Menu preparation system, computer program, and menu preparation method

Abstract

To provide a menu preparation system which uses a robot arm and is a system having high adaptability to menu preparation.SOLUTION: A menu preparation system 1 includes a read part and a control part. The read part 51, 59 is configured so as to read menu information carried on a menu card 7 supplied together with a tray 5. The menu card is formed by a member independent of the tray. The menu information is information for designating a menu to be prepared on the tray. The control part 11, 51 is configured so as to control a robot arm 20 on the basis of the menu information read by the read part. Concretely, the control part is configured to control the robot arm on the basis of the menu information to set tableware with dishes corresponding to the menu on the tray.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a menu preparation system, a computer program, and a menu preparation method. [Background technology]

[0002] In accommodation facilities, particularly hospitals and elderly care facilities, individual meals are provided to users. An individual menu is set for each user, and a tray with the set menu is provided. One or more dishes containing dishes corresponding to the menu are placed on the tray, and the corresponding menu is prepared on the tray.

[0003] The following Patent Document 1 discloses a system that uses a robot arm to set tableware corresponding to a menu on a tray. In this system, a two-dimensional code containing tableware information is applied to each piece of tableware. Each tray is also given a two-dimensional code related to the tableware to be set corresponding to the menu.

[0004] The system controls the robot arm based on the two-dimensional code on the tableware and the two-dimensional code on the tray to place tableware corresponding to the menu on the tray and prepare the menu corresponding to the tray.

[0005] Patent Document 2 below discloses a dishwashing system that uses a robot arm to pick dishes. In this system, characters are marked on the dishes to automate picking. The marks are recognized by a camera, and the robot arm is controlled based on the recognized marks. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent Publication No. 2021-15538 [Patent Document 2] Japanese Patent Application Publication No. 2018-126272 Summary of the Invention [Problem to be solved by the invention]

[0007] Hospitals and elderly care facilities provide each resident with three meals a day: breakfast, lunch, and dinner. Each resident needs to be provided with a different menu each day, taking into consideration the resident's health. In this way, hospitals and elderly care facilities are required to provide a wide variety of meals three times a day to a large number of residents.

[0008] In the conventional method of applying an identification code such as a two-dimensional code to each tray and dish, it is necessary to prepare a wide variety of trays and dishes with different identification codes in advance to accommodate the wide variety of meals served, which results in very high system construction and management costs.Even for a small number of menu items, it is necessary to prepare trays and dishes with corresponding identification codes.

[0009] Therefore, according to one aspect of the present disclosure, it is desirable to provide a menu preparation system using a robotic arm that is highly adaptable to menu preparation. [Means for solving the problem]

[0010] According to one aspect of the present disclosure, there is provided a menu preparation system. The menu preparation system includes a reading unit and a control unit. The reading unit is configured to read menu information carried on a meal tag supplied together with the tray. The meal tag is configured as a member independent of the tray. Menu information is information specifying the menu to be prepared on the tray.

[0011] The control unit is configured to control the robot arm based on the menu information read by the reading unit, and the control unit is configured to control the robot arm based on the menu information to cause the robot arm to place tableware containing dishes corresponding to the menu on a tray.

[0012] With this system, since the meal cards specifying the menu are separate from the trays, there is no need to prepare trays with corresponding identification codes such as two-dimensional codes for each menu.In addition, for example, if a tray used for breakfast is collected and reused for lunch or dinner, and a different menu needs to be prepared on the tray, by changing the meal card supplied with the tray, the menu corresponding to the changed meal card can be easily prepared on the tray.

[0013] Therefore, according to one aspect of the present disclosure, a system can be provided that can be constructed at low cost without changing the trays and tableware, and that is highly adaptable to preparing a wide variety of menus.

[0014] According to one aspect of the present disclosure, the reader may be configured to optically read the menu information carried on the meal card using a camera, which allows the menu information carried on the meal card to be read from a position away from the meal card without being subject to many restrictions regarding the orientation or placement of the meal card.

[0015] According to one aspect of the present disclosure, the meal card may be configured to carry menu information as text information that allows a person viewing the meal card to identify the menu.

[0016] When meal cards carry text information that allows people to identify the menu, the menu information can be visually confirmed, making it easier for people to perform the work. In other words, the ease of work performed by people when manual intervention is required before serving food can be improved compared to when meal cards carry menu information only in two-dimensional codes.

[0017] If menu information were carried on the meal card only as a two-dimensional code, it would be difficult to incorporate human work. Even if work were carried out, the worker would need to perform tasks such as reading the two-dimensional code with a reader when they needed to understand the menu. If menu preparation using a robotic arm is temporarily or partially impossible due to a malfunction or other reason, a human may manually place dishes on the tray instead of the robotic arm. When transporting the tray with the prepared menu to the customer, the transporter may need to confirm the menu. Meal cards carrying text information can improve human operability in such situations. In other words, by carrying text information on the meal card, not only robotic arms but also human work can be easily incorporated into the work process, allowing for the creation of a system that collaborates with humans.

[0018] According to one aspect of the present disclosure, the meal cards may be sheets with printed text information. By using such sheets as meal cards, it is relatively easy to prepare a variety of meal cards specifying different menu items.

[0019] According to one aspect of the present disclosure, the control unit may determine, based on menu information, one or more types of target tableware to be set on a tray from among multiple types of tableware for different dishes served on the tray, and may control the robot arm to set the target tableware on the tray.

[0020] According to one aspect of the present disclosure, the control unit is configured to, in an environment in which menu information specifies a menu having a plurality of items including a main dish and one or more side dishes, arrange dishes belonging to the corresponding items for each item. The control unit may determine target category tableware, which is one or more types of tableware that should be set on a tray corresponding to the menu. The target category tableware may include target category tableware for each category. The control unit may control the robot arm so that target category tableware for the corresponding category is set on the tray for each category.

