A meal automatic delivery method and system based on the cooperation of a hand grabbing vegetables

Abstract

The application relates to a meal automatic delivery method and system based on the cooperation of a grabbing hand, which comprises the following steps: a kitchen meal output module is used for receiving and identifying meal information, and a tray carrying meals is guided into a conveying track; a floor distribution module is used for distributing target floors of meals based on order information and floor distribution; a track conveying module is used for conveying meal trays to target floors along a preset path and is connected with the kitchen meal output module; a grabbing hand execution module is used for grabbing meals from the track conveying module and is arranged at the target floor; a table positioning module is used for determining the position coordinates of a target table and is communicatively connected with the grabbing hand execution module; and a central scheduling and control module is used for scheduling the modules to cooperatively deliver meals according to order information. The application has the beneficial effects that meal cross-floor delivery can be realized, the labor cost is greatly reduced, and the meal delivery efficiency of a multi-floor catering place is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent catering equipment technology, specifically to an automatic food delivery method and system based on the collaborative work of food handlers. Background Technology

[0002] In the catering industry, especially in large multi-story restaurants, hotels, or food courts in commercial complexes, efficiently and accurately delivering prepared food to customers' tables has always been a core issue affecting operational efficiency and customer experience. Traditional food delivery relies primarily on manual labor. Service staff must rely on memory or receipts to shuttle back and forth between the kitchen and tables scattered across different floors.

[0003] In existing technologies, food delivery in multi-story restaurants mainly relies on manual delivery. Cross-floor delivery is inefficient, labor costs are high, and it is easily affected by the condition of the staff. Manual food delivery is prone to delivering to the wrong floor or table, causing customer dissatisfaction. At the same time, when manually delivering food, especially when going up and down stairs or avoiding pedestrians, there is a risk of slipping, collision, spilling food, or injury to staff. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this application proposes an automated food delivery method and system based on the collaborative work of food handlers, which enables cross-floor food delivery, significantly reduces labor costs, and improves the food delivery efficiency of multi-story restaurants.

[0005] The following is the technical solution of the present invention: an automated food delivery system based on the collaborative work of food handlers, comprising: The kitchen food dispensing module is used to receive and identify food information and guide the trays carrying the food into the conveyor track; The floor allocation module allocates food items to target floors based on order information and floor distribution. The track conveyor module is used to transport food trays to the target floor along a preset path and connects to the kitchen food dispensing module; The food grabber module is used to grab food from the track conveyor module and set up on the target floor. The table positioning module is used to determine the location coordinates of the target table and communicates with the food-grabbing hand execution module. The central dispatch and control module is used to coordinate the work of various modules for food delivery based on order information. It connects the kitchen food preparation module, the rail conveyor module, the floor allocation module, the food grabber execution module, and the table positioning module.

[0006] As a preferred embodiment of the present invention, the kitchen food dispensing module includes: The serving station is used to hold food items and trays; The food tray unit is used to directly support food and is set on the serving counter; The food identification unit is used to collect order information corresponding to the food items; The food dispensing interface is used to transition the food tray unit to the track conveyor module.

[0007] As a preferred embodiment of the present invention, the track conveying module includes: Horizontal track sections are installed on each floor; Vertical track sections are used to run through multiple floors; The turning track node connects the horizontal and vertical track segments of each floor; Pallet traveling assembly for moving and carrying food trays on tracks; The track drive unit, connected to the central scheduling and control module, is used to drive the pallet traveling assembly.

[0008] As a preferred embodiment of the present invention, the vegetable grabber execution module includes: Multi-degree-of-freedom robotic arms are used to perform spatial movements for grasping and dropping actions; The grasping end effector, installed at the end of a multi-degree-of-freedom robotic arm, is used to perform the operations of grasping and releasing food items; The pose sensing unit is used to identify the position and posture information of the food tray.

