Automatic metering conveying system and control method of automatic metering conveying system

Abstract

An automatic metering conveying system and a control method of the automatic metering conveying system are disclosed according to an embodiment. The system may include: a frozen raw material conveying unit configured to convey a frozen raw material; a frozen raw material hopper unit provided so as to discharge the frozen raw material supplied by the frozen raw material conveying unit; a raw material conveying unit different from the frozen raw material conveying unit and configured to convey the raw material; a raw material hopper unit different from the frozen raw material hopper unit and provided to store and discharge the raw material supplied by the raw material conveying unit; and a processor for controlling the frozen raw material conveying unit and the raw material conveying unit such that the frozen raw material conveying unit stops moving based on the frozen raw material being accommodated in the frozen raw material hopper unit in a first preset amount, and the raw material conveying unit stops moving based on the raw material being accommodated in the raw material hopper unit in a second preset amount.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to Korean Patent Application No. 10-2023-0135229, filed on October 11, 2023, and all disclosures in the specification and drawings of the corresponding application are incorporated herein by reference. Technical Field

[0003] This disclosure relates to an automatic weighing and conveying system and a method for controlling the automatic weighing and conveying system. Background Technology

[0004] An automated weighing and conveying system is a system used in facilities for food manufacturing to weigh and convey various raw materials used in food production. Typically, when manufacturing food, depending on the manufacturing method, the raw materials used in food production require pretreatment and weighing.

[0005] In this case, the system for weighing and conveying raw materials may include a conveying section and a hopper section, the conveying section being configured to convey the raw materials and the hopper section being configured to receive and store the raw materials originating from the conveying section.

[0006] Each raw material can be transported manually by the user or by a conveyor system (such as a conveyor belt). When each raw material is transported from the conveyor system, the user can weigh it. However, recently, to achieve more efficient manufacturing, there is an increasing need for a system that pre-processes, automatically weighs, and automatically transports each raw material. Summary of the Invention

[0007] Technical issues

[0008] One aspect of this disclosure provides an automatic weighing and conveying system and a method for controlling the automatic weighing and conveying system, which can automatically weigh frozen raw materials and raw materials, and simultaneously automatically convey frozen raw materials and raw materials.

[0009] Technical solution

[0010] According to one aspect of this disclosure, an automatic weighing and conveying system includes a frozen raw material conveying section for conveying frozen raw materials; a frozen raw material hopper section for storing and discharging frozen raw materials supplied by the frozen raw material conveying section; a raw material conveying section separate from the frozen raw material conveying section and for conveying raw materials; a raw material hopper section separate from the frozen raw material hopper section and for storing and discharging raw materials supplied by the raw material conveying section; and a processor that controls the frozen raw material conveying section and the raw material conveying section to stop the operation of the frozen raw material conveying section based on the frozen raw material being contained in the frozen raw material hopper section at a first preset amount, and to stop the operation of the raw material conveying section based on the raw materials being contained in the raw material hopper section at a second preset amount.

[0011] The automated weighing and conveying system may also include a mobile robot that carries a receiving section for receiving frozen raw materials discharged from the frozen raw material hopper and raw materials discharged from the raw material hopper, and conveys the receiving section to the frozen raw material supply position for supplying frozen raw materials from the frozen raw material hopper and the raw material supply position for supplying raw materials from the raw material hopper.

[0012] The processor can be configured to control the frozen raw material hopper section to position the receiving section at the frozen raw material supply position based on a mobile robot so that the frozen raw material is discharged from the frozen raw material hopper section, and to control the raw material hopper section to position the receiving section at the raw material supply position based on a mobile robot so that the raw material is discharged from the raw material hopper section.

[0013] The automatic weighing and conveying system may further include a weighing unit comprising a frozen raw material weighing unit and a raw material weighing unit, the frozen raw material weighing unit being disposed at the frozen raw material supply position to measure the weight of the container located at the frozen raw material supply position, and the raw material weighing unit being disposed at the raw material supply position to measure the weight of the container located at the raw material supply position.

[0014] The frozen raw material weighing unit can measure the first weight of the container when the container reaches the frozen raw material supply position, and measure the second weight of the container after the frozen raw material is discharged from the frozen raw material hopper. The raw material weighing unit can also measure the third weight of the container when the container reaches the raw material supply position, and measure the fourth weight of the container after the raw material is discharged from the raw material hopper.

[0015] The processor can be configured to compare and determine whether the difference between the second weight and the first weight is within a preset weight range of the frozen raw material, and to compare and determine whether the difference between the fourth weight and the third weight is within a preset weight range of the raw material.

[0016] The automatic weighing and conveying system may also include a control panel, and the processor may be configured to control the control panel to notify the user that the difference between the second weight and the first weight is outside the preset weight range of the frozen raw material, or the difference between the fourth weight and the third weight is outside the preset weight range of the raw material, based on the fact that the difference between the second weight and the first weight is outside the preset weight range of the frozen raw material, or the difference between the fourth weight and the third weight is outside the preset weight range of the raw material.

[0017] The automatic weighing and conveying system may also include a loudspeaker, and the processor may be configured to control the loudspeaker to issue an alarm based on the difference between the second weight and the first weight being outside a preset weight range for the frozen raw material, or the difference between the fourth weight and the third weight being outside a preset weight range for the raw material.

[0018] The raw material hopper section can be located on one side of the frozen raw material hopper section, adjacent to the frozen raw material hopper section.

[0019] The frozen raw material supply location and the raw material supply location can be arranged in a straight line, and the automatic weighing and conveying system can further include a mobile robot conveying unit that moves a mobile robot located at one of the frozen raw material supply location and the raw material supply location to the other of the frozen raw material supply location and the raw material supply location.

[0020] The mobile robot conveyor can be configured to move a mobile robot located at the frozen raw material supply location to the raw material supply location.

[0021] The processor can be configured to operate a mobile robot conveyor to transport the mobile robot, located at the frozen raw material supply location, to the raw material supply location based on the difference between the second weight and the first weight, within a preset weight range of the frozen raw material.

[0022] The mobile robot can move from the raw material supply position to the standby position based on the difference between the fourth and third weights within a preset weight range of the raw materials.

[0023] The frozen raw material hopper section may include a first frozen raw material hopper for storing and discharging a first frozen raw material and a second frozen raw material hopper for storing and discharging a second frozen raw material different from the first frozen raw material. The frozen raw material conveying section may include a conveying track and a transfer track. The conveying track receives and conveys the first frozen raw material and the second frozen raw material. The transfer track includes an end that receives the first frozen raw material and the second frozen raw material from the conveying track and conveys the first frozen raw material and the second frozen raw material from the conveying track to the first frozen raw material hopper and the second frozen raw material hopper, respectively, and an opposite end that has a position relative to said one end that is used to switch between the first frozen raw material hopper and the second frozen raw material hopper.

[0024] The raw material hopper section may include a first raw material hopper for storing and discharging a first raw material and a second raw material hopper for storing and discharging a second raw material different from the first raw material. The raw material conveying section may include a conveying track and a transfer track. The conveying track receives and conveys the first raw material and the second raw material. The transfer track includes an end that receives the first raw material and the second raw material from the conveying track and conveys the first raw material and the second raw material from the conveying track to the first raw material hopper and the second raw material hopper, respectively, and an opposite end that has a position relative to the one end that is used to switch between the first raw material hopper and the second raw material hopper.

[0025] According to another aspect of this disclosure, a method for controlling an automatic weighing and conveying system includes: controlling a frozen raw material conveying unit and a raw material conveying unit to convey frozen raw materials and raw materials to a frozen raw material hopper unit and a raw material hopper unit, respectively; controlling the frozen raw material conveying unit to stop operation based on the frozen raw material being contained in the frozen raw material hopper unit at a first preset amount; controlling the raw material conveying unit to stop operation based on the raw material being contained in the raw material hopper unit at a second preset amount; moving a mobile robot carrying a receiving unit to a frozen raw material supply position, the receiving unit receiving frozen raw materials from the frozen raw material hopper unit and raw materials from the raw material hopper unit, at the frozen raw material supply position, where frozen raw materials are supplied from the frozen raw material hopper unit; controlling the frozen raw material hopper unit to discharge frozen raw materials based on the mobile robot delivering the receiving unit to the frozen raw material supply position; based on the completion of the discharge of frozen raw materials, moving the mobile robot carrying the receiving unit located at the frozen raw material supply position to a raw material supply position, where raw materials are supplied from the raw material hopper unit; and controlling the raw material hopper unit to discharge raw materials based on the mobile robot delivering the receiving unit to the raw material supply position.

[0026] The method may further include controlling a frozen raw material weighing unit located at a frozen raw material supply position to measure a first weight of the container based on the container reaching the frozen raw material supply position; controlling the frozen raw material weighing unit to measure a second weight of the container based on the completion of the discharge of frozen raw material from the frozen raw material hopper; comparing and determining whether the difference between the second weight and the first weight is within a preset weight range of the frozen raw material; and controlling a control panel to notify the user based on the difference between the second weight and the first weight being outside the preset weight range of the frozen raw material.

[0027] The method may further include controlling a raw material weighing unit located at the raw material supply position to measure a third weight of the container based on the container reaching the raw material supply position; controlling the raw material weighing unit to measure a fourth weight of the container based on the completion of the discharge of raw material from the raw material hopper; comparing and determining whether the difference between the fourth weight and the third weight is within a preset weight range of the raw material; and controlling a control panel to notify the user based on the difference between the fourth weight and the third weight being outside the preset weight range of the raw material.

[0028] The method may also include operating a mobile robot conveyor to transport the mobile robot from the frozen raw material supply location to the raw material supply location based on the difference between the second weight and the first weight within a preset weight range of the frozen raw material.

[0029] The method may also include moving a mobile robot from a raw material supply location to a standby location based on the difference between the fourth and third weights being within a preset weight range of the raw material.

[0030] Beneficial effects

[0031] According to embodiments of this disclosure, since frozen raw materials and raw materials can be weighed while being automatically conveyed, the conveying speed and weighing speed of raw materials can be improved.