[0021] According to one aspect of the present disclosure, the tray may have multiple regions. The menu information may specify dishes to be set in each region. The control unit may determine target region tableware, which is one or more types of tableware to be set in each region, based on the menu information. The target tableware may include target region tableware for each region. The control unit may control the robot arm so that the determined target region tableware for the corresponding region is set in each region.

[0022] According to one aspect of the present disclosure, the control unit may optically identify the appearance of the target tableware using a camera and control the robot arm to pick up the target tableware from among multiple types of tableware. In this case, there is no need to apply a two-dimensional code or the like to the tableware to individually identify the tableware, and the tableware can be optically identified, allowing the system to be built at a lower cost.

[0023] Furthermore, with this control method, the robot arm can be controlled to appropriately pick out the target tableware from the group of dishes, without the need to divide the group of dishes into categories and arrange them in an orderly manner by type in the working area of the robot arm.

[0024] According to one aspect of the present disclosure, the plurality of types of tableware may be prepared in separate locations for each type, and each of the plurality of locations as separate locations may be provided with identification information that allows identification of the type of tableware prepared therein.

[0025] The control unit may determine the location where the target tableware is prepared based on optically reading the identification information, and control the robot arm so that the robot arm picks up the target tableware from among multiple types of tableware.

[0026] This control method allows the target tableware to be removed with high accuracy without complex image analysis, thereby reducing the processing load on the control unit.

[0027] According to one aspect of the present disclosure, the individual locations may be individual carrier trays. The carrier trays may be labeled with identifying information. This approach simplifies the preparation required to distinguish between different types of dishes.

[0028] According to one aspect of the present disclosure, a computer program may be provided for causing a computer to function as at least part of the reading unit and control unit in the menu preparation system described above.

[0029] According to one aspect of the present disclosure, there may be provided a menu preparation method. The menu preparation method may be executed by a computer. The menu preparation method may include using a reading device to read menu information carried on a meal tag composed of a member independent of the tray and supplied with the tray, the menu information specifying a menu to be prepared on the tray.

[0030] The menu preparation method may include controlling the robot arm to place tableware containing dishes corresponding to the menu on a tray based on the read menu information.

[0031] According to one aspect of the present disclosure, the controlling includes: controlling the number of dishes to be served based on menu information; This may include identifying target tableware, which is one or more types of tableware to be set on a tray, from among multiple different types of tableware, and controlling the robot arm so that the target tableware is set on the tray.

[0032] According to one aspect of the present disclosure, another method of preparing a menu may be provided, which may include providing a meal tag, as a member separate from the tray, carrying menu information specifying the menu to be prepared on the tray.

[0033] The method may further include supplying a meal card together with the tray to the work area. The method may further include the computer reading menu information carried on the meal card supplied to the work area together with the tray using a reader installed in the work area. The method may further include the computer controlling the robotic arm installed in the work area based on the read menu information to place tableware containing food corresponding to the menu on the tray. [Brief explanation of the drawings]

[0034] [Figure 1] FIG. 1 is a diagram showing the configuration of a menu preparation system. [Figure 2] FIG. 2 is a perspective view illustrating a configuration of a supply system. [Figure 3] FIG. 2 is a block diagram showing the electrical configuration of the menu preparation system. [Figure 4] FIG. 1 is an explanatory diagram of procedures before and after system operation. [Figure 5] FIG. 5A is a diagram showing the configuration of the menu management database, and FIG. 5B is a diagram showing the configuration of the menu selection list. [Figure 6] FIG. 10 is a diagram illustrating an exemplary meal card configuration. [Figure 7] 10 is a flowchart showing a main control process executed by a processor of the management system. [Figure 8] 10 is a flowchart showing a supply control process executed by a controller of the supply system. [Figure 9] FIG. 2 is a diagram showing the configuration of a tableware database. [Figure 10] FIG. 10 is an explanatory diagram regarding the arrangement of tableware on the table. [Figure 11] FIG. 11A is a flowchart showing a first example of the position determination process, and FIG. 11B is a flowchart showing a second example of the position determination process. [Figure 12] FIG. 10 is an explanatory diagram showing the arrangement of tableware on a tray. [Figure 13] FIG. 2 is an enlarged perspective view of a hand provided at the tip of the robot arm. [Figure 14] 10A and 10B are diagrams illustrating how the tableware is held by the hand. [Figure 15] FIG. 10 is a diagram showing the configuration of a first variant of the menu preparation system. [Figure 16] FIG. 10 is a diagram showing the configuration of a second variant of the menu preparation system. DETAILED DESCRIPTION OF THE INVENTION

[0035] Exemplary embodiments of the present disclosure will now be described with reference to the drawings. The menu preparation system 1 of this embodiment shown in Figure 1 is configured to prepare a menu specified by a meal card 7 on a tray 5 supplied via a belt conveyor 3. The meal card 7 is composed of a member independent of the tray 5. The meal card 7 is placed on the tray 5. In addition to the belt conveyor 3, the menu preparation system 1 includes a plurality of supply systems 10, a management system 50, and an alarm device 70.

[0036] A menu often consists of two or more items, including a staple food and one or more side dishes. Hereinafter, these items will be referred to as menu items. Examples of staple foods include rice, bread, and noodles. Examples of side dishes include main dishes, side dishes, and soups. Examples of main dishes and side dishes include hot dishes, which are hot dishes, and cold dishes, which are cold dishes.

[0037] A staple food is a menu item, and each of the main dish, side dish, and soup that fall under the category of side dishes is also a menu item. If a menu includes two or more hot and / or cold dishes as the main dish and side dish, each side dish is also a menu item. A menu may also include desserts, such as fruit or yogurt. Desserts are also a menu item.