[0009] As a preferred embodiment of the present invention, the floor allocation module includes: The signal receiving unit is used to receive order data from the central dispatch and control module; The floor analysis unit is used to parse the target floor number from the order data; The command output unit is used to output floor guidance commands to the track conveying module.

[0010] As a preferred embodiment of the present invention, the dining table positioning module includes: Table location tags are placed on each table. A positioning and identification sensor is used to identify the positioning tags on the dining table. The coordinate calculation unit is used to calculate the three-dimensional coordinates of the target dining table based on the identified label information.

[0011] As a preferred embodiment of the present invention, the steering angle range of the steering track node is 0-90°.

[0012] An automated food delivery method based on the collaborative work of food handlers includes the following steps: S1. Place the food on a tray, collect food and order information, establish a mapping relationship between food and tables, and assign target floors and target tables; S2, Connecting the pallet traveling assembly and the food tray, carrying the food tray into the track; S3. Follow the preset path according to the instructions to reach the target floor's vegetable-grabbing work area; S4. Retrieve the food from the track on the target floor; S5. Determine the coordinates of the target table and place the food on the target table according to the coordinates.

[0013] As a preferred embodiment of the present invention, in S1, establishing the mapping relationship between the food and the dining table includes: Match the target table number of the food with the target floor number of the table, order data, and real-time status of the table; When the real-time status of the table is 1, the food will be delivered after completion. When the real-time status of the table is 0, the food will not be delivered immediately after completion. Instead, a reminder will be sent to wait for the food to be served.

[0014] In a preferred embodiment of the present invention, in step S3, the pallet running speed is adjusted according to the ratio of the number of loads on the track to the maximum load capacity.

[0015] The beneficial effects of this invention are: it enables cross-floor delivery of meals, significantly reduces labor costs, and improves the efficiency of meal delivery in multi-floor restaurants. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the system of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the system of the present invention. Figure 2 ; Figure 3 This is a diagram illustrating the steps of the method of the present invention; Figure 4 This is a flowchart of the method of the present invention; In the diagram: 1. Kitchen food dispensing module; 101. Dispensing station; 102. Food tray unit; 103. Food identification unit; 104. Dispensing docking track interface; 2. Track conveying module; 201. Horizontal track section; 202. Vertical track section; 203. Turning track node; 204. Tray walking component; 205. Track drive unit; 3. Floor allocation module; 301. Signal receiving unit; 302. Floor analysis unit; 303. Command output unit; 4. Food grabber execution module; 401. Multi-degree-of-freedom robotic arm; 402. Grasping end effector; 403. Pose sensing unit; 5. Table positioning module; 501. Table positioning tag; 502. Positioning recognition sensor; 503. Coordinate calculation unit. Detailed Implementation

[0017] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example 1

[0018] like Figure 1 and Figure 2 As shown, an automated food delivery system based on the collaborative work of food handlers includes: Kitchen food dispensing module 1 is used to receive and identify food information and guide the trays carrying the food into the conveyor track; Floor allocation module 3 allocates food items to target floors based on order information and floor distribution; Track conveyor module 2 is used to transport food trays to the target floor along a preset path and is connected to the kitchen food dispensing module 1; The food grabber execution module 4 is used to grab food from the track conveyor module 2 and is set on the target floor; The table positioning module 5 is used to determine the location coordinates of the target table and is connected to the food grabbing hand execution module 4 via communication. The central dispatch and control module is used to coordinate the work of various modules for food delivery based on order information. It connects the kitchen food preparation module 1, the rail conveyor module 2, the floor allocation module 3, the food grabber execution module 4, and the table positioning module 5.