[0032] According to embodiments of this disclosure, since frozen raw materials and raw materials can be automatically weighed, the weighing accuracy of raw materials can be improved.

[0033] According to embodiments of this disclosure, since the mobile robot can move the receiving part for containing raw materials and the hopper part can be controlled according to the position of the mobile robot, the weighing of raw materials can be performed without stopping, thereby improving productivity. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of an automatic weighing and conveying system according to an embodiment of the present disclosure.

[0035] Figure 2This is a front view of the raw material hopper section according to an embodiment of the present disclosure.

[0036] Figure 3 This is a front view of the frozen raw material hopper section according to an embodiment of the present disclosure.

[0037] Figure 4 This is a side view of the conveying section and the hopper section according to an embodiment of the present disclosure.

[0038] Figure 5 This is a front view of the frozen raw material hopper section according to another embodiment of the present disclosure.

[0039] Figure 6 This is a side view of the conveying section and hopper section according to another embodiment of the present disclosure.

[0040] Figure 7 This is a front view of the frozen raw material hopper section according to yet another embodiment of the present disclosure.

[0041] Figure 8 This is a side view of the conveying section and hopper section according to yet another embodiment of the present disclosure.

[0042] Figure 9 This is a front view of the frozen raw material hopper section according to yet another embodiment of the present disclosure.

[0043] Figure 10 This is a side view of the conveying section and hopper section according to yet another embodiment of the present disclosure.

[0044] Figure 11 This is a front view of the frozen raw material hopper section according to yet another embodiment of the present disclosure.

[0045] Figure 12 This is a front view of the frozen raw material hopper section according to yet another embodiment of the present disclosure.

[0046] Figure 13 This is a side view of the conveying section and hopper section according to yet another embodiment of the present disclosure.

[0047] Figure 14 This is a perspective view of a mobile robot according to an embodiment of the present disclosure.

[0048] Figure 15 This is a front view of a mobile robot according to an embodiment of the present disclosure.

[0049] Figure 16 This is a side view of a mobile robot according to an embodiment of the present disclosure.

[0050] Figure 17 This is a perspective view of a mobile robot according to another embodiment of the present disclosure.

[0051] Figure 18 This is a side view of a mobile robot with a support housing according to another embodiment of the present disclosure.

[0052] Figure 19 This is a block diagram of an automatic weighing and conveying system according to an embodiment of the present disclosure.

[0053] Figures 20 to 22 This is a flowchart illustrating a method for controlling an automatic weighing and conveying system according to an embodiment of the present disclosure.

[0054] Figure 23 This is a schematic diagram of an automatic weighing and conveying system according to another embodiment of the present disclosure.

[0055] Figure 24 This is a schematic diagram of an automatic weighing and conveying system according to yet another embodiment of the present disclosure.

[0056] Figure 25 This is a schematic diagram of an automatic weighing and conveying system according to yet another embodiment of the present disclosure.

[0057] Figure 26 This is a schematic diagram of an automatic weighing and conveying system according to yet another embodiment of the present disclosure. Detailed Implementation

[0058] In the following, some embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals will be used to denote the same or equivalent parts. In describing embodiments of the present disclosure, detailed descriptions associated with well-known functions or configurations will be omitted if they would unnecessarily obscure the subject matter of the disclosure.

[0059] For convenience, the instruction manual mentions forward / backward, left / right, and upward / downward directions, which can be perpendicular to each other. It also mentions horizontal and vertical directions, which can be perpendicular to each other. However, these directions are determined relative to the arrangement of the components in the automatic weighing and conveying system, and upward / downward directions do not necessarily refer to vertical directions.

[0060] Furthermore, ordinal terms, such as “first” and “second” as used herein, may be used to describe various components, but these components are not limited by these terms, and these terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope and spirit of this disclosure, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component. The term “and / or” includes any combination of the plurality of related listed items or any one of the plurality of related listed items.

[0061] Figure 1 This is a schematic diagram of an automatic weighing and conveying system according to an embodiment of the present disclosure. (See reference) Figure 1 An automatic weighing and conveying system (1) can be a system for conveying and weighing raw materials used in food manufacturing. Typically, when manufacturing food, it may be necessary to pre-process the raw materials and weigh them in a preset ratio.

[0062] Specifically, the automatic weighing and conveying system (1) according to an embodiment of the present disclosure can be an equipment system for making dumplings. Dumplings may require dumpling wrappers and various raw materials placed in the dumpling wrappers. The automatic weighing and conveying system (1) according to an embodiment of the present disclosure can be a system that pre-processes the raw materials and pre-weighs them in a preset ratio before the raw materials are mixed and placed in the dumpling wrappers.

[0063] Typically, manual labor may be required when pre-processing, conveying, or weighing raw materials. In contrast, in the automatic weighing and conveying system (1) according to an embodiment of this disclosure, when raw materials are placed on the conveying section (10), the conveying section (10) can convey the raw materials and automatically deliver them to the hopper section (20), whereby the hopper section (20) can discharge the raw materials in a predetermined amount. Furthermore, the raw materials discharged from the hopper section (20) can pass through the receiving section (60) (see...) Figure 2 The storage compartment (60) can be moved by a mobile robot (50).

[0064] The automated weighing and conveying system (1) may include a raw material storage section (2) which stores or supplies raw materials in their original state. The raw material storage section (2) may be a component in which raw materials stored at room temperature and frozen raw materials stored in a frozen state are delivered to the user or the mobile robot (50). As an example, the raw material storage section (2) may be configured as a refrigerator to store raw materials in a refrigerated or frozen state.

[0065] Depending on the state of each raw material, each raw material can be delivered from the raw material storage section (2) to the user or mobile robot (50), and can be sorted and delivered to the raw material conveying section (11) and the frozen raw material conveying section (12).

[0066] For example, chives or scallions that can be stored at room temperature can be delivered from the raw material storage section (2) to the raw material conveying section (11) by a user or a mobile robot (50). Preferably, since chives and scallions have different characteristics as raw materials, they can be delivered to the raw material conveying section (11) at different times, or they can be conveyed by a first raw material conveying section (11a) and a second raw material conveying section (11b), which are different conveying sections.

[0067] Raw materials may include primary raw materials and secondary raw materials classified according to their characteristics.

[0068] Conversely, frozen raw materials that can be stored in a frozen state may include, for example, frozen chives or frozen scallions. The frozen raw materials described above may be delivered from the raw material storage unit (2) to the frozen raw material delivery unit (12) by the user or by a mobile robot (50).

[0069] Frozen raw materials may include first frozen raw materials, second frozen raw materials and third frozen raw materials classified according to their characteristics.

[0070] The conveying unit (10) may include a raw material conveying unit (11) configured to convey raw materials, and a frozen raw material conveying unit (12) configured to convey frozen raw materials, which is different from the raw material conveying unit (11). The raw material conveying unit (11) and the frozen raw material conveying unit (12) may be configured with different conveying lines. The reason for configuring the raw material conveying unit (11) and the frozen raw material conveying unit (12) with different conveying lines is that frozen raw materials can be pre-processed and conveyed simultaneously with raw material pre-processing and conveying.

[0071] More specifically, in the raw material conveying section (11), the raw materials can be washed or sliced, while in the frozen raw material conveying section (12), the frozen raw materials can be crushed. However, this disclosure is not limited to this, and the pretreatment process can be performed separately from the conveying process.

[0072] The raw material conveying section (11) can be configured with an "L"-shaped conveying line. When the raw material is conveyed through the raw material conveying section (11), the raw material can be pre-processed. In addition, the raw material can be pre-processed before it is delivered to the raw material conveying section (11).

[0073] The raw material conveying unit (11) may include a first raw material conveying unit (11a) for conveying fresh chives and a second raw material conveying unit (11b) for conveying fresh scallions.

[0074] The raw material conveying unit (11) can deliver each raw material to the raw material hopper unit (20R).

[0075] The frozen raw material conveying section (12) can be configured with an "L"-shaped conveying line. The frozen raw material can be pre-treated when it is conveyed through the frozen raw material conveying section (12). Furthermore, the frozen raw material can be pre-treated before being delivered to the frozen raw material conveying section (12). The length of the conveying line of the frozen raw material conveying section (12) can be set to be shorter than the length of the conveying line of the raw material conveying section (11).

[0076] More specifically, the frozen raw material conveying unit (12) may include a crushing process and a sorting process. The crushing process of the frozen raw material conveying unit (12) may include a process of crushing the frozen leeks, frozen scallions, or other frozen raw materials being conveyed, thereby preventing them from clumping together. In particular, since the frozen raw materials are supplied such that each frozen raw material is in a frozen state and therefore tends to adhere to each other, a crushing process may be performed to prevent such adhesion. As described above, the crushing process may include a process of separating or crushing the frozen raw materials being conveyed as they fall.

[0077] Furthermore, the sorting process of the frozen raw material conveying unit (12) may include a process of sorting each frozen raw material by using an optical sorter (e.g., a color sorter). A crushing process may also be set up before the sorting process to separate the raw materials for smooth sorting during the sorting process.

[0078] As described above, after the crushing and sorting processes are performed, the frozen raw material conveying unit (12) can deliver each frozen raw material to the frozen raw material hopper unit (20F), which will be described later.

[0079] The raw material conveying unit (11) and the frozen raw material conveying unit (12) can be based on the raw material sensor (20s) (see Figure 19 If the amount of raw materials stored in the hopper section (20R, 20F) is less than the reference value, the raw materials will be delivered to the raw material hopper section (20R) and the frozen raw material hopper section (20F) respectively. The raw material sensor will be described later.

[0080] The raw material conveying unit (11) can be connected to the raw material hopper unit (20R) for classifying and storing raw materials according to their type. The raw material hopper unit (20R) can be configured to store and discharge raw materials supplied by the raw material conveying unit (11). The raw material hopper unit (20R) can be provided with a single hopper to discharge the first and second raw materials in a time-difference manner, or it can be provided with multiple hoppers to discharge the first and second raw materials from corresponding hoppers.