[0038] The belt conveyor 3 is provided with supply systems 10 in the number corresponding to the maximum number of menu items such as staple foods, main dishes, side dishes, soups, etc. A supply system 10 is provided for each menu item that constitutes the menu.

[0039] Each supply system 10 is configured to take out tableware containing dishes belonging to the menu item for which it is responsible, and which contains dishes corresponding to the menu specified by the meal card 7, from the loading table 9 as tableware to be supplied, and set them on a tray 5 supplied from upstream of the belt conveyor 3.

[0040] Specifically, each supply system 10 is configured to identify the tableware to be supplied from among multiple types of tableware on which dishes belonging to the menu item for which it is responsible are served, and multiple types of tableware on which different dishes of the same menu item are served, and to set the tableware to be supplied on the tray 5.

[0041] As shown in Fig. 2, each supply system 10 includes a robot arm 20 having at its tip a hand 21 capable of holding the dishes D1, D2 placed on the table 9. From a group of dishes including the dishes D1, D2 placed on the table 9, one dish corresponding to the dish to be supplied is removed from the table 9 by the robot arm 20 and set on a tray 5 on the belt conveyor 3. The dishes used in this embodiment are not limited to, but are basically all dishes with lids.

[0042] As shown in Fig. 3, the supply system 10 includes a controller 11, a communication interface 13, and a tableware camera 15 in addition to a robot arm 20. The controller 11 is configured to control the robot arm 20 in accordance with commands from the management system 50, and to set the tableware to be supplied, which is identified on the placement table 9 using the tableware camera 15, onto the tray 5.

[0043] The controller 11 includes a processor 11A, a memory 11B, and a storage 11C. The processor 11A executes processing in accordance with a computer program stored in the storage 11C to control the robot arm 20. The memory 11B is used as a working memory when the processor 11A executes processing.

[0044] The communication interface 13 is configured to be able to communicate with the management system 50. The supply system 10 is connected to the management system 50 via the communication interface 13 in a wired or wireless manner so as to be able to communicate with the management system 50.

[0045] The tableware camera 15 is placed in a position where it can photograph the group of dishes placed on the table 9. The tableware camera 15 is connected to the controller 11 by wire or wirelessly, and provides the controller 11 with video data including photographed images of the table 9.

[0046] Management system 50 includes processor 51, memory 52, storage 53, communication interface 55, user interface 57, and meal card camera 59. Management system 50 reads menu information carried on meal card 7 photographed by meal card camera 59, and based on the read menu information, inputs commands to each supply system 10 so that the menu specified on meal card 7 is prepared on tray 5 on which meal card 7 is placed.

[0047] The notification device 70 is designed to notify the worker that a tray 5 requiring manual handling has arrived. A work space UR for an operator is provided adjacent to the belt conveyor 3 so as to assist the robot arm 20 in preparing the menu, and the notification device 70 is installed adjacent to this work space UR.

[0048] The notification device 70 is controlled by the management system 50. The notification device 70 can be equipped with, for example, a speaker, and can instruct the worker to set the tableware on the tray 5 by audio output from the speaker. The notification device 70 can be equipped with, for example, a display, and can be configured to give instructions to the worker by visual output from the display in addition to or instead of audio.

[0049] Based on instructions from the notification device 70, the worker can place tableware corresponding to the menu specified by the meal card 7 on the tray 5. Menu preparation involving manual intervention by the worker can be performed, for example, to prepare a very limited number of special meals or to place tableware that cannot be handled by the robot arm 20 on the tray 5. At this time, since the menu information is text information, the worker can visually check the menu as needed, allowing the worker to perform the necessary tasks more accurately.

[0050] In addition to the alarm device 70, the management system 50 is connected to an order receiving system 80 and a printer 90 via a communication interface 55, and is configured to manage order data from the order receiving system 80 and to print out meal tickets 7 for each meal to be served via the printer 90.

[0051] The printer 90 is configured to generate a meal card 7 on which menu information is printed by printing on a sheet. The sheet is, for example, paper. The sheet may also be, for example, a sticker with adhesive on the back.

[0052] As shown in Figure 4, when preparing a menu using the menu preparation system 1, first, in response to an order (S1), menu management data for each meal to be prepared is registered (S2) in the menu management database of the management system 50. An example of the menu management database is simply shown in Figure 5A.

[0053] The menu management database is made up of a group of menu management data and is stored in storage 53 of management system 50. One piece of menu management data is data that describes a menu to be prepared for one tray 5. Menu management data is registered for the number of meals to be prepared, in other words, the number of trays for which menus are to be prepared.

[0054] The menu management data describes the name of the facility providing the meal, the name of the customer corresponding to the delivery destination, the customer's management number, the date and time of meal provision, the menu name, and the menu breakdown. The menu breakdown describes the names of dishes for each menu item that makes up the menu. Specifically, the names of dishes corresponding to rice as the staple food, soup, main dish, side dish (specifically, cold dish), and dessert are described.

[0055] The date and time of meal provision is defined as a combination of the date and time of meal provision and the time period during which the meal is provided. The time period can be selected from morning, lunch, or dinner. Each user's menu is created by selecting one dish for each menu item from the menu selection list. The menu selection list describes the group of dishes that can be selected for each menu item. A menu selection list is prepared for each meal provision date and time.

[0056] As shown in FIG. 5B, for example, the menu selection list describes medium-sized rice, small-sized rice, large-sized rice, full-sized rice porridge, and half-sized rice porridge as a group of selectable "rice" dishes for the menu item "rice."

[0057] The menu selection list also describes, for each "rice" dish, the type of dish that the dish is served in. According to Figure 5B, the type of dish that a medium-sized portion of rice is served in is "rice bowl A," and the type of dish that a small-sized portion of rice is served in is "rice bowl B."

