depth image capture module 3 are used to identify the dishes in the lunch boxes and side dish containers on the conveyor belt 41, respectively. Two sets of deep learning algorithms are called to complete the identification of the lunch box filling position and the three-dimensional reconstruction of the dishes.

[0112] (1) If the depth image capture module 3 identifies the dish as a dish to be served, it returns the geometric coordinates C(x) of the food container filling position relative to the robotic arm based on the data from the central processing module. c y c , z c ), through this filling weight m θ Based on the relevant parameters of the dish, select the appropriate coordinates R(x) of the robotic arm to pick up the dish from the current dish container. r y r , z r The robotic arm's retrieval direction is determined based on the retrieval coordinates R, and the retrieval path is planned. The retrieval actions are divided into reaching the retrieval position diagonally above, descending along a curved path, advancing in the retrieval direction, lifting upwards, and shaking off the suspended soup and dishes. The curve descent involves selecting five interpolation points, calculated based on the retrieval position coordinates R and the retrieval direction. The shaking off of the suspended soup and dishes adopts a humanoid vertical motion, with a large acceleration during descent and a uniform speed recovery during ascent.

[0113] (2) If the depth image capture module 3 identifies the dish as a scoop-type dish, it returns the geometric coordinates C(x) of the food container filling position relative to the robotic arm based on the data from the central processing module. c y c z c ), through this filling weight m θ Based on the relevant parameters of the dish, select the appropriate coordinate R for the robotic arm to scoop the food from the current container. a (x ra y ra ), R b (x rb y rb ), R c (x rc y rc According to the coordinates R of the shovel a R b R c Determine the robotic arm's scooping direction and plan the scooping path. The scooping action is divided into cutting, scooping curve descent, scooping direction advancement, lifting upward, and shaking action. The cutting action consists of two steps, the first step being (R... a R bThe cutting action, the second step is (R) b R c Cutting action; the scooping curve descent action, compared to the scooping curve descent action, only requires calculation of three interpolation points because there is no requirement for the z-axis direction; the shaking action is similar to the shaking action of hanging soup dishes.

[0114] (3) If the depth image capture module 3 identifies the dish as a pick-up type dish, the central processing module will determine the pickable target and provide the geometric coordinates C(x) relative to the robotic arm. c y c z c The robotic arm can perform the gripping operation based on the coordinates; if there is no target that meets the conditions, the robotic arm will automatically execute the scrambled trajectory planning program.

[0115] After picking up, serving, and scooping up food, the food filling trajectory is planned. For food picked up by picking up, the food is placed directly into the container based on the geometric center parameters of the compartment. For food served and scooped up, three interpolation points are calculated based on the compartment depth, top view area, and geometric center to complete the curved filling. After filling, food served up needs to be re-stacked to prepare for the next filling, while food picked up by picking up does not require re-stacking.

[0116] After loading is completed, all different types of clamps need to remove any remaining food from the clamps to ensure the accuracy of the food loading weight. The three different loading methods correspond to different anthropomorphic actions to remove any remaining food from the clamps.

[0117] After filling is completed, the weighing device 42 reads the current weight of the lunchbox and records it by the system; at the same time, it calculates the weight deviation value δ for this filling. w Used for the next position, while updating the weight deviation correction θ. ma .

[0118] After a batch of dishes is filled, the robotic arm's filling fixture will be cleaned regularly. The central processing module will send an start command to the cleaning controller 66, and the robotic arm 52 will move to the designated position and insert the filling fixture into the fixture cleaning module 6 to sterilize the filling fixture with 120°C high-temperature steam for 5 minutes. During this period, the rotating shaft at the end of the robotic arm will continuously drive the filling fixture to rotate, ensuring that there are no dead corners in the sterilization and cleaning.

[0119] Any aspects not covered in this invention are applicable to existing technologies.