[0081] For example, when raw materials are classified as fresh chives and fresh scallions, the raw material hopper section (20R) can discharge fresh chives and fresh scallions from a single hopper with a time difference, or a pair of hoppers can be provided, such that each raw material is discharged through a first hopper used only for fresh chives and a second hopper used only for fresh scallions. The corresponding hoppers will be described later.

[0082] The frozen raw material conveying unit (12) can be connected to the frozen raw material hopper unit (20F) for classifying and storing frozen raw materials according to their type. The frozen raw material hopper unit (20F) can be configured to store and discharge frozen raw materials supplied by the frozen raw material conveying unit (12). The frozen raw material hopper unit (20F) can be provided with a single hopper to discharge frozen chives and frozen scallions one type of raw material at a time, or it can be provided with multiple hoppers to store each raw material in a corresponding hopper and discharge each raw material from it.

[0083] In the latter case, when the frozen raw materials are classified as frozen chives and frozen scallions, the frozen raw material hopper section (20F) may include a first hopper for frozen chives, a second hopper for frozen scallions, and a third hopper for other frozen raw materials. The corresponding hoppers will be described later.

[0084] Meanwhile, the raw material hopper section (20R) and the frozen raw material hopper section (20F) can be components for discharging raw materials stored in the corresponding hoppers in a preset amount. The raw material hopper section (20R) can be set to be distinct from the frozen raw material hopper section (20F). Here, the preset amount can vary according to the proportion of each raw material. Generally, the proportion of each raw material can be determined according to the volume of the receiving section (60), and the preset amount of each raw material can be varied to correspond to the proportion of each raw material. In addition, the preset amount can refer to mass or volume.

[0085] Raw materials and frozen raw materials discharged from the raw material hopper section (20R) and the frozen raw material hopper section (20F) respectively can be contained in a receiving section (60). Here, the receiving section (60) is a commonly used component and can be understood as a component used to contain raw materials.

[0086] The receiving section (60) can be moved by a mobile robot (50). The mobile robot (50) can move the receiving section (60) loaded thereon to receive raw materials discharged from the hopper section (20) from a first standby position (WP1) to a supply position (FSP, RSP), where the receiving section (60) is placed to receive raw materials from the hopper section (20), and then move to a second standby position (WP2) where the receiving section (60) is finally placed.

[0087] The supply locations (FSP, RSP) may include a frozen raw material supply location (FSP) and a raw material supply location (RSP), in which frozen raw materials are discharged from the frozen raw material hopper (20F) and raw materials are discharged from the raw material hopper (20R).

[0088] The container (60) can be lifted, transported, and moved from the first standby position (WP1) to the frozen raw material supply position (FSP) by the mobile robot (50) and placed there. Thereafter, the container (60) can be moved from the frozen raw material supply position (FSP) to the raw material supply position (RSP) by the mobile robot (50) and placed there again. Thereafter, the container (60) can be moved from the raw material supply position (RSP) to the second standby position (WP2) by the mobile robot (50).

[0089] The first standby position (WP1) can be the position where the mobile robot (50) is in standby before moving. The mobile robot (50) can lift and transport the housing (60) at the first standby position (WP1).

[0090] The Frozen Raw Material Supply Position (FSP) can be a position where a mobile robot (50) stops or places the container (60) while carrying the container (60), so that the container (60) receives each frozen raw material from the frozen raw material hopper (20F).

[0091] The raw material supply position (RSP) can be a position where a mobile robot (50) stops or places the container (60) after moving the container (60) from the frozen raw material supply position (FSP), so that the container (60) receives each raw material from the raw material hopper (20R).

[0092] The second standby position (WP2) can be the position where the container (60) that has received a preset amount of each raw material from the raw material hopper (20R) is transported and placed by the mobile robot (50).

[0093] In the automatic weighing and conveying system (1), each type of raw material can be discharged from each hopper section (20F, 20R) in a preset amount, and weighing can be performed by a mobile robot (50) after all raw materials have been discharged. This will be described in more detail later.

[0094] The first standby position (WP1), the frozen raw material supply position (FSP), the raw material supply position (RSP), and the second standby position (WP2) can be the location of the container (60) or the location of the mobile robot (50).

[0095] The container (60) can be lifted by the mobile robot (50) at a first standby position (WP1) and placed at the frozen raw material supply position (FSP) to receive frozen raw materials. It can also be lifted again by the mobile robot (50) and placed at the raw material supply position (RSP) to receive raw materials. Furthermore, it can be lifted again by the mobile robot (50) and moved to a second standby position (WP2), where it is placed on the floor. The container (60) placed on the floor at the second standby position (WP2) can be delivered to the next process for making dumplings. During this process, the container (60) can be delivered by the user or by the mobile robot (50).

[0096] The mobile robot (50) can standby at a first standby position (WP1), load the container (60) at the first standby position (WP1), temporarily stop at the frozen raw material supply position (FSP), receive a preset amount of frozen raw material in the container (60), and move to the raw material supply position (RSP). The mobile robot (50) can temporarily stop at the raw material supply position (RSP), receive a preset amount of raw material in the container (60), move to a second standby position (WP2), and place the container (60) at the second standby position (WP2). The mobile robot (50) can receive power supply at either the first standby position (WP1) or the second standby position (WP2).

[0097] However, the mobile robot (50) is not limited to raising the housing (60) in the first standby position (WP1), and the housing (60) can be loaded onto the mobile robot (50) by the user.

[0098] As will be described later, the automated weighing and conveying system (1) may include a controller (70) for controlling the conveying section (10), the hopper section (20), and the mobile robot (50) (see Figure 19 ).

[0099] Figure 2 This is a front view of the raw material hopper section according to an embodiment of the present disclosure. Figure 3 This is a front view of the frozen raw material hopper section according to an embodiment of the present disclosure. Figure 4 This is a side view of the conveying section and the hopper section according to an embodiment of the present disclosure.

[0100] Reference Figures 2 to 4 The raw material hopper section (20R) may include a first raw material hopper (21a) and a second raw material hopper (21b). The first raw material hopper (21a) and the second raw material hopper (21b) can be connected by a raw material conveying section (11) (see...). Figure 1The first raw material and the second raw material are received and stored respectively. Here, the first raw material can be raw chives, and the second raw material can be raw scallions.

[0101] The first raw material hopper (21a) can discharge the raw materials stored inside the first raw material hopper (21a) through the first raw material operating device (23a). The second raw material hopper (21b) can discharge the raw materials stored inside the second raw material hopper (21b) through the second raw material operating device (23b).

[0102] When the receiving section (60) is in the first raw material supply position (RSP1), the first raw material operating device (23a) can discharge the first raw material contained in the first raw material hopper (21a) through the first raw material discharge section (22a). When the first raw material of a preset weight is discharged into the receiving section (60), the first raw material operating device (23a) can prevent the first raw material from being discharged through the first raw material discharge section (22a).

[0103] When the receiving section (60) is in the second raw material supply position (RSP2), the second raw material operating device (23b) can discharge the second raw material contained in the second raw material hopper (21b) through the second raw material discharge section (22b). When a preset weight of the second raw material is discharged into the receiving section (60), the second raw material operating device (23b) can prevent the second raw material from being discharged through the second raw material discharge section (22b).

[0104] The raw material hopper section (20R) may include a first raw material conveying line and a second raw material conveying line respectively disposed inside the first raw material hopper (21a) and the second raw material hopper (21b).

[0105] More specifically, each of the first raw material hopper (21a) and the second raw material hopper (21b) may include a discharge door (not shown) for opening and closing a raw material discharge section (22a, 22b) for discharging the first and second raw materials, and a raw material conveying line for conveying the raw materials toward the discharge door. The discharge door may be formed on one side of each raw material hopper (21a, 21b), and the raw material conveying line may be disposed on the underside of each raw material hopper (21a, 21b).

[0106] Although not shown in the figure, the first raw material operating device (23a) and the second raw material operating device (23b) can be components that operate or stop the raw material conveying line that transports each raw material. Here, the raw material conveying line can be, for example, a component of a conveyor belt.

[0107] In other words, the first raw material operating device (23a) can open and close the discharge door of the first raw material hopper (21a) and operate or stop the first raw material conveying line that transports the first raw material inside the first raw material hopper (21a) to the discharge door for discharge. The raw material operating devices (23a, 23b) can be operated or stopped by the processor (72) which will be described later.

[0108] For example, when the first raw material hopper (21a) is filled with the first raw material and the receiving part (60) is in the first raw material supply position (RSP1), the first raw material operating device (23a) can operate the discharge door of the first raw material hopper (21a) and the first raw material conveying line to discharge the first raw material through the first discharge part (22a). In addition, when the supply of the first raw material to the first raw material hopper (21a) is stopped or a preset weight of the first raw material is discharged, the first raw material operating device (23a) can close the first discharge part (22a) through the discharge door of the first raw material hopper (21a) and stop the conveying line, thereby stopping the discharge of the first raw material.

[0109] Similarly, the operation of the second raw material operating device (23b) can correspond to this, and the second raw material operating device (23b) can open and close the discharge door of the second raw material hopper (21b), and operate or stop the second raw material conveying line that conveys the second raw material in the second raw material hopper (21b) to the discharge door to discharge the second raw material.

[0110] The raw material weighing unit (61) may be provided at a first raw material supply position (RSP1) and a second raw material supply position (RSP2). The raw material weighing unit (61R) may include a first raw material weighing unit (61Ra) provided at the first raw material supply position (RSP1) and a second raw material weighing unit (61Rb) provided at the second raw material supply position (RSP2).

[0111] For example, the raw material weighing section (61Ra, 61Rb) can be a weighing device for measuring the weight of the container (60) located at the first raw material supply position (RSP1) and the second raw material supply position (RSP2), respectively.

[0112] The frozen raw material hopper section (20F) may include a first frozen raw material hopper (25a), a second frozen raw material hopper (25b), and a third frozen raw material hopper (25c). The first to third frozen raw material hoppers (25a to 25c) may respectively store frozen chives, frozen scallions, and other frozen raw materials different from frozen chives and frozen scallions.