[0058] The menu selection list describes a group of selectable "soup" dishes for the menu item "soup," such as regular soup, reduced-salt soup, mushroom soup, and vegetable soup, and for each "soup" dish, describes the type of tableware that the dish should be served in. According to Figure 5B, the type of tableware that regular soup should be served in is "soup bowl A," and the type of tableware that reduced-salt soup should be served in is "soup bowl B."

[0059] The menu selection list describes a group of selectable "main dish" dishes for the menu item "main dish," such as hamburger steak, grilled salmon with salt, mushrooms, and simmered mackerel, and also describes the type of tableware for each "main dish" dish. According to Figure 5B, the type of tableware for serving hamburger steak is "main dish plate A," and the type of tableware for serving grilled salmon with salt is "main dish plate B."

[0060] When the menu preparation system 1 is operated to prepare a meal for a certain serving date and time, a group of dishes on which dishes listed in the menu selection list for the corresponding serving date and time are served is prepared (S3). The prepared group of dishes is carried from the kitchen to the room where the menu preparation system 1 is installed, and the group of dishes for the corresponding menu item is placed on the table 9 of each supply system 10 (S4).

[0061] To prepare a meal for a certain serving date and time, a group of meal cards 7 is prepared using a group of menu management data that matches the meal serving date and time registered in the menu management database (S6). One meal card 7 is prepared for one piece of menu management data.

[0062] Processor 51 of management system 50 extracts a group of menu management data for a specified serving date and time from the menu management database in accordance with instructions input by the user via user interface 57, and controls printer 90 to print out, for each item of menu management data, meal cards 7 on which the contents indicated by the menu management data are written as menu information. In this way, a group of meal cards 7 is prepared.

[0063] An example of a meal card 7 is shown in Figure 6. As can be seen from Figure 6, the meal card 7 carries menu information as text information that allows a person looking at the meal card 7 to identify the menu. The menu information carried on the meal card 7 specifies the menu to be prepared on the tray 5. Specifically, the menu information includes the name of the customer to whom the meal is to be delivered, a management number, the date and time the meal is served, the name of the menu, a breakdown of the menu (menu items), and text information that indicates the facility where the meal is served.

[0064] After a group of meal cards 7 have been prepared (S6), and after the group of dishes on which food is served has been placed on the trays 9 of each supply system 10 (S4), the menu preparation system 1 is put into operation (S8). After operation begins, trays 5 are sequentially placed on the belt conveyor 3, which also serves as the work area of each supply system 10 (S9). One meal card 7 is placed on each tray 5 when the tray 5 is placed on the belt conveyor 3, or beforehand. The meal card 7 is placed in a predetermined position within the tray 5. To make it easier to visually check the meal card when distributing the tray 5 to a customer, the meal card is placed so that the text information faces outward from the tray 5, i.e., so that the text is displayed in the correct orientation to the person holding the tray 5.

[0065] By the function of the menu preparation system 1, each tray 5 is set with tableware for each menu item corresponding to the menu specified through the meal card 7 while being transported by the belt conveyor 3, and As a result, the menu specified on the meal card 7 is prepared on each tray 5.

[0066] Processor 51 of management system 50 repeatedly executes the main control process shown in Fig. 7 based on execution commands input by the user in accordance with the operation of menu preparation system 1. In the main control process, processor 51 detects tray 5 that has been moved from upstream by belt conveyor 3 into the shooting area of meal card camera 59 based on image data from meal card camera 59 (S110), and identifies meal card 7 in tray 5 that appears in the image data (S120).

[0067] As shown in Figure 1, the meal ticket camera 59 is positioned upstream of the supply system 10 located at the most upstream of the belt conveyor 3, among the multiple supply systems 10 installed alongside the belt conveyor 3. The meal ticket camera 59 is positioned so that it can photograph the trays 5 transported by the belt conveyor 3 from above the belt conveyor 3.

[0068] The meal card 7 is identified by analyzing the video data. The processor 51 can identify the meal card 7 shown in the video data, for example, based on the shape and color of the meal card 7 and the text information carried by the meal card 7. The processor 51 can obtain the menu information on the meal card 7 and various other information through the meal card camera 59. For example, the meal card camera 59 is used to identify the size, position, and orientation of the tray 5, the position and orientation of the meal card 7 within the tray 5, and, from this information, identify the area where the tableware is to be set, as described below. The processor 51 can also use the time at which the position of the tray 5 is recognized as the starting point for calculating the travel time or travel distance to each supply system 10.

[0069] Processor 51 converts the image data of meal card 7 extracted from the video data into text data, thereby reading the menu information carried by meal card 7 as character information. In this way, meal card 7 is optically read using meal card camera 59. Here, the name of the customer carried by meal card 7 may be read as character information, or the control number carried by meal card 7 may be read as character information.

[0070] Processor 51 then searches for menu management data that matches the content of the read character information from the menu management database stored in storage 53. Based on the matching menu management data and the menu selection list, processor 51 determines the type of tableware on which the food corresponding to the menu to be prepared is served on tray 5 on which meal card 7 is placed. Specifically, processor 51 determines, for each menu item, the target item tableware, which is the type of tableware to be placed on tray 5 (S130).

[0071] As another example, the processor 51 can identify the menu to be prepared on the tray 5 based on the text information carried on the meal card 7 without referring to the menu management data, and can determine the type of tableware on which the food corresponding to the menu to be prepared is served by referring to the menu selection list (S130).

[0072] Thereafter, the processor 51 transmits, for each menu item, picking tableware information to each supply system 10 in charge of supplying tableware for the corresponding menu item (S140). The picking tableware information is information describing the type of tableware to be set on the tray 5, i.e., the tableware for the target item. The picking tableware information can include the identification number of the tray 5 on which the tableware for the target item should be set, and information about the travel distance or travel time of the tray 5 from the position of the meal ticket camera 59 to the delivery system 10.