[0019] In this embodiment, the kitchen food dispensing module 1 is used to transfer the prepared meals to the starting position of the track. The kitchen food dispensing module 1 includes a dispensing platform 101, a meal tray unit 102, a meal identification unit 103, and a food dispensing docking track interface 104. The dispensing platform 101 carries the meals and trays; the meal identification unit 103 collects meal and order information; the meal tray unit 102 carries the meals to be delivered; and the food dispensing track interface 104 smoothly transitions the meal tray unit 102 to the track conveying module 2. The dispensing platform 101 connects to the starting track segment of the track conveying module 2, and the meal tray enters the track. The meal identification unit 103 is communicatively connected to the central scheduling and control module, transmitting order information in real time. The kitchen food dispensing module 1 receives the prepared meals from the kitchen, collects information through the meal identification unit 103, and sends it to the central scheduling and control module. After the central scheduling and control module completes the target allocation, it pushes the meal tray to the starting point of the track.

[0020] The serving station 101 is made of stainless steel and measures 1.2m × 0.6m × 0.8m. The food tray unit 102 is a plastic tray with a load-bearing capacity of 5kg and a positioning groove on the bottom of the tray. The food identification unit 103 uses an RFID reader. The food serving docking rail interface 104 uses a snap-fit ​​connection.

[0021] In this embodiment, the track conveying module 2 is used to carry food and transport it along a preset path to the vicinity of the target floor. The track conveying module 2 includes a horizontal track segment 201, a vertical track segment 202, a turning track node 203, a pallet walking assembly 204, and a track drive unit 205. The horizontal track segment 201 is located on each floor, and the vertical track segment 202 runs through multiple floors. The horizontal track segment 201 and vertical track segment 202 on each floor are connected by the turning track node 203. The pallet walking assembly 204 moves on the track and carries food pallets, and the track drive unit 205 drives the pallet walking assembly 204. The track drive unit 205 is connected to the central scheduling and control module and receives scheduling instructions to adjust the operating status. The system receives food trays from the kitchen food dispensing module 1, selects an appropriate running path according to the instructions of the central scheduling and control module, and delivers the food to the food grabber's work area on the target floor through the coordinated action of the horizontal track segment 201, the vertical track segment 202 and the turning track node 203, providing the food grabber execution module 4 with a grabbing object.

[0022] Both the horizontal track section 201 and the vertical track section 202 are made of aluminum alloy. The track width is 15cm. The length of the horizontal track section 201 is set according to the actual layout of the catering venue. The diameter of the vertical track section 202 is 20cm. One turning track node 203 is set on each floor, and the turning angle range is 0-90°. The pallet walking component 204 adopts an electric roller structure. The track drive unit 205 adopts a stepper motor.

[0023] In this embodiment, the floor allocation module 3 allocates food items to target floors based on order information and floor distribution. The floor allocation module 3 includes a signal receiving unit 301, a floor analysis unit 302, and an instruction output unit 303. The signal receiving unit 301 receives data from the central scheduling and control module, the floor analysis unit 302 analyzes the target floor for food delivery, and the instruction output unit 303 sends floor allocation instructions. The floor allocation module 3 is communicatively connected to the central scheduling and control module, receives order data and system status information, and is connected to the track conveying module 2 to send floor guidance instructions to the track drive unit 205. Upon receiving order information forwarded by the central scheduling and control module, and after determining the target floor through the floor analysis unit 302, it sends guidance instructions to the track conveying module 2 to guide the track tray to the target floor.

[0024] The signal receiving unit 301 uses a wireless receiver; the floor analysis unit 302 uses a microcontroller; and the instruction output unit 303 uses a wired transmitter.

[0025] In this embodiment, the food-grabbing actuator module 4 is used to grab food from the track tray and place it on the corresponding dining table. The food-grabbing actuator module 4 includes a multi-degree-of-freedom robotic arm 401, a grasping end effector 402, and a posture sensing unit 403. The multi-degree-of-freedom robotic arm 401 is used for multi-directional movement, the grasping end effector 402 is used for grabbing food, and the posture sensing unit 403 is used to identify the posture of the tray and food. The food-grabbing actuator module 4 is connected to the dining table positioning module 5 to receive the three-dimensional coordinate information of the target dining table; it is also connected to the central scheduling and control module to receive grabbing and placement instructions. When the track conveying module 2 delivers the food to the working area of ​​the food-grabbing actuator module 4 on the target floor, the food-grabbing actuator module 4 receives the grabbing instructions and position data from the central scheduling and control module, adjusts its posture using the multi-degree-of-freedom robotic arm 401, grabs the food, and places it on the target dining table.