[0113] The first frozen raw material operating device (27a) installed on the first frozen raw material hopper (25a) can discharge the first frozen raw material through the first frozen raw material discharge section (26a). The second frozen raw material operating device (27b) installed on the second frozen raw material hopper (25b) and the third frozen raw material operating device (27c) installed on the third frozen raw material hopper (25c) can discharge the second frozen raw material and the third frozen raw material through the second frozen raw material discharge section (26b) and the third frozen raw material discharge section (26c), respectively.

[0114] More specifically, when the first frozen raw material operating device (27a) is filled with the first frozen raw material in the first frozen raw material hopper (25a) and the receiving part (60) is in the first frozen raw material supply position (FSP1), the first frozen raw material discharge part (26a) can be opened through the discharge door (not shown) of the first frozen raw material hopper (25a) and the first frozen raw material conveying line can be operated so that the first frozen raw material can be discharged.

[0115] When a preset weight of the first frozen raw material is discharged through the first frozen raw material discharge section (26a), the first frozen raw material operating device (27a) can close the discharge door of the first frozen raw material hopper (25a) and stop the operation of the first frozen raw material conveying line. In this way, the first frozen raw material operating device (27a) can control the discharge door of the first frozen raw material hopper (25a) to close the first frozen raw material discharge section (26a) and can stop the first frozen raw material conveying line.

[0116] When the receiving part (60) is in the second frozen raw material supply position (FSP2), the second frozen raw material operating device (27b) can open the second frozen raw material discharge part (26b) through the discharge door of the second frozen raw material hopper (25b) and operate the second frozen raw material conveying pipeline so that the second frozen raw material can be discharged through the second frozen raw material discharge part (26b).

[0117] When the second frozen raw material of a preset weight is discharged through the second frozen raw material discharge section (26b), the second frozen raw material operating device (27b) can control the discharge door of the second frozen raw material hopper (25b) to close the second frozen raw material discharge section (26b), and can also stop the second frozen raw material conveying line.

[0118] When the receiving part (60) is in the third frozen raw material supply position (FSP3), the third frozen raw material operating device (27c) can open the third frozen raw material discharge part (26c) through the discharge door of the third frozen raw material hopper (25c) and operate the third frozen raw material conveying pipeline so that the third frozen raw material can be discharged through the third frozen raw material discharge part (26c).

[0119] When a preset weight of the third frozen raw material is discharged through the third frozen raw material discharge section (26c), the third frozen raw material operating device (27c) can control the discharge door of the third frozen raw material hopper (25c) to close the third frozen raw material discharge section (26c) and can also stop the third frozen raw material conveying line.

[0120] Similarly, the frozen raw material weighing units (61Fa, 61Fb and 61Fc) provided at the first to third frozen raw material supply positions (FSP1 to FSP3) may include a first frozen raw material weighing unit (61Fa), a second frozen raw material weighing unit (61Fb) and a third frozen raw material weighing unit (61Fc), which are configured to measure the weight of the container (60) located at the first to third frozen raw material supply positions (FSP1 to FSP3).

[0121] like Figure 4 As shown, the conveying unit (10) may include a transfer track (16) formed in an inclined shape.

[0122] like Figure 1 As shown, the raw material conveying section (11) may include a first conveying track (15a) for receiving and conveying raw materials and a transfer track (16) for receiving raw materials from the first conveying track (15a) and conveying the raw materials to the raw material hopper section (20R).

[0123] Similarly, such as Figure 1 As shown, the frozen raw material conveying unit (12) may include a second conveying track (15b) for receiving and conveying frozen raw materials and a transfer track (16) for receiving frozen raw materials from the second conveying track (15b) and conveying the frozen raw materials to the frozen raw material hopper unit (20F).

[0124] In other words, the conversion track (16) of the conveying section (10) can be inclined, such that its height increases as it approaches the raw material hopper (21) and the frozen raw material hopper (25), thereby conveying the raw materials to the upper side of the raw material hopper (21) and the frozen raw material hopper (25). Using this structure, the raw material conveying section (11) (see...) Figure 1 The raw materials can be delivered to the raw material hopper (21), and the frozen raw material conveying unit (12) can deliver frozen raw materials to the frozen raw material hopper (25).

[0125] In this case, when multiple types of raw materials are conveyed to the raw material conveying unit (11), the raw materials can be sorted into the first raw material hopper (21a) and the second raw material hopper (21b) respectively. For example, when the first raw material and the second raw material are conveyed by the raw material conveying unit (11) in a manner with a time difference, the raw material conveying unit (11) can be connected to the first raw material hopper (21a) when conveying the first raw material, and the raw material conveying unit (11) can be connected to the second raw material hopper (21b) when conveying the second raw material.

[0126] Furthermore, when multiple types of frozen raw materials are conveyed to the frozen raw material conveying unit (12), the frozen raw materials can be sorted into the first frozen raw material hopper (25a) to the third frozen raw material hopper (25c) respectively. For example, the first frozen raw material, the second frozen raw material, and the third frozen raw material can be conveyed by the frozen raw material conveying unit (12) in a time-difference manner. When conveying the first frozen raw material, the frozen raw material conveying unit (12) can be connected to the first frozen raw material hopper (25a), and when conveying the second frozen raw material, the frozen raw material conveying unit (12) can be connected to the second frozen raw material hopper (25b). Furthermore, when conveying the third frozen raw material, the frozen raw material conveying unit (12) can be connected to the third frozen raw material hopper (25c). However, this disclosure is not limited thereto.

[0127] In addition, each raw material can move toward the raw material discharge section (22, 26) along a conveying line extending horizontally inside the frozen raw material hopper (25) and the raw material hopper (21), and can be placed in the receiving section (60).

[0128] To have this structure, the switching track (16) of the frozen raw material conveying section (12) may include an end that receives the first to third frozen raw materials from the second conveying track (15b), and an opposite end that switches positions between the first to third frozen raw material hoppers (25a to 25c) relative to said end.

[0129] In addition, the conversion track (16) of the raw material conveying section (11) may include an end that receives the first raw material and the second raw material from the first conveying track (15a), and an opposite end that changes position between the first raw material hopper (21a) and the second raw material hopper (21b) relative to said one end.

[0130] In other words, the conversion track (16) can have a structure that rotates relative to one end relative to the opposite end.

[0131] When frozen raw materials or raw materials are supplied to each hopper (21, 25) via the transfer track (16), the frozen raw materials or raw materials can be conveyed forward by the screw in each hopper (21, 25). Thereafter, the frozen raw materials or raw materials can be supplied through the discharge section (22, 26) to the receiving section (60) that has reached the frozen raw material supply position (FSP) or raw material supply position (RSP).

[0132] Figure 5 This is a front view of the frozen raw material hopper section according to another embodiment of the present disclosure. Figure 6 This is a side view of the conveying section and hopper section according to another embodiment of the present disclosure.

[0133] Reference Figure 5 and Figure 6 The structure of the hopper section (120) according to another embodiment of this disclosure will be described. Although in Figure 5 The image shows a frozen raw material hopper section (120F), but raw material hopper sections can also be provided in the corresponding structure, although the number of hoppers can be different.

[0134] The frozen raw material hopper section (120F) may include first to third frozen raw material hoppers (125a to 125c). The first frozen raw material hopper (125a) can discharge first frozen raw material through a first frozen raw material discharge section (126a). Similarly, the second frozen raw material hopper (125b) and the third frozen raw material hopper (125c) can discharge second and third frozen raw materials through the second frozen raw material discharge section (126b) and the third frozen raw material discharge section (126c), respectively.

[0135] Unlike the hopper section (20) according to the embodiment of the present disclosure, in the hopper section (120) according to another embodiment of the present disclosure, the frozen raw material discharge section (126) and the raw material discharge section (122) can extend horizontally to one side from the lower side of the frozen raw material hopper (125) and the raw material hopper (121), respectively. In this case, the frozen raw material discharge section (126) and the raw material discharge section (122) can further extend horizontally in the opposite direction to the frozen raw material hopper (125) and the raw material hopper (121).

[0136] In this case, the frozen raw material discharge section (126) and the raw material discharge section (122) can be not only components for discharging frozen raw materials and raw materials, but also components for separately weighing a preset amount of each raw material.

[0137] That is, the discharge section (122, 126) in the hopper section (120) according to another embodiment of the present disclosure may have a structure for discharging only a preset weight of each raw material into the receiving section (60).

[0138] In this case, when the receiving section (60) is in the frozen raw material supply position (FSP), the frozen raw material discharge section (126) can open and close the frozen raw material hopper (125) to discharge only a preset weight of frozen raw material into the receiving section (60).

[0139] Furthermore, when the receiving section (60) is in the raw material supply position (RSP), the raw material discharge section (122) can open and close the raw material hopper (121) to discharge only a preset weight of raw material into the receiving section (60).

[0140] The weighing unit (161), which includes the first to third frozen raw material weighing units (161Fa to 161Fc), can be respectively set at the first to third frozen raw material supply positions (FSP1 to FSP3).

[0141] Figure 7 This is a front view of the frozen raw material hopper section according to yet another embodiment of the present disclosure. Figure 8 This is a side view of the conveying section and hopper section according to yet another embodiment of the present disclosure.

[0142] Reference Figure 7 and Figure 8 The structure of the hopper section (220) according to yet another embodiment of this disclosure will be described. Although in Figure 7 The image shows a frozen raw material hopper section (220F), but raw material hopper sections can also be provided in the corresponding structure, although the number of hoppers can be different.

[0143] According to another embodiment of the present disclosure, the frozen raw material hopper section (220F) may include first to third frozen raw material hoppers (225a to 225c) for storing first to third frozen raw materials respectively.

[0144] The first to third frozen raw material hoppers (225a to 225c) can discharge frozen raw materials through the first to third chute (228a to 228c).

[0145] In other words, the first frozen raw material hopper (225a) can discharge the first frozen raw material through the first chute (228a). The second frozen raw material hopper (225b) and the third frozen raw material hopper (225c) can discharge the second frozen raw material and the third frozen raw material through the second chute (228b) and the third chute (228c), respectively.