[0073] After the menu preparation system 1 starts operating, the processor 51 can issue an identification number, for example, a serial number, to the tray 5 each time the tray 5 is detected in S110.

[0074] The processor 51 can periodically transmit, to each supply system 10, the identification number of the tray 5 that arrives in the area in front of the supply system 10 as tray transport information, on the assumption that the trays 5 move in conjunction with the movement of the belt conveyor 3 downstream of the meal ticket camera 59 until the menu preparation is completed. The tray 5 located in the area in front of the supply system 10 is calculated from the travel distance or travel time from the photographing area of the meal ticket camera 59, and is recognized by the robot arm 20 as the tray 5 on which tableware is to be set.

[0075] As the menu preparation system 1 operates, the controller 11 of each supply system 10 repeatedly executes the supply control process shown in FIG. 8 based on an execution command input from the management system 50.

[0076] When the supply control process starts, the controller 11 waits until a new tray 5 is supplied to the front area of the supply system 10 (S210). Based on tray transport information from the management system 50, the controller 11 can determine whether a new tray 5 has been supplied to the front area of the supply system 10.

[0077] When it is determined that a new tray 5 has been supplied, the controller 11 determines the type of tableware to be set on the supplied tray 5 based on the picking tableware information for the tray 5 provided by the management system 50 (S220).

[0078] Separately from this supply control process, the controller 11 can execute a process of temporarily storing in memory 11B the picking tableware information transmitted from the management system 50. The controller 11 can determine the identification number of the tray 5 supplied to the front area from the tray transport information, and determine the type of tableware indicated as the target item of tableware in the picking tableware information indicating an identification number that matches the identification number of the tray 5 as the tableware to be supplied and set on the tray 5 (S220).

[0079] Thereafter, the controller 11 determines the position of the tableware to be fed on the table 9 based on the image data of the tableware captured by the tableware camera 15 (S230).

[0080] For this determination, a tableware database shown in Fig. 9 is stored in advance in the storage 11C of the supply system 10. The tableware database stores detailed data describing the characteristics of each type of tableware used in the menu items handled by the supply system 10.

[0081] The detailed data is, for example, data describing the identification code of the corresponding type of tableware. According to this example, sheet pans 91 labeled with the identification codes of the corresponding types of tableware are placed on the table 9 of each supply system 10, as shown in Figure 10. The sheet pans 91 are trays for carrying the tableware.

[0082] A group of dishes placed on one sheet pan 91 is a group of the same type of dishes on which the same food is served. A group of dishes of the same type on which the same food is served is transported from the kitchen and placed on the table 9 while being placed on a sheet pan 91 labeled with a corresponding identification code.

[0083] Labeling can be achieved, for example, by placing a sheet on which an identification code is printed as the identification label 93 on the seat pan 91, or by attaching a sticker on which an identification code is printed as the identification label 93 to the seat pan 91.

[0084] According to this example, the controller 11 controls each seat pan based on the image data of the mounting table 9. By reading the identification code of 91, the type of tableware placed on each sheet pan 91 can be identified, and the position on the table 9 of the tableware to be fed can be determined.

[0085] Specifically, the controller 11 can execute the position determination process shown in Fig. 11A in S230. When the position determination process shown in Fig. 11A starts, the controller 11 refers to the tableware database and determines the identification code of the tableware to be supplied (S231). Thereafter, the controller 11 optically determines the target sheet pan, which is the sheet pan 91 including the identification label 93 bearing the identification code of the tableware to be supplied, by image analysis of the image data from the tableware camera 15 (S232).

[0086] The controller 11 determines that the position on the table 9 of one of the dishes placed on the target sheet pan is the position of the dish to be fed (S233). In this way, the controller 11 can execute the process of S230.

[0087] According to another example, the detailed data for each type of tableware in the tableware database may include, instead of or in addition to the identification code, feature data describing the external characteristics of the corresponding type of tableware. The feature data may be data describing at least one of the size, shape, color, and pattern of the corresponding type of tableware. The feature data may also be image data of the external appearance of the tableware.

[0088] In this case, the controller 11 can execute the position determination process shown in Fig. 11B in S230. When the position determination process shown in Fig. 11B starts, the controller 11 refers to the tableware database and reads out the feature data of the tableware to be fed (S235). Thereafter, the controller 11 searches for tableware whose appearance features match the features indicated by the feature data in the image of the table 9 based on the image data input from the tableware camera 15 (S236). In this way, the controller 11 optically determines the appearance of the tableware using the tableware camera 15.

[0089] The controller 11 determines the tableware found in the image of the table 9 whose appearance characteristics match the characteristics indicated by the characteristic data by the search as the tableware to be supplied, and determines the position of the tableware to be supplied on the table 9 (S237). In this way, the controller 11 can execute the process of S230.

[0090] When the process of S230 is completed, the controller 11 determines whether the position of the tableware to be fed has been determined successfully (S240). If the position determination has failed (No in S240), the controller 11 transmits a message to the management system 50 informing that the tableware to be fed is tableware that should be fed manually to the tray 5 (S245), and terminates the feeding control process for the corresponding tray 5.

[0091] On the other hand, if the controller 11 has succeeded in determining the position of the tableware to be supplied (Yes in S240), it controls the robot arm 20 to remove the tableware to be supplied that is located at the determined position from the table 9 (S250). Furthermore, it controls the robot arm 20 to set the removed tableware to be supplied in a predetermined area on the tray 5 in the front area of the supply system 10 (S260).

[0092] The positions in the tray 5 where the tableware to be supplied should be set are predetermined for each menu item. According to one example, regions R11, R12, R13, R21, and R22 where a rice bowl D11, a soup bowl D12, a main dish plate D13, a cold dish plate D14, and a small dessert plate D15 should be set are defined on the tray 5 as shown in FIG.