[0026] The multi-degree-of-freedom robotic arm 401 adopts a 6-degree-of-freedom structure; the grasping end effector 402 can switch between a vacuum suction cup and a mechanical gripper; the posture sensing unit 403 adopts a combination of a vision sensor and an angle sensor.

[0027] In this embodiment, the table positioning module 5 is used to determine the location data of the target table for the food. The table positioning module 5 includes a table positioning tag 501, a positioning recognition sensor 502, and a coordinate calculation unit 503. The table positioning tag 501 is placed on each table, the positioning recognition sensor 502 is used to identify the tag information, and the coordinate calculation unit 503 is used to calculate the three-dimensional coordinate position data of the table. While the food-grabbing hand execution module 4 is preparing to grab the food, the table positioning module 5 identifies the table positioning tag 501, and the coordinate calculation unit 503 calculates the three-dimensional coordinates of the target table and sends them to the food-grabbing hand execution module 4.

[0028] The table positioning tag 501 is a passive RFID tag installed under the tabletop; the positioning and identification sensor 502 is a combination of an RFID reader and an infrared sensor.

[0029] In this embodiment, the central scheduling and control module is used to uniformly schedule other modules. The central scheduling and control module includes a data processing unit, a scheduling instruction generation unit, and a status management unit. The data processing unit processes data transmitted from each module, the scheduling instruction generation unit generates scheduling instructions, the conflict judgment unit determines multi-pallet operation conflicts, and the status management unit manages the operating status of each module. The central scheduling and control module connects to the kitchen food dispensing module 1, the track conveyor module 2, the floor allocation module 3, the food grabber execution module 4, and the table positioning module 5. It receives order information from the kitchen food dispensing module 1 and real-time table status feedback from the table positioning module 5. After analysis by the data processing unit, it sends floor allocation instructions to the floor allocation module 3, path scheduling instructions to the track conveyor module 2, and grabbing and delivery instructions to the food grabber execution module 4.

[0030] The data processing unit uses an industrial computer; the scheduling instruction generation unit uses a PLC controller; and the status management unit uses a touch screen display to show the real-time operating status of each module. Example 2

[0031] like Figure 3 and Figure 4 As shown, an automated food delivery method based on the collaborative work of food handlers includes the following steps: S1. Place the food on a tray, collect food and order information, establish a mapping relationship between food and tables, and assign target floors and target tables; S2, docking pallet traveling assembly 204 and food tray, carrying the food tray into the track; S3. Follow the preset path according to the instructions to reach the target floor's vegetable-grabbing work area; S4. Retrieve the food from the track on the target floor; S5. Determine the coordinates of the target table and place the food on the target table according to the coordinates.

[0032] In step S1, the food is placed on a tray, food and order information is collected, a mapping relationship between food and tables is established, and target floors and target tables are assigned. This includes the following steps: S101. Place the food on a tray; After the food is prepared, the kitchen staff place it on the food tray unit 102 of the kitchen serving module 1.

[0033] S102. Collect food and order information; The food identification unit 103 collects information such as food item number and order number, and sends this information to the central scheduling and control module.

[0034] S103. Establish a mapping relationship between food items and dining tables, and assign target floors and target dining tables; After receiving order information, the central dispatch and control module establishes a mapping relationship between meals and tables, and allocates target floors and target tables. Establish the mapping relationship between food items and dining tables, as shown in the following expression:

[0035] In the above formula, T is the target table number, F is the target floor number, D is the order data, and S is the real-time status of the table.

[0036] When the real-time status S of the dining table is 1 (ready to serve), the food can be delivered after it is completed. When the real-time status S of the dining table is 0 (do not disturb), the food will not be delivered after it is completed, and a delivery reminder will be sent while waiting.