[0146] Using this structure, the receiving part (60) can receive frozen raw materials from the first frozen raw material hopper (225a) to the third frozen raw material hopper (225c) at the frozen raw material supply position (FSP) without the need for transportation by the mobile robot (50), and the frozen raw materials can be supplied in a time-difference manner through the first chute (228a) to the third chute (228c).

[0147] Similarly, a frozen raw material weighing unit (261F) can be provided at the frozen raw material supply position (FSP), which is configured to measure the weight of the container (60) located at the frozen raw material supply position (FSP).

[0148] like Figure 8 As shown, in the conveying section and hopper section according to another embodiment of the present disclosure, the switching track (16) can receive each raw material from the conveying track 15 and supply the raw material to the hoppers (221, 225). Thereafter, each raw material can be discharged from the hoppers (221, 225) into the chute (228) in a predetermined amount at the discharge section (226) and can be supplied to the receiving section (60).

[0149] Figure 9 This is a front view of the frozen raw material hopper section according to yet another embodiment of the present disclosure. Figure 10 This is a side view of the conveying section and hopper section according to yet another embodiment of the present disclosure.

[0150] Reference Figure 9 and Figure 10 The structure of the hopper section (320) according to another embodiment of the present disclosure will be described. Although in Figure 9 The image shows a frozen raw material hopper section (320F), but raw material hopper sections can also be provided in the corresponding structure, although the number of hoppers can be different.

[0151] According to another embodiment of the present disclosure, the frozen raw material hopper section (320F) may include first to third frozen raw material hoppers (325a to 325c) for storing first to third frozen raw materials respectively.

[0152] The first to third frozen raw material hoppers (325a to 325c) can be connected to the frozen raw material discharge section (326). The frozen raw material discharge section (326) may include a first frozen raw material discharge section (326a) that receives a first frozen raw material from the first frozen raw material hopper (325a), a second frozen raw material discharge section (326b) that receives a second frozen raw material from the second frozen raw material hopper (325b), and a third frozen raw material discharge section (326c) that receives a third frozen raw material from the third frozen raw material hopper (325c).

[0153] The frozen raw material discharge section (326) can be rotated such that only one of the first to third frozen raw material discharge sections (326a to 326c) is connected to the receiving section (60).

[0154] That is, the first to third frozen raw material discharge sections (326a to 326c) may have a rotatable structure, which includes an end of one discharge section adjacent to the receiving section (60) and opposite ends for switching between the frozen raw material hoppers (325a, 325b and 325c).

[0155] In a frozen raw material supply position (FSP) according to another embodiment of the present disclosure, since each frozen raw material is supplied according to the frozen raw material discharge section (326a, 326b and 326c) without moving the mobile robot (50), a frozen raw material weighing section (361F) can be set as a single component.

[0156] Figure 11 This is a front view of the frozen raw material hopper section according to yet another embodiment of the present disclosure.

[0157] Reference Figure 11 Used for transporting mobile robots (50) (see Figure 26 The mobile robot conveying unit (462) can be further provided on the underside of the frozen raw material hopper unit (420F).

[0158] The mobile robot conveying unit (462) may be an apparatus for sequentially moving the mobile robot (50) from the first frozen raw material supply position (FSP1) to the second frozen raw material supply position (FSP2) and the third frozen raw material supply position (FSP3), and subsequently moving the mobile robot (50) from the first raw material supply position (RSP1) to the second raw material supply position (RSP2).

[0159] However, this disclosure is not limited thereto, and the mobile robot conveying unit (462) can move the mobile robot (50) from the first raw material supply position (RSP1) to the second raw material supply position (RSP2), and then move the mobile robot (50) to the first frozen raw material supply position (FSP1), and then to the second frozen raw material supply position (FSP2) and the third frozen raw material supply position (FSP3).

[0160] In other words, in this case, the frozen raw material supply position (FSP) and the raw material supply position (RSP) can be arranged in a row, and the raw material hopper (420R) can be located on one side of the frozen raw material hopper (420F), so that the raw material hopper (420R) and the frozen raw material hopper (420F) are adjacent to each other.

[0161] The mobile robot conveyor (462) can move a mobile robot (50) located at either the frozen raw material supply location (FSP) or the raw material supply location (RSP) to the other of the frozen raw material supply location (FSP) or the raw material supply location (RSP).

[0162] With this structure, productivity and availability can be improved because the user or mobile robot (50) does not need to apply external force to move the container (60) when the first to third frozen raw materials and the first and second raw materials are supplied.

[0163] In this case, the first to third frozen raw material weighing units (461Fa to 461Fc) can be respectively set at positions below the mobile robot conveying unit (462) corresponding to the first to third frozen raw material hoppers (425a to 425c).

[0164] Figure 12 This is a front view of the frozen raw material hopper section according to yet another embodiment of the present disclosure. Figure 13 This is a side view of the conveying section and hopper section according to yet another embodiment of the present disclosure.

[0165] Reference Figure 12 and Figure 13 The upper side of the frozen raw material hoppers (525a, 525b and 525c) of the frozen raw material hopper section (520F) may also include a diversion track (17). The diversion track (17) may be a component that is fixed at one end and the opposite end of the conversion track (16), rather than a structure that is rotatable as described above.

[0166] In other words, according to Figure 12 and Figure 13 The conversion track (16) of another embodiment shown may have a structure in which the position of the conversion track is fixed to convey each raw material upward from the conveying track (15) in a time difference manner, and alternatively, the diversion track (17) may be rotated to supply each raw material from the conversion track (16) to the first to third frozen raw material hoppers (525a to 525c).

[0167] Similarly, the first to third frozen raw material weighing units (561Fa to 561Fc) can be located at the first to third frozen raw material supply locations (FSP1 to FSP3).

[0168] Figure 14 This is a perspective view of a mobile robot according to an embodiment of the present disclosure. Figure 15 This is a front view of a mobile robot according to an embodiment of the present disclosure. Figure 16 This is a side view of a mobile robot according to an embodiment of the present disclosure.

[0169] Reference Figures 14 to 16 The mobile robot (50) may include a body (51) extending in an upward / downward direction and a side extending toward the body (51) to support a receiving portion (60) (see Figure 3 The support rod (55) and drive wheel (50w).

[0170] Drive motors for mobile robots (50), etc., can be installed inside the main body (51). The mobile robot controller can be located inside the main body (51) for wireless communication with the controller (70) of the automatic weighing and conveying system (1) (see...). Figure 19 ).

[0171] The support rod (55) can be connected to the height adjustment frame (56), thereby allowing the height of the support rod to be adjusted in the upward / downward direction.

[0172] Drive wheels (50w) can be mounted on the underside of the main body (51) and support rod (55). Drive wheels (50w) can be connected to drive motors to roll on the floor according to signals from the controller of the mobile robot (50).

[0173] Using this structure, the mobile robot (50) can move according to the signal of the controller (70) of the automatic weighing and conveying system (1), and the support rod (55) can adjust its height according to the signal of the controller (70) to raise or lower the housing (60) (see...). Figure 3 ).

[0174] Figure 17 This is a perspective view of a mobile robot according to another embodiment of the present disclosure. Figure 18 This is a side view of a mobile robot with a support housing according to another embodiment of the present disclosure.

[0175] Reference Figure 17 and Figure 18According to another embodiment of the present disclosure, a mobile robot (150) may include a main body (151) and a support body (157), on which a drive wheel (150w) configured to move the mobile robot (150) is mounted and the main body is disposed above the drive wheel (150w), and the support body is disposed on the upper side of the main body (151) to support the receiving portion (60).

[0176] The main body (151) can be formed as a plate extending in the horizontal direction. It can be connected to the controller (70) of the automatic weighing and conveying system (1) (see...). Figure 19 The controller for wireless communication and the drive motor for operating the drive wheel (150w) according to the signal from the controller can be located inside the main body (151).

[0177] When viewed from the top, the main body (151) may have a rectangular shape. A supporting body (157) may be attached to the main body (151) on the upper side. The height of the supporting body (157) in the upward / downward direction may be adjusted so that the distance from the main body (151) is adjustable.

[0178] Using this structure, the mobile robot (150) can move according to the signal of the controller (70) of the automatic weighing and conveying system (1), and the height of the support body (157) can be adjusted according to the signal of the controller (70), so that the height of the housing (60) can be adjusted.

[0179] Figure 19 This is a block diagram of an automatic weighing and conveying system according to an embodiment of the present disclosure.

[0180] Reference Figure 1 and Figure 19 The automatic weighing and conveying system (1) may include a conveying unit (10), hopper units (20, 120, 220, 320, 420 and 520), and a mobile robot (50, 150). The automatic weighing and conveying system (1) may include a conveying unit (10), hopper units (20, 120, 220, 320, 420 and 520), and a controller (70) for sending signals to and receiving signals from the mobile robot (50, 150).

[0181] The conveying unit (10) may include a raw material conveying unit (11) configured to convey raw materials and a frozen raw material conveying unit (12) configured to convey frozen raw materials.

[0182] The hopper sections (20, 120, 220, 320, 420, and 520) may include raw material sensors (20s). These raw material sensors (20s) may be located in the upper or lower portion of the hopper containing each type of raw material. The raw material sensors (20s) can be provided to sense the amount of raw material contained in each hopper. Here, the amount of raw material can be by mass, but is preferably by volume.

[0183] The mobile robots (50, 150) may include a drive motor (not shown) and drive wheels (50w, 150w) installed inside each body (51, 151).

[0184] The controller (70) may include a memory (71) and a processor (72). The memory (71) may include volatile memory such as static random access memory (S-RAM) and dynamic random access memory (D-RAM) for temporarily storing data when power is supplied, and non-volatile memory such as read-only memory (ROM) and erasable programmable read-only memory (EPROM) for storing data even when the power supply is cut off.

[0185] The processor (72) may include various logic circuits and arithmetic circuits, and can process data according to the program provided from the memory (71) and generate control signals according to the processing results.

[0186] When raw materials are delivered to the raw material conveying section (11), the processor (72) can operate the raw material conveying section (11). In addition, when frozen raw materials are delivered to the frozen raw material conveying section (12), the processor (72) can operate the frozen raw material conveying section (12).