[0093] The tray 5 has, for example, a first section R1 for placing hot dishes and a second section R2 for placing cold dishes. In the first section R1, areas R11, R12, and R13 for placing a rice bowl D11, a soup bowl D12, and a main dish plate D13 can be defined, and in the second section R2, areas R21 and R22 for placing a cold dish plate D14 and a small dessert plate D15 can be defined.

[0094] In S250, the controller 11 controls the robot arm 20 so that the tableware to be supplied is set in the area corresponding to the tableware for the menu item for which the controller 11 is responsible, on the tray 5. The relative positions of the trays 5 conveyed in order by the belt conveyor 3 to the robot arm 20 are the same when the robot arm 20 is controlled to set the tableware to be supplied on the tray 5.

[0095] Therefore, the controller 11 can control the robot arm 20 to set the tableware to be supplied, which is clamped by the robot arm 20, in a predetermined area on the belt conveyor 3, thereby appropriately setting the tableware to be supplied in a predetermined area on the tray 5.

[0096] As another example, the supply system 10 may be provided with a tray photographing camera that photographs the tray 5 on which the tableware to be supplied is to be set from above the belt conveyor 3. In this case, the controller 11 can accurately recognize the position of the tray 5 on which the tableware to be supplied is to be set based on the image data from the tray photographing camera in S260, and control the robot arm 20.

[0097] When a camera for photographing trays is installed in each supply system 10, the controller 11 can determine that a new tray 5 has been supplied and the identification number (serial number) of the tray 5 without receiving tray transport information from the management system 50.

[0098] In this way, the controller 11 executes the processes of S220-S260 for each tray, and can set on the tray 5 tableware on which dishes corresponding to the menu specified on the meal card 7 in the tray 5 are served.

[0099] That is, in the menu preparation system 1 of this embodiment, each supply system 10 controls the robot arm 20 in conjunction with the conveying operation of the tray 5 by the belt conveyor 3 to set on the tray 5 tableware containing dishes from the menu item for which it is responsible, which dishes correspond to the menu specified on the meal card 7, thereby preparing the menu specified on the meal card 7 on the tray 5. Each supply system 10 can place one or more types of tableware on the tray 5.

[0100] In addition, based on the above-mentioned message received from the supply system 10, the processor 51 of the management system 50 controls the robot arm 20 to identify trays 5 for which menu preparation corresponding to the meal card 7 has not been completed, and executes a process to control the alarm device 70 so that menu preparation for the relevant trays 5 can be completed manually by an operator.

[0101] That is, for a tray 5 that requires a worker to prepare a menu, when the tray 5 is transported by the belt conveyor 3 to the front of the worker's work space UR, the processor 51 instructs the worker by voice via the alarm device 70 to place any missing tableware on the tray 5 for menu preparation.

[0102] Based on the voice from the notification device 70 and further based on the menu recognized from the character information on the meal card 7, the worker can recognize the dishes to be placed on the tray 5 and set the corresponding dishes on the tray 5. This allows the worker to proceed with the menu preparation system with the assistance of the worker as needed. The system 1 can prepare the menu specified on the meal card 7 for each tray 5.

[0103] In addition, the specific configuration of the hand 21 provided at the tip of the robot arm 20 will be described using Figures 13 and 14. The hand 21 shown in Figures 13 and 14 is a hand 21 that is particularly suitable for handling rice bowls and soup bowls as tableware. A hand 21 of a different shape may be attached to a robot arm 20 that does not handle bowls.

[0104] As can be seen from the figure, the hand 21 includes a clamping unit 210 and a pressing unit 230. The clamping unit 210 includes left and right finger components 211, 212. The clamping unit 210 supports the finger components 211, 212 so that they can be displaced laterally, so that the distance between the left and right finger components 211, 212 can be changed.

[0105] Each of the finger components 211, 212 has two fingers 215 extending laterally on the surface facing the other finger component 212, 211. When the hand 21 holds the tableware, the finger components 215 come into contact with the curved lower side of the tableware, the normal of which faces diagonally downward.

[0106] When clamping unit 210 clamps a dish, it pinches the dish between left and right finger components 211, 212 and presses the dish from the side. At this time, the tips of finger components 215 press firmly against the lower side of the dish. This pressing force supports finger components 215 so that the dish does not fall.

[0107] The pressing unit 230 is provided above the space sandwiched between the left and right finger components 211, 212, and comes into contact with and presses the upper surface of the tableware held by the clamping unit 210. In the case of tableware with a lid, it presses the upper surface of the lid. Specifically, the pressing unit 230 includes an urging mechanism 231 connected to the base of the robot arm 20, and a lower component 233 connected to the urging mechanism 231.

[0108] When the tableware is clamped by the clamping unit 210, the lower surface of the lower structural body 233 comes into contact with and presses against the upper surface of the tableware. The upper surface of the tableware clamped by the clamping unit 210 receives a force that tries to push up the lower structural body 233, and the biasing mechanism 231 presses the tableware downward.

[0109] The biasing mechanism 231 is configured to generate an elastic force that presses the tableware from above downwards by elastic deformation that occurs when the upper surface of the tableware clamped by the clamping portion 210 tries to push the lower component 233 upwards, and to clamp the tableware vertically between the lower component 233 and the finger components 211, 212.

[0110] The hand 21 configured in this manner can hold the lid of the lidded dish while clamping the dish from the left and right and from the top and bottom, and can carry the dish to the tray 5 while preventing food from spilling and soiling the dish. Therefore, this hand 21 is extremely effective for carrying lidded dishes to the tray 5 using the robot arm 20.

[0111] The menu preparation system 1 of this embodiment described above is configured to optically read menu information carried on a meal card 7 supplied together with the tray 5 using a meal card camera 59. The meal card 7 is configured as a member independent of the tray 5.

[0112] The menu preparation system 1 is configured to control the robot arm 20 for each menu item based on the read menu information. The menu preparation system 1 is configured to control the robot arm 20 to set tableware on which dishes corresponding to the menu are served onto the tray 5.