[0037] After binding is completed, the food tray unit 102 is pushed to the starting point of the track of the track conveying module 2, waiting to enter the track.

[0038] In step S2, the pallet walking component 204 and the food tray are docked, and the food tray is carried into the track. This includes: the pallet walking component 204 of the track conveying module 2 docks with the food tray at the starting point of the track. Under the instruction of the central scheduling and control module, the pallet walking component 204 carries the food tray into the track, ready to start cross-floor conveying.

[0039] In step S3, the operator moves along a preset path to the target floor's food-grabbing area according to instructions, including the following steps: 301. Drive the food tray along the preset path; The central dispatch and control module sends a dispatch command to the track drive unit 205 of the track conveying module 2 based on the target floor information. The track drive unit 205 drives the tray walking assembly 204 to carry the food tray along the preset path.

[0040] S302, the food tray enters the vertical track section 202 via the horizontal track section 201, and switches to the horizontal track section 201 of the target floor through the turning track node 203; The food tray first travels through the horizontal track section 201 to the entrance of the vertical track section 202. According to the instructions, it selects the upward or downward path, and travels through the vertical track section 202 to the entrance of the horizontal track section 201 corresponding to the target floor. It then switches to the horizontal track section 201 of the target floor through the turning track node 203.

[0041] S303. Adjust the pallet running speed according to the amount of load on the track, and slow down to stop at the target floor's vegetable grabber's work area; At the track node on the target floor, the track drive unit 205 adjusts the running speed of the food tray, causing the tray to decelerate and stop in the working area of ​​the food grabber on the target floor; The speed of the food tray can be adjusted using the following expression:

[0042] In the above formula, v is the current pallet running speed, v0 is the rated speed, and N is the current track load quantity. max This represents the maximum number of units that can be carried.

[0043] In step S4, the food is retrieved from the track on the target floor, including the following steps: S401, Send a gripping command to the vegetable gripper execution module 4 to control the multi-degree-of-freedom robotic arm 401 to move to the tray position; The central dispatch and control module sends a grabbing command to the vegetable grabbing execution module 4. The multi-degree-of-freedom robotic arm 401 of the vegetable grabbing execution module 4 moves to the track tray position under the action of the drive mechanism.

[0044] S402. Collect the posture information of the tray and food, and adjust the gripping angle of the robotic arm; The pose sensing unit 403 collects the pose information of the tray and food on the track and feeds it back to the robotic arm control system; the robotic arm control system adjusts the gripping angle of the robotic arm according to the pose information.

[0045] S403, Start the grabbing end effector 402 to grab the food.

[0046] In step S5, the coordinates of the target table are determined, and the food is placed on the target table according to the coordinates, including the following steps: S501. Identify the target table label and calculate its three-dimensional coordinates; The positioning and identification sensor 502 of the table positioning module 5 identifies the positioning tag of the target table, the coordinate calculation unit 503 calculates the three-dimensional coordinates of the target table, and sends the coordinate information to the food grabbing hand execution module 4.

[0047] S502: Control the robotic arm to move the food to the target table. Based on the three-dimensional coordinate information, the food-grabbing execution module 4 controls the multi-degree-of-freedom robotic arm 401 to carry the food to the target table.

[0048] S503: Adjust the robotic arm to the appropriate throwing height and angle, and release the food onto the table; Adjust the robotic arm's posture to position the food at a suitable placement height and angle, then release the gripper 402 to place the food on the target table.

[0049] S504, the robotic arm has reset and is ready for the next task. After the delivery is completed, the robotic arm returns to its original position under the instruction of the central scheduling and control module, waiting for the next grabbing task.

[0050] This invention enables cross-floor food delivery, significantly reducing labor costs and improving food delivery efficiency in multi-story restaurants.

[0051] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Clearly, those skilled in the art can make various alterations and variations to the invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of equivalents of the invention, the invention is also intended to include these modifications and variations.