[0187] When raw materials are delivered from the conveyor section (10) to the hopper sections (20, 120, 220, 320, 420, and 520), information about which raw material has been delivered can be transmitted to the controller (70) via raw material sensors (20s) located at the lower part of the hopper sections (20, 120, 220, 320, 420, and 520). In this case, the controller (70) can display information about the type of raw material currently being delivered on the control panel (90) to help the user deliver each raw material to the conveyor section (10), thereby enabling more efficient raw material delivery without confusion.

[0188] Furthermore, when any raw material is detected by the raw material sensor (20s) located on the upper part of the hopper section (20, 120, 220, 320, 420, and 520), the raw material sensor (20s) can transmit information indicating that the corresponding raw material has reached the upper limit of the hopper section (20, 120, 220, and 320) to the controller (70). In this case, the operation of the conveyor section (10) can be temporarily stopped. The controller (70) can display information about the type of raw material that has reached the upper limit on the control panel (90) so that the user can deliver the next type of raw material to the conveyor section (10), thereby enabling more efficient execution of subsequent raw material delivery without confusion.

[0189] The raw material sensor (20s) can be an optical sensor for sensing raw materials, but this disclosure is not limited thereto, and any sensor for sensing raw materials can be used.

[0190] Using this structure, the processor (72) can control the frozen raw material conveying section (12) to stop its operation based on a first preset amount of frozen raw material being contained in the frozen raw material hopper sections (20F, 120F, 220F, 320F, 420F, and 520F). Furthermore, the processor (72) can control the raw material conveying section (11) to stop its operation based on a second preset amount of raw material being contained in the raw material hopper section (20R).

[0191] Here, depending on the type of frozen raw material, the first preset quantity of the first to third frozen raw material hoppers (25a, 125a, 225a, 325a, 425a, 525a) to (25c, 125c, 225c, 325c, 425c and 525c) can be different from each other.

[0192] Furthermore, depending on the type of raw material, the second preset quantities of the first raw material hopper (21a) and the second raw material hopper (21b) can be different from each other.

[0193] In addition, the processor (72) can load information about the manufacturing method of a specific food stored in the memory (71) and display the information about the manufacturing method of the specific food on the control panel (90).

[0194] The processor (72) can move the mobile robot (50, 150) from the first standby position (WP1) to the supply position (SP) based on the fact that the corresponding raw materials are filled in the hoppers (21, 25, 125, 225, 325, 425 and 525) of the hopper section (20, 120, 220, 320, 420 and 520).

[0195] In other words, the processor (72) can control the mobile robots (50, 150) to lift the container (60) and move the container (60) from the first standby position (WP1) to the frozen raw material supply position (FSP) based on filling the frozen raw material hoppers (25, 125, 225, 325, 425 and 525) with a first preset amount of frozen raw material.

[0196] The processor (72) can control the frozen raw material hoppers (20F, 120F, 220F, 320F, 420F, and 520F) to discharge a certain weight of frozen raw materials contained in the frozen raw material hoppers (20F, 120F, 220F, 320F, 420F, and 520F) based on the mobile robots (50, 150) having reached the frozen raw material supply position (FSP). In this case, the processor (72) can control the mobile robots (50, 150) to stop moving and remain stationary at the frozen raw material supply position (FSP).

[0197] However, when multiple frozen raw material supply points (FSPs) are set up, the hoppers of the mobile robots (50, 150) and the frozen raw material hopper sections (20F, 120F, 220F, 320F, 420F and 520F) can be controlled at each frozen raw material supply point (FSP1, FSP2 and FSP3) as described above.

[0198] Furthermore, the processor (72) can control the mobile robots (50, 150) so that the receiving section (60) is supplied with raw materials by the raw material hopper section (20R) after the frozen raw material hopper section (20F, 120F, 220F, 320F, 420F and 520F) supplies frozen raw materials. With this structure, the problem of raw materials adhering to the inner surface of the receiving section (60) when the raw materials are placed in the receiving section (60) earlier than the frozen raw materials can be avoided.

[0199] Based on the fact that the mobile robots (50, 150) have reached the raw material supply position (RSP), the processor (72) can control the raw material hopper (20R) to discharge the raw material at a preset weight.

[0200] However, when multiple raw material supply points (RSPs) are set up, the mobile robots (50, 150) and the hoppers of the raw material hopper section (20R) can be controlled at each raw material supply point (RSP1, RSP2 and RSP3) as described above.

[0201] When the raw materials stored in the hopper section 20 are discharged in a preset amount, the processor (72) can control the mobile robot (50, 150) to move to the second standby position (WP2).

[0202] The automatic weighing and conveying system (1) may include weighing units (61, 161, 261, 361, 461 and 561) configured to measure the weight of the container (60) located at the supply position (FSP, RSP).

[0203] The weighing units (61, 161, 261, 361, 461 and 561) may include frozen raw material weighing units (61F, 161F, 261F, 361F, 461F and 561F) provided at the frozen raw material supply position (FSP) to measure the weight of the container (60) located at the frozen raw material supply position (FSP); and raw material weighing units (61R) provided at the raw material supply position (RSP) to measure the weight of the container (60) located at the raw material supply position (RSP).

[0204] The frozen raw material weighing section (61F, 161F, 261F, 361F, 461F and 561F) can measure the first weight of the container (60) that has reached the frozen raw material supply position (FSP) and the second weight of the container (60) after the frozen raw material has been discharged from the frozen raw material hopper section (20F, 120F, 220F, 320F, 420F and 520F).

[0205] The raw material weighing unit (61R) can measure the third weight of the container (60) when it has reached the raw material supply position (RSP) and the fourth weight of the container (60) after the raw material has been discharged from the raw material hopper (20R).

[0206] The weighing units (61, 161, 261, 361, 461 and 561) can transmit signals to and receive signals from the controller (70). More specifically, the weighing units (61, 161, 261, 361, 461 and 561) can transmit the first to fourth weights of the container (60) to the controller (70) and can receive signals from the controller (70) to measure the weight of the container (60) based on the arrival of the mobile robot (50, 150) at the supply position (RSP, FSP).

[0207] The processor (72) can receive a first weight and a second weight from the frozen raw material weighing units (61F, 161F, 261F, 361F, 461F, and 561F), and can compare and determine whether the difference between the second weight and the first weight is within the preset weight range of the frozen raw material. Furthermore, the processor (72) can receive a third weight and a fourth weight from the raw material weighing unit (61R), and can compare and determine whether the difference between the fourth weight and the third weight is within the preset weight range of the raw material.

[0208] The processor (72) can control the control panel (90) to notify the user that the difference between the second weight and the first weight deviates from the preset weight range of the frozen raw material, or the difference between the fourth weight and the third weight deviates from the preset weight range of the raw material, based on the fact that the difference between the second weight and the first weight is outside the preset weight range of the frozen raw material, or the difference between the fourth weight and the third weight deviates from the preset weight range of the raw material.

[0209] The control panel (90) can be configured to keep the notification window on the display until it is manually terminated by the user.

[0210] The automatic weighing and conveying system (1) may also include a speaker (80) for transmitting signals to and receiving signals from the controller (70) and the mobile robot conveyor (462).

[0211] The processor (72) can control the speaker (80) to trigger an alarm based on the difference between the second weight and the first weight being outside the preset weight range of the frozen raw material or the difference between the fourth weight and the third weight being outside the preset weight range of the raw material, and can control the mobile robot conveyor (462) to stop its operation.

[0212] In addition, the processor (72) can operate the mobile robot conveyor (462) to move the mobile robot (50, 150) located at the frozen raw material supply position (FSP) to the raw material supply position (RSP) based on the difference between the second weight and the first weight within a preset weight range of the frozen raw material.

[0213] In addition, the processor (72) can control the mobile robot (50, 150) to move the mobile robot from the raw material supply position (RSP) to the second standby position (WP2) based on the difference between the fourth weight and the third weight within a preset weight range of the raw material.

[0214] The aforementioned frozen raw material supply locations (FSP) and raw material supply locations (RSP) may include first to third frozen raw material supply locations (FSP1, FSP2 and FSP3) and first and second raw material supply locations (RSP1, RSP2), and may be based on the principle applied to each location.

[0215] Figures 20 to 22 This is a flowchart illustrating a method for controlling an automatic weighing and conveying system according to an embodiment of the present disclosure.

[0216] Reference Figures 20 to 22 , Figure 19The processor (72) shown can control the mobile robot (50, 150), the hopper section (20, 120, 220, 320, 420 and 520), the conveyor section (10), the mobile robot conveyor section (462), the control panel (90) and the speaker (80) as follows.

[0217] When the automatic weighing and conveying system (1) starts (1000) operation, the processor (72) can control the frozen raw material conveying section (12) and the raw material conveying section (11) to transport raw materials (1010).

[0218] Subsequently, when each frozen raw material is stored in each hopper of the frozen raw material hopper section (20F, 120F, 220F, 320F, 420F and 520F) at a first preset amount corresponding to the storage capacity (1020), the processor (72) can control the frozen raw material conveying section (12) to stop the frozen raw material conveying section (12) (1030).

[0219] On the other hand, when frozen raw materials are not contained in each hopper of the frozen raw material hopper section (20F, 120F, 220F, 320F, 420F and 520F) in a first preset amount corresponding to the storage capacity (no for 1020), the processor (72) can continuously operate the frozen raw material conveying section (12).

[0220] Subsequently, the processor (72) can determine whether the raw material is contained in the hoppers (21a, 21b) of the raw material hopper section (20R) at a second preset amount corresponding to the storage capacity (1040).

[0221] When the raw material is contained in the hoppers (21a, 21b) of the raw material hopper section (20R) at a second preset amount (1040), the processor (72) can control the raw material conveying section (11) to stop its operation (1050).

[0222] On the other hand, when the raw materials are not contained in the hoppers (21a, 21b) of the raw material hopper section (20R) in the second preset amount (no for 1040), the processor (72) can maintain the operation of the raw material conveying section (11).