[0113] If the meal card 7 specifying the menu is separate from the tray 5, there is no need to prepare a tray with a two-dimensional code for each menu, as in the past. When the meal card 7 supplied with the tray 5 is changed, the menu corresponding to the changed meal card 7 is prepared on the tray 5. Therefore, according to this embodiment, the system can be constructed at low cost without changing the trays and tableware, and a menu preparation system 1 that is highly adaptable to preparing a wide variety of menus can be provided.

[0114] Furthermore, the meal card 7 of this embodiment carries menu information as text information that allows a person looking at the meal card 7 to identify the menu. When the meal card 7 carries text information that allows a person to identify the menu, the workability of the person involved in the process of serving the food can be improved compared to when the meal card 7 carries menu information only as a two-dimensional code.

[0115] If menu information is carried on the meal card 7 only as a two-dimensional code, a worker needs to read the two-dimensional code with a reader when he or she needs to know the menu. In the event of a problem or to prepare a special meal, there are situations where a person visually checks the menu and manually places tableware on the tray 5 instead of the robot arm 20. There are also situations where the carrier checks the menu when transporting the tray 5 with the prepared menu to the user. A meal card 7 carrying text information can improve the ease of human work in such situations.

[0116] In this embodiment, it is also meaningful that the meal cards 7 are configured as printed sheets. If such printed sheets are used as the meal cards 7, it is possible to easily prepare a variety of meal cards 7 that specify different menus.

[0117] As an example, as shown in Figure 11B, the menu preparation system 1 of this embodiment optically determines the appearance of the tableware to be supplied using a tableware camera 15, and controls the robot arm 20 so that the robot arm 20 picks out the tableware to be supplied from among multiple types of tableware.

[0118] According to this control method, the robot arm 20 can be controlled to appropriately pick up the tableware to be fed from among a group of multiple types of tableware, without the need to separate the group of multiple types of tableware by type using the sheet pan 91.

[0119] 11A, in the menu preparation system 1 of this embodiment, multiple types of tableware are prepared for each type on individual sheet pans 91. Each sheet pan 91 is affixed with an identification label 93 bearing an identification code that allows the type of tableware prepared to be identified.

[0120] The menu preparation system 1 identifies the sheet pan 91 on which the tableware to be supplied is prepared by optically reading the identification code, and controls the robot arm 20 so that the robot arm 20 picks out the tableware to be supplied from among a plurality of types of tableware.

[0121] This control method allows the type of tableware to be identified with high accuracy without complex image analysis, thereby reducing the processing load on the controller 11. In particular, in this embodiment, an identification label 93 is provided on the sheet pan 91, which is the transport tray, so the preparations required for identifying the type of tableware and picking the tableware to be supplied are simple.

[0122] In this embodiment, lidded dishes are used as dishes to serve food in. The lidded dishes not only help to ensure hygiene of the food served on the trays, but also prevent foreign matter from getting mixed into the trays 5 during the menu preparation process.

[0123] Furthermore, in this embodiment, the hand 21 provided at the tip of the robot arm 20 is configured to be able to hold and carry the lidded dish while pressing down the lid of the lidded dish. Therefore, it is possible to prevent the contents of the dish from spilling out due to shaking when placing the dish on the tray 5. It can also be suppressed.

[0124] It goes without saying that the present disclosure is not limited to the above-described embodiment, and various modifications can be made. A menu preparation system 1A shown in Fig. 15 is a first modified example of the menu preparation system 1 described above.

[0125] This menu preparation system 1A includes a camera C1 arranged adjacent to each supply system 10A on the upstream side of the supply system 10A, and which takes an image of the trays 5 on the belt conveyor 3.

[0126] The supply system 10A of the first modified example corresponds to the supply system 10 of the above-described embodiment. Each supply system 10A uses a camera C1 connected to itself to read the meal ticket 7 placed on the tray 5, and further identifies the outer edge of the tray 5 through image analysis, and can determine the orientation of the tray 5 on the belt conveyor 3.

[0127] The supply system 10A can further control the robot arm 20 to place on the tray 5 the tableware for the menu item in charge, which is served with dishes corresponding to the menu specified on the meal card 7.

[0128] That is, at least some of the functions of the management system 50 may be installed in the supply system 10A. Multiple supply systems 10A can cooperate with each other to set a group of tableware corresponding to a menu on a tray 5. In particular, by providing each supply system 10 with a camera C1 for photographing the tray 5, it is possible to check the meal ticket information and the position and orientation of the tray 5 immediately before setting the tableware on the tray 5, and therefore the tableware can be appropriately placed on the tray 5 regardless of the orientation of the tray 5.

[0129] The menu preparation system 1A of the first variant may be configured to function without using the management system 50. That is, the controller 11 of each supply system 10A may be equipped with its own menu selection list and tableware database. When a tray 5 arrives, the controller 11 may be configured to optically read the menu information on the meal card 7 using a camera C1 connected to the controller 11, determine the corresponding tableware type from the read menu item information, and place the tableware on the table 9 on the tray 5. The menu information may be carried on the meal card 7 as text information, a two-dimensional code, or both. By configuring each supply system 10A in this manner, the entire process from reading the meal card 7 to placing the tableware can be completed within each supply system 10A. This example facilitates the transition from a conventional system to a robotic menu preparation system.

[0130] The menu preparation system 1B shown in Figure 16 is a second modified example of the menu preparation system 1 described above. According to this menu preparation system 1B, the worker's workspace UR is located not at the most downstream end of the belt conveyor 3, but at a midpoint of the belt conveyor 3 sandwiched between multiple supply systems 10B. The supply system 10B of the second modified example corresponds to the supply system 10 of the embodiment described above.