[0120] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A Chinese dish serving and filling system, characterized in that, The system includes a central processing module and multiple conveying modules connected in series. Each conveying module is equipped with a control module and a weighing device, a barcode scanning device, a depth image capture module, a loading module, and a fixture cleaning module electrically connected to the control module. The central processing module is connected to each of the control modules. The conveying module is used to convey the lunch box to the corresponding filling position. The weighing device and the barcode scanning device respectively perform online weighing and barcode scanning of the lunch box and transmit the collected information to the corresponding control module. The control module transmits the lunch box weighing information and barcode information to the central processing module. The depth image capture module acquires RGBD images of the lunch box and side dish containers and transmits them to the central processing module; The loading module uses a robotic arm to pick up the side dishes from the side dish container and place them into the corresponding lunch box; The clamp cleaning module is used to perform high-temperature steam cleaning and disinfection of food-contacting loading clamps. The central processing module identifies and segments the received RGBD image of the lunch box, identifies and reconstructs the RGBD image of the side dish container, reads the lunch box barcode information and corresponding weight, calculates the weight deviation based on the dish model database to realize weight compensation trajectory planning, and monitors and controls all actions of each of the filling modules. The conveying module includes a first conveying module, a second conveying module, and a third conveying module connected in series. The loading module on the first conveying module is used to load dishes with weight differences that cannot be adjusted by loading fixtures; the loading module on the second conveying module is used to load dishes with adjustable weight differences; and the loading module on the third conveying module is used to load dishes with relatively fixed physical properties after processing.

2. The Chinese dish serving and filling system according to claim 1, characterized in that, The filling module includes a mounting bracket, a food preparation container, a robotic arm, and a filling fixture. The food preparation container and the robotic arm are mounted on the mounting bracket, and the filling fixture is located at the gripper position of the robotic arm. The filling fixture of the filling module mounted on the first conveying module is a flexible pneumatic gripping fixture. The filling fixture of the filling module mounted on the second conveying module is a container-type fixture. The filling fixture of the filling module mounted on the third conveying module is a shovel-type fixture.

3. The Chinese dish serving and filling system according to claim 2, characterized in that, The depth image capture module includes a bracket, a depth camera, and a fill light. The depth camera and fill light are mounted on the bracket. The food preparation container and the food box filling position are located directly below the depth camera and the fill light. The depth camera captures RGBD images of the dishes in the food box and the food preparation container, respectively, and transmits them to the central processing module to complete the food box filling position recognition and the three-dimensional reconstruction of the dishes.

4. The Chinese dish serving and filling system according to claim 3, characterized in that, The fixture cleaning module includes a cleaning water tank, a steam generator, nozzles, a recovery water tank, a splash guard, and a cleaning controller. At least three nozzles are arranged in a circular pattern. Multiple nozzles are housed within the splash guard and connected to the steam generator. The splash guard is positioned above the recovery water tank for recovering cleaning water. The steam generator is connected to the cleaning water tank. Water level sensors are installed in both the recovery water tank and the cleaning water tank. The cleaning controller is connected to both the water level sensors and the steam generator. The cleaning controller is also connected to a corresponding control module to receive start / stop commands from the control module and to send the obtained water level information to the control module.

5. The Chinese dish serving and filling system according to claim 4, characterized in that, The splash guard has three nozzles at an angle of 120° to each other at its opening. The spray angle formed by the nozzles bending inward is a downward bending angle relative to the horizontal plane.

6. The Chinese dish serving and filling system according to claim 1, characterized in that, Each of the conveying modules is equipped with four weighing devices, which are installed below the conveyor belt of the conveying module. When the average value of the weighing device changes beyond a threshold t1, the weight transmitter on the conveying module will send the weight as an analog quantity to the control module.