[0223] Subsequently, the processor (72) can move the mobile robots (50, 150) that simultaneously carry the containment unit (60) so as to move the mobile robots (50, 150) to the frozen raw material supply position (FSP).

[0224] Based on the fact that the mobile robots (50, 150) have reached the frozen raw material supply position (FSP), the processor (72) can control the frozen raw material weighing units (61F, 161F, 261F, 361F, 461F and 561F) to measure the first weight (1070) of the container (60).

[0225] Subsequently, the processor (72) can control the frozen raw material hopper section (20F, 120F, 220F, 320F, 420F and 520F) to open the frozen raw material discharge section (26, 126, 226, 326, 426 and 526) (1080).

[0226] When the frozen raw material is discharged through the frozen raw material discharge section (26, 126, 226, 326, 426 and 526) (when the frozen raw material is discharged in a preset amount), the processor (72) may close the frozen raw material discharge section (26, 126, 226, 326, 426 and 526) (1090).

[0227] Subsequently, the processor (72) can control the frozen raw material weighing units (61F, 161F, 261F, 361F, 461F and 561F) to measure the second weight (1100) of the container (60).

[0228] The processor (72) can compare and determine whether the weight obtained by subtracting the first weight from the second weight is within the preset weight range of the frozen raw material (1110), and when the weight obtained by subtracting the first weight from the second weight is outside the preset weight range of the frozen raw material (no in 1110), it can control the control panel (90) to notify the user of the weight value corresponding to the degree to which the difference between the second weight and the first weight deviates from the preset weight range of the frozen raw material (1120). In addition, the processor (72) can control the speaker (80) to continuously sound an alarm (1130).

[0229] The processor (72) can control the mobile robots (50, 150) to move from the frozen raw material supply position (FSP) to the raw material supply position (RSP) based on the difference between the second weight and the first weight within a preset weight range of the frozen raw material.

[0230] The processor (72) can control the raw material weighing unit (61R) to measure the third weight (1150) of the container (60) based on the fact that the mobile robot (50, 150) has reached the raw material supply position (RSP) (1140).

[0231] After that, the processor (72) can open the raw material discharge section (22a, 22b) (1160), and close the raw material discharge section (22a, 22b) (1170) when the raw material is discharged at a preset weight.

[0232] When the raw material discharge section (22a, 22b) is closed, the processor (72) can control the raw material weighing section (61R) to measure the fourth weight (1180) of the receiving section (60).

[0233] The processor (72) can compare and determine whether the weight obtained by subtracting the third weight from the fourth weight is within the preset weight range of the raw material (1190), and when the weight obtained by subtracting the third weight from the fourth weight is outside the preset weight range of the raw material (1190 is), it can control the control panel (90) to notify the user of the weight value corresponding to the degree to which the difference between the fourth weight and the third weight deviates from the preset weight range of the raw material (1200). In addition, the processor (72) can control the speaker (80) to issue an alarm (1210).

[0234] On the other hand, the processor (72) can determine whether the weight obtained by subtracting the third weight from the fourth weight is within the preset weight range of the raw material, and when the weight obtained by subtracting the third weight from the fourth weight is within the preset weight range of the raw material (1190 no), the mobile robot (50, 150) can be controlled to move to the second standby position (WP2) (1220).

[0235] When this series of processes is executed continuously, the weighing and conveying of frozen raw materials can be automated, thereby significantly improving weighing accuracy and productivity.

[0236] In other words, according to this structure, because the process of controlling the amount of each raw material to be discharged from the hopper sections (20, 120, 220, and 320) and measuring the amount (preferably, mass) of the entire container (60) of raw and frozen raw materials held by the mobile robots (50, 150) is performed, the accuracy can be improved compared to weighing arbitrarily adjusted by the user, thereby reducing errors in the ratio of each raw material related to the food manufacturing method. Therefore, the seasoning or flavor of each food can be consistent, thereby improving consumer satisfaction.

[0237] Here, the difference between the second weight and the first weight of the mobile robots (50, 150) can be the weight of the frozen raw materials supplied to the container (60), and the difference between the fourth weight and the third weight of the mobile robots (50, 150) can be the weight of the raw materials supplied to the container (60).

[0238] The following description will focus on the differences from other embodiments. Figure 1 The arrangement of the automatic weighing and conveying system (1) shown. Configurations not mentioned may correspond to... Figure 1 The configuration described in [the document] will therefore be omitted.

[0239] Figure 23 This is a schematic diagram of an automatic weighing and conveying system according to another embodiment of the present disclosure.

[0240] refer to Figure 23 An automatic weighing and conveying system (1-1) according to another embodiment of the present disclosure may include a single conveying track (15a) for receiving raw materials from a raw material conveying unit (11).

[0241] According to this structure, raw materials such as fresh chives and fresh scallions can be transported to the raw material conveying section (11) with a time difference, and the individual raw material hopper section (20R) that contains fresh chives and fresh scallions can discharge each raw material with a time difference.

[0242] In addition, frozen raw materials such as frozen chives and frozen scallions can be transported to the frozen raw material conveying unit (12) with a time difference, and the individual frozen raw material hopper (20F) that contains frozen chives and frozen scallions can discharge each frozen raw material with a time difference.

[0243] Using this structure, the frozen raw material supply position (FSP) and raw material supply position (RSP) of the mobile robot (50) and the container (60) can be fixed to a single position, thereby reducing the movement of the mobile robot (50).

[0244] Figure 24 This is a schematic diagram of an automatic weighing and conveying system according to yet another embodiment of the present disclosure.

[0245] refer to Figure 24 The automatic weighing and conveying system (1-2) according to another embodiment of this disclosure is different from... Figure 1 The automatic weighing and conveying system (1) shown may include a raw material conveying unit 11 with a single conveying track (15a) and a frozen raw material conveying unit (12) with a single conveying track (15b).

[0246] The raw material hopper section (20R) and the frozen raw material hopper section (20F) can be arranged adjacent to each other to reduce the movement of the mobile robot (50).

[0247] In addition, with Figure 23In contrast, each of the conveying tracks (15b) of the frozen raw material hopper section (20F) and the conveying track (15a) of the raw material hopper section (20R) can be connected to the first through third frozen raw material hoppers (25a, 25b, and 25c) (see...). Figure 3 ) and the first and second raw material hoppers (21a, 21b).

[0248] More specifically, the first conveying track (15a) can supply the first raw material and the second raw material to each of the first raw material hopper (21a) and the second raw material hopper (21b) via the first transfer track (16a).

[0249] Similarly, the second conveying track (15b) can supply the first to the third frozen raw materials to each of the first to the third frozen raw material hoppers (25a) to (25c) via the second transfer track (16b).

[0250] In addition, with Figure 1 In contrast, the raw material hopper section (20R) and the frozen raw material hopper section (20F) can be located relatively in the central part of the arrangement of the automatic weighing and conveying system (1), thereby reducing the movement of the mobile robot (50) and reducing the movement time of the mobile robot (50).

[0251] Using this structure, the movement of the mobile robot (50) can be shortened, and each of the frozen raw material supply position (FSP) and the raw material supply position (RSP) can move independently of the positions of the multiple frozen raw material hoppers and the multiple raw material hoppers, and the mobile robot (50) can move such that the receiving part (60) receives each raw material at each supply position (FSP, RSP).

[0252] Figure 25 This is a schematic diagram of an automatic weighing and conveying system according to yet another embodiment of the present disclosure.

[0253] and Figure 1 and Figure 23 compared to, Figure 25 The automatic weighing and conveying system (1-3) may include a raw material hopper section (20R) and a frozen raw material hopper section (20F), each of which includes multiple raw material hoppers and frozen raw material hoppers (225a to 225c) (see Figure 7 And it can be directly connected to the first conveying track (15a) and the second conveying track (15b).

[0254] In this case, with Figure 24 In comparison, the transportation distance for raw materials and frozen raw materials can be relatively shortened.

[0255] Furthermore, regarding the frozen raw material conveying section (12), the portion where the first to third frozen raw materials are introduced into the frozen raw material conveying section (12) can be divided into three parts, so that the first to third frozen raw materials will not mix with each other.

[0256] Using the same structure, the first raw material and the second raw material from the first conveying track (15a) can be delivered to the first raw material hopper and the second raw material hopper via the first transfer track (16a), and after the first weighing is performed at the discharge section of the first raw material hopper and the second raw material hopper, a second weighing can be performed at the receiving section (60).

[0257] Furthermore, the first to third frozen raw materials from the second conveying track (15b) can be delivered to the first frozen raw material hopper (225a) to the third frozen raw material hopper (225c) via the second transfer track (16b), and after the first weighing at the discharge section (226a, 226b and 226c) of the first to third frozen raw material hopper (225a) to the third frozen raw material hopper (225c), a second weighing can be performed at the receiving section (60).

[0258] Figure 26 This is a schematic diagram of an automatic weighing and conveying system according to yet another embodiment of the present disclosure.

[0259] Figure 11 and Figure 26 The automatic weighing and conveying system (1-4) may include a frozen raw material hopper section (420F) and a raw material hopper section (420R) arranged adjacent to each other.

[0260] According to this structure, when the container (60) moves to the first frozen raw material supply position (FSP1) by the mobile robot (50), the container (60) can automatically move to the raw material supply position (RSP) in response to the signal of the controller (70) (see Figure 19 ).

[0261] More specifically, the receiving unit (60), transported by the mobile robot (50), can receive a first frozen raw material at a first frozen raw material supply position (FSP1), and as the mobile robot (50) is moved by the mobile robot conveyor (462), the receiving unit (60) can receive a second frozen raw material at a second frozen raw material supply position (FSP2). Subsequently, as the mobile robot (50) is moved by the mobile robot conveyor (462), the receiving unit (60) can move to a third frozen raw material supply position (FSP3) to receive a third frozen raw material.

[0262] In this case, the weight of the first to third frozen raw materials supplied to the containment section (60) can be measured by the first frozen raw material weighing section (461Fa) to the third frozen raw material weighing section (461Fc), so that signals can be transmitted to and received from the controller (70).