Claims

1. An automated food delivery system based on the collaborative work of food handlers, characterized in that, include: The kitchen food dispensing module is used to receive and identify food information and guide the trays carrying the food into the conveyor track; The floor allocation module allocates food items to target floors based on order information and floor distribution. The track conveyor module is used to transport food trays to the target floor along a preset path and connects to the kitchen food dispensing module; The food grabber module is used to grab food from the track conveyor module and set up on the target floor. The table positioning module is used to determine the location coordinates of the target table and communicates with the food-grabbing hand execution module. The central dispatch and control module is used to coordinate the work of various modules for food delivery based on order information. It connects the kitchen food preparation module, the rail conveyor module, the floor allocation module, the food grabber execution module, and the table positioning module.

2. The automated food delivery system based on the collaborative work of food handlers as described in claim 1, characterized in that, The kitchen food preparation module includes: The serving station is used to hold food items and trays; The food tray unit is used to directly support food and is set on the serving counter; The food identification unit is used to collect order information corresponding to the food items; The food dispensing interface is used to transition the food tray unit to the track conveyor module.

3. The automated food delivery system based on the collaborative work of food handlers as described in claim 1, characterized in that, The track conveying module includes: Horizontal track sections are installed on each floor; Vertical track sections are used to run through multiple floors; The turning track node connects the horizontal and vertical track segments of each floor; Pallet traveling assembly for moving and carrying food trays on tracks; The track drive unit, connected to the central scheduling and control module, is used to drive the pallet traveling assembly.

4. The automated food delivery system based on the collaborative work of food handlers according to claim 1, characterized in that, The vegetable grabber execution module includes: Multi-degree-of-freedom robotic arms are used to perform spatial movements for grasping and dropping actions; The grasping end effector, installed at the end of a multi-degree-of-freedom robotic arm, is used to perform the operations of grasping and releasing food items; The pose sensing unit is used to identify the position and posture information of the food tray.

5. The automated food delivery system based on the collaborative work of food handlers according to claim 4, characterized in that, The floor allocation module includes: The signal receiving unit is used to receive order data from the central dispatch and control module; The floor analysis unit is used to parse the target floor number from the order data; The command output unit is used to output floor guidance commands to the track conveying module.

6. The automated food delivery system based on the collaborative work of food handlers according to claim 5, characterized in that, The dining table positioning module includes: Table location tags are placed on each table. A positioning and identification sensor is used to identify the positioning tags on the dining table. The coordinate calculation unit is used to calculate the three-dimensional coordinates of the target dining table based on the identified label information.

7. The automated food delivery system based on the collaborative work of food handlers according to claim 3, characterized in that, The steering angle range of the steering track node is 0-90°.

8. A method for automated food delivery based on the collaborative work of food handlers, applicable to the automated food delivery system based on the collaborative work of food handlers as described in any one of claims 1-7, characterized in that, Includes the following steps: S1. Place the food on a tray, collect food and order information, establish a mapping relationship between food and tables, and assign target floors and target tables; S2, Connecting the pallet traveling assembly and the food tray, carrying the food tray into the track; S3. Follow the preset path according to the instructions to reach the target floor's vegetable-grabbing work area; S4. Retrieve the food from the track on the target floor; S5. Determine the coordinates of the target table and place the food on the target table according to the coordinates.

9. The automated food delivery system based on the collaborative work of food handlers according to claim 8, characterized in that, In S1, the mapping relationship between food items and dining tables is established, including: Match the target table number of the food with the target floor number of the table, order data, and real-time status of the table; When the real-time status of the table is 1, the food will be delivered after completion. When the real-time status of the table is 0, the food will not be delivered immediately after completion. Instead, a reminder will be sent to wait for the food to be served.

10. The automated food delivery system based on the collaborative work of food handlers according to claim 8, characterized in that, In S3, the pallet running speed is adjusted according to the ratio of the number of loads on the track to the maximum load capacity.

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