7. A method for serving Chinese dishes, characterized in that, It employs the Chinese dish serving and filling system according to any one of claims 1-6, and the method includes the following steps: Set the dish parameters, filling position, weight, and filling parameters; The system performs online weighing and barcode scanning of the lunch boxes on each conveying module, and acquires RGBD images of the lunch boxes and side dish containers. The lunch box barcode information, weighing information and RGBD images are then transmitted to the central processing module. The central processing module identifies and segments the selected lunchbox, determining the geometric parameters of each compartment within the lunchbox used for holding food. Read the barcode of the lunch box and plan the weight compensation trajectory for filling the lunch box based on the weight deviation value; Based on the type of food being filled, a food filling trajectory is planned to complete the food filling of the lunch box; Re-stack the remaining dishes in the side dish containers and remove any remaining dishes from the filling clamps; The loading fixture is moved to the cleaning position of the fixture cleaning module for high-temperature steam cleaning and disinfection. Control the loading fixture to return to the initial position, preparing for the loading operation of the next meal box.

8. The method for serving Chinese dishes according to claim 7, characterized in that, Also includes: After the food container filling operation is completed, the food parameters and trajectory planning parameters are corrected based on the weight deviation after filling. The specific method is as follows: The current weight of the lunchbox is read and recorded by the system before filling; Loading weight deviation value δ w and weight deviation correction θ ma Calculate the loading weight m. θ ; After filling is complete, the current weight of the lunchbox is read and recorded by the system; Calculate the weight deviation δ for this loading operation. w This is used for the next loading position and updates the weight deviation correction θ. ma .

9. The method for serving Chinese dishes according to claim 7, characterized in that, Based on the selected dish, the built-in dish model database in the central processing module is retrieved, and dish parameters are set, including dish type, dish density, dish density difference, dish viscosity, and dish adhesion characteristics. The dish type includes: pick-up type dishes, serving type dishes, and shovel type dishes. The dish adhesion characteristics include: non-adhesive, difficult to adhere, easy to adhere, and inevitable adhesion.

10. The method for serving Chinese dishes according to claim 7, characterized in that, The central processing module acquires the RGBD image of the lunchbox and calls the lunchbox segmentation model to segment the RGBD image; it segments each small compartment in the lunchbox used for holding food and numbers each compartment; it inputs the geometric parameters corresponding to the lunchbox compartments into the system; the geometric parameters of the lunchbox include the volume, top view area, depth and geometric center of each compartment.

11. The method for serving Chinese dishes according to claim 7, characterized in that, The filling position is set as the dish corresponding to the compartment of the lunch box, and the weight is set as the number of grams of dish filled in each compartment and the total number of grams of the meal.

12. The method for serving Chinese dishes according to claim 11, characterized in that, Based on the settings for lunchbox recognition, dish parameters, filling position, and filling weight, the system calculates the filling fixture score according to the weight parameters to obtain the recommended filling fixture for each filling position. The system then inputs the fixture parameters into the filling module according to the recommended filling fixture to complete the setting of the filling fixture parameters. The filling fixture parameters include: fixture weight, fixture coordinate system parameters relative to the center coordinate system of the robotic arm end effector, and filling fixture number.

13. The method for serving Chinese dishes according to claim 12, characterized in that, Dishes with significant weight variations during each loading are placed in the loading position of the first conveying module; dishes with relatively stable raw materials and processes, and relatively fixed physical properties after processing, are placed in the loading position of the third conveying module; and dishes with weight variations that cannot be adjusted by the robotic arm are placed in the loading position of the second conveying module.

14. The method for serving Chinese dishes according to claim 12, characterized in that, The specific method for weight compensation trajectory planning is as follows: If the dish is a serving dish, the serving action is divided into reaching the serving position diagonally above, descending in a curve, advancing in the serving direction, lifting upwards, and shaking off the dish with the soup hanging on it. If the dish is a shovel-type dish, the shovel action is divided into cutting action, shovel descent in a shovel curve, shovel directional advancement, upward lifting, and shaking action; If the dish is a pick-up type dish, the loading clamp performs the pick-up operation according to the coordinates.

15. The method for serving Chinese dishes according to claim 14, characterized in that, After completing the processes of picking up, serving, and scooping the food, the food loading trajectory is planned. The specific method is as follows: If the dish is a pick-up type dish, place it directly according to the geometric center parameters of the food container compartments; If the dish is to be served or scooped, calculate three interpolation points based on the depth of the food container compartment, the top view area, and the geometric center to complete the curved filling.

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