[0263] Subsequently, the mobile robot (50) can move from the third frozen raw material supply position (FSP3) to the first raw material supply position (RSP1) via the mobile robot conveyor (462), so that the receiving part (60) receives the first raw material, and as the mobile robot (50) is moved by the mobile robot conveyor (462), the receiving part (60) can receive the second raw material at the second raw material supply position (RSP2).

[0264] In the same case, at each of the first raw material supply position (RSP1) and the second raw material supply position (RSP2), the first raw material weighing unit and the second raw material weighing unit can measure the weight of a certain amount of the first raw material and the second raw material supplied to the receiving unit (60), thereby transmitting a signal to the controller (70) and receiving a signal from the controller.

[0265] Thus, the mobile robot conveyor (462) can be positioned between the frozen raw material supply position (FSP) and the raw material supply position (RSP) of the mobile robot (50). As an example, the mobile robot conveyor (462) can be a conveyor belt mounted on the floor to transport the mobile robot (50). Furthermore, the mobile robot conveyor (462) can be a component for lifting the mobile robot (50) to move it horizontally.

[0266] To achieve this structure, the first to third frozen raw material hoppers, as well as the first and second raw material hoppers, can be arranged in a straight line.

[0267] The mobile robot conveyor (462), the frozen raw material hopper (420F), and the raw material hopper (420R) can all be controlled according to the signal from the controller (70), so that the time spent discharging each raw material is optimized.

[0268] The above description is merely an example of the technical concept of this disclosure, and those skilled in the art can make various modifications and changes without departing from the essential characteristics of this disclosure. Therefore, the embodiments of this disclosure are not intended to limit but to explain the technical concept of this disclosure, and the scope and spirit of this disclosure are not limited to the above embodiments. The scope of protection of this disclosure should be interpreted by the appended claims, and all equivalents thereof should be interpreted as being included within the scope of this disclosure.

Claims

1. An automatic weighing and conveying system, comprising: A frozen raw material conveying unit, configured to convey frozen raw materials; A frozen raw material hopper section, configured to store and discharge the frozen raw materials supplied by the frozen raw material conveying section; A raw material conveying unit, which is distinct from the frozen raw material conveying unit and is configured to convey raw materials; The raw material hopper section, which is distinct from the frozen raw material hopper section, is configured to store and discharge raw materials supplied by the raw material conveying section; as well as A processor configured to control the frozen raw material conveying unit and the raw material conveying unit to stop the operation of the frozen raw material conveying unit based on the frozen raw material being contained in the frozen raw material hopper unit at a first preset amount, and to stop the operation of the raw material conveying unit based on the raw material being contained in the raw material hopper unit at a second preset amount.

2. The automatic weighing and conveying system according to claim 1, further comprising: A mobile robot is configured to carry a receiving portion for receiving the frozen raw materials discharged from the frozen raw material hopper and the raw materials discharged from the raw material hopper, and to transport the receiving portion to a frozen raw material supply position for supplying the frozen raw materials from the frozen raw material hopper and to a raw material supply position for supplying the raw materials from the raw material hopper.

3. The automatic weighing and conveying system according to claim 2, wherein, The processor is configured to: The frozen raw material hopper is controlled to position the receiving section at the frozen raw material supply position based on the mobile robot, thereby discharging the frozen raw material from the frozen raw material hopper; and The raw material hopper is controlled so that the receiving part is positioned at the raw material supply position by the mobile robot, thereby discharging the raw material from the raw material hopper.

4. The automatic weighing and conveying system according to claim 2, further comprising: A weighing unit includes a frozen raw material weighing unit and a raw material weighing unit. The frozen raw material weighing unit is disposed at the frozen raw material supply position to measure the weight of the container located at the frozen raw material supply position, and the raw material weighing unit is disposed at the raw material supply position to measure the weight of the container located at the raw material supply position.

5. The automatic weighing and conveying system according to claim 4, wherein, The frozen raw material weighing unit measures a first weight of the container when it reaches the frozen raw material supply position, and measures a second weight of the container after the frozen raw material has been completely discharged from the frozen raw material hopper. The raw material weighing unit measures a third weight of the container when the container reaches the raw material supply position, and measures a fourth weight of the container after the raw material has been discharged from the raw material hopper.

6. The automatic weighing and conveying system according to claim 5, wherein, The processor is configured to: Compare and determine whether the difference between the second weight and the first weight is within the preset weight range of the frozen raw material, and Compare and determine whether the difference between the fourth weight and the third weight is within the preset weight range of the raw material.

7. The automatic weighing and conveying system according to claim 6, further comprising: control Panel, The processor is configured as follows: The control panel is configured to notify the user that the difference between the second and first weights is outside the preset weight range of the frozen raw material, or the difference between the fourth and third weights is outside the preset weight range of the raw material, based on whether the difference between the second and first weights is outside the preset weight range of the frozen raw material.

8. The automatic weighing and conveying system according to claim 6, further comprising: speaker, The processor is configured as follows: The speaker is controlled to issue an alarm based on the difference between the second weight and the first weight being outside the preset weight range of the frozen raw material, or the difference between the fourth weight and the third weight being outside the preset weight range of the raw material.

9. The automatic weighing and conveying system according to claim 3, wherein, The raw material hopper is located on one side of the frozen raw material hopper, adjacent to the frozen raw material hopper.

10. The automatic weighing and conveying system according to claim 6, wherein, The frozen raw material supply locations and the raw material supply locations are arranged in a straight line; and The automatic weighing and conveying system further includes a mobile robot conveying unit configured to move the mobile robot, located at one of the frozen raw material supply positions and the raw material supply positions, to the other of the frozen raw material supply positions and the raw material supply positions.

11. The automatic weighing and conveying system according to claim 10, wherein, The mobile robot delivery unit is configured to move the mobile robot located at the frozen raw material supply location to the raw material supply location.

12. The automatic weighing and conveying system according to claim 10, wherein, The processor is configured to: The mobile robot conveyor is operated to transport the mobile robot located at the frozen raw material supply location to the raw material supply location based on the difference between the second weight and the first weight within a preset weight range of the frozen raw material.

13. The automatic weighing and conveying system according to claim 6, wherein, The mobile robot moves from the raw material supply position to the standby position based on the difference between the fourth weight and the third weight within the preset weight range of the raw material.

14. The automatic weighing and conveying system according to claim 1, wherein, The frozen raw material hopper section includes a first frozen raw material hopper configured to store and discharge a first frozen raw material, and a second frozen raw material hopper configured to store and discharge a second frozen raw material different from the first frozen raw material. The frozen raw material conveying unit includes: A conveyor track configured to receive and convey the first and second frozen raw materials; and A switching track includes an end and an opposite end, the end being configured to receive the first frozen raw material and the second frozen raw material from the conveying track and to convey the first frozen raw material and the second frozen raw material from the conveying track to the first frozen raw material hopper and the second frozen raw material hopper, respectively, and the opposite end having a position relative to the end being switched between the first frozen raw material hopper and the second frozen raw material hopper.

15. The automatic weighing and conveying system according to claim 1, wherein, The raw material hopper section includes a first raw material hopper configured to store and discharge a first raw material and a second raw material hopper configured to store and discharge a second raw material different from the first raw material. The raw material conveying unit includes: A conveyor track configured to receive and convey the first and second raw materials; and A switching track includes an end and an opposite end, the end being configured to receive the first raw material and the second raw material from the conveying track and to convey the first raw material and the second raw material from the conveying track to the first raw material hopper and the second raw material hopper, respectively, and the opposite end having a position relative to the end being switched between the first raw material hopper and the second raw material hopper.

16. A method for controlling an automatic weighing and conveying system, the method comprising: Control the frozen raw material conveying section and the raw material conveying section to convey the frozen raw material and the raw material to the frozen raw material hopper section and the raw material hopper section respectively; The frozen raw material conveying unit is controlled to stop operation based on the frozen raw material being contained in the frozen raw material hopper at a first preset amount; Control the raw material conveying unit to stop operation based on the raw material being contained in the raw material hopper at a second preset amount; A mobile robot carrying a container is moved to a frozen raw material supply position, the container being configured to receive frozen raw materials from the frozen raw material hopper and raw materials from the raw material hopper, at which the frozen raw materials are supplied from the frozen raw material hopper; The frozen raw material hopper is controlled so that the receiving part is delivered to the frozen raw material supply position by the mobile robot to discharge the frozen raw material; Based on the completion of the discharge of the frozen raw material, the mobile robot carrying the container located at the frozen raw material supply position is moved to the raw material supply position, where the raw material is supplied from the raw material hopper. as well as The raw material hopper is controlled to discharge the raw material by sending the receiving part to the raw material supply position based on the mobile robot.

17. The method of claim 16, further comprising: The frozen raw material weighing unit located at the frozen raw material supply position is controlled to measure a first weight of the container based on the arrival of the container at the frozen raw material supply position; The frozen raw material weighing section is controlled to measure the second weight of the container based on the completion of the discharge of the frozen raw material from the frozen raw material hopper section; Compare and determine whether the difference between the second weight and the first weight is within the preset weight range of the frozen raw material; as well as The control panel notifies the user that the difference between the second weight and the first weight is outside a preset weight range of the frozen raw material.

18. The method of claim 17, further comprising: The raw material weighing unit located at the raw material supply position is controlled to measure a third weight of the container based on the arrival of the container at the raw material supply position; The raw material weighing unit is controlled to measure the fourth weight of the receiving unit based on the completion of the discharge of the raw material from the raw material hopper unit; Compare and determine whether the difference between the fourth weight and the third weight is within the preset weight range of the raw material; as well as The control panel is used to notify the user that the difference between the fourth weight and the third weight is outside the preset weight range of the raw material.

19. The method of claim 17, further comprising: Operate a mobile robot conveyor unit configured to transport the mobile robot from the frozen raw material supply location to the raw material supply location based on the difference between the second weight and the first weight within a preset weight range of the frozen raw material.

20. The method of claim 18, further comprising: The mobile robot is moved from the raw material supply location to the standby location based on the difference between the fourth weight and the third weight within the preset weight range of the raw material.

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