[0131] In this case, cameras C2 and C3 functioning as meal card cameras 59 can be provided at the upstream and downstream sections of the belt conveyor 3, which are separated by the worker's workspace UR. The supply system 10B, located downstream of the worker's workspace UR, can read the meal card 7 placed on the tray 5 based on the images of the tray 5 and meal card 7 captured by camera C3 and can also determine the orientation of the tray 5. With this configuration, even if the tray 5 moves or its orientation changes due to the worker's work, the menu can be appropriately prepared for the tray 5.

[0132] In addition, an example is conceivable in which the meal card 7 includes a two-dimensional code in addition to text information, allowing the system to efficiently read the menu information on the meal card. The menu preparation system 1 of the above embodiment uses multiple robotic arms 20 arranged along the belt conveyor 3 to set multiple types of tableware on the tray 5 according to the menu specified by the meal card 7. However, the number of robotic arms required to prepare one menu can be determined according to the capacity and system. For example, the menu preparation system 1 may be configured so that one robotic arm 20 sets all of the tableware corresponding to the menu on the tray 5. Furthermore, multiple supply systems 10 and management systems 50 may be integrated into a single system.

[0133] The function of one component in the above embodiments may be distributed among multiple components. The functions of multiple components may be integrated into one component. Part of the configuration of the above embodiments may be omitted. At least part of the configuration of the above embodiments may be added to or substituted for the configuration of another of the above embodiments. All aspects included in the technical idea identified from the wording of the claims are embodiments of the present disclosure. [Explanation of symbols]

[0134] 1, 1A, 1B... menu preparation system, 3... belt conveyor, 5... tray, 7... meal ticket, 9... placement table, 10, 10A, 10B... supply system, 11... controller, 11A... processor, 11B... memory, 11C... storage, 13... communication interface, 15... dish camera, 20... robot arm, 21... hand, 50... management system, 51... processor, 52... memory, 53... storage, 55... communication interface, 57... user interface, 59... meal ticket camera, 70... alarm device, 90... printer, 91... sheet pan, 93... identification label, 210... clamping portion, 211, 212... finger component, 215... finger portion, 230... pressing portion, 231... actuation mechanism, 233... lower component, C1, C2, C3... camera.

Claims

1. A reading unit configured to read menu information carried on a meal tag composed of a member independent of the tray that is supplied together with the tray, the menu information specifying the menu to be prepared on the tray; a control unit configured to control a robot arm based on the menu information read by the reading unit to cause the robot arm to set tableware containing dishes corresponding to the menu on the tray; A menu preparation system comprising:

2. The menu preparation system according to claim 1 , wherein the reading unit optically reads the menu information carried on the meal tag using a camera.

3. The menu preparation system according to claim 2, wherein the meal card is a sheet carrying the menu information as character information that enables a person looking at the meal card to identify the menu, and the character information is printed on the sheet.

4. The control unit Based on the menu information, one or more types of target tableware to be set on the tray are identified from among a plurality of types of tableware for different dishes served on the tray; Controlling the robot arm so that the target tableware is set on the tray A menu preparation system according to any one of claims 1 to 3.

5. The control unit, in an environment where the menu information specifies a menu having a plurality of items including a main dish and one or more side dishes, identifies, for each item, one or more types of target item tableware that are tableware on which dishes belonging to the corresponding item are served and that should be set on the tray corresponding to the menu; The target tableware includes the target item tableware for each of the items, The menu preparation system according to claim 4 , wherein the control unit controls the robot arm so that the target item tableware for the corresponding item is set on the tray for each of the items.

6. The tray has a plurality of regions; The menu information specifies dishes to be set for each of the areas, The control unit determines target area tableware, which is one or more types of tableware to be set for each area, based on the menu information; The target tableware includes the target area tableware for each of the areas, The menu preparation system according to claim 4 , wherein the control unit controls the robot arm so that the target area tableware determined for the corresponding area is set for each of the areas.

7. A menu preparation system as described in any one of claims 4 to 6, wherein the control unit optically determines the appearance of the target tableware using a camera and controls the robot arm so that the robot arm picks out the target tableware from among the multiple types of tableware.

8. The plurality of types of tableware are prepared in separate locations for each type, Each of the plurality of locations as the individual locations is provided with identification information that allows identification of the type of tableware prepared therein, A menu preparation system as described in any one of claims 4 to 6, wherein the control unit determines the location where the target tableware is prepared based on optically reading the identification information, and controls the robot arm so that the robot arm picks up the target tableware from among the multiple types of tableware.

9. 9. The menu preparation system of claim 8, wherein the individual locations are individual carrier trays, and the identification information is attached to the carrier trays.

10. A computer program for causing a computer to function as the reading unit and the control unit in the menu preparation system according to any one of claims 1 to 9.

11. 1. A computer-implemented method for menu preparation, comprising: Using a reading device, menu information is carried on a meal tag that is composed of a member independent of the tray and that is supplied together with the tray, and the menu information specifies the menu to be prepared on the tray; Controlling the robot arm so that the robot arm places tableware containing dishes corresponding to the menu on the tray based on the menu information that has been read; A method for preparing a menu comprising:

12. The menu preparation method according to claim 11, The controlling comprises: Identifying target tableware, which is one or more types of tableware to be set on the tray, from among a plurality of types of tableware for different dishes based on the menu information; Controlling the robot arm so that the target tableware is set on the tray; A method for preparing a menu comprising:

13. A menu preparation method comprising: preparing a meal card carrying menu information specifying a menu to be prepared on the tray as a member independent of the tray; Supplying the meal ticket together with the tray to a work area; A computer reads the menu information carried on the meal tag supplied to the work area together with the tray using a reading device installed in the work area; The computer controls the robot arm installed in the work area based on the menu information read, so as to set tableware on which dishes corresponding to the menu are served onto the tray; A method for preparing a menu comprising:

Images