Transportation device

Abstract

To provide a transportation device capable of safely transporting food or drink to a destination position by an automatic operation.SOLUTION: A transportation device 10 for transporting food or drink to a destination position by an automatic operation includes: a holder 24 being a placement part on which the food or drink is placed; and a transportation robot 12 being a transportation part to transport the holder 24. The holder 24 is attached to the transportation robot 12 so as to be relatively displaceable, thereby to reduce influence of force on the holder 24 in an actuation.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a conveying device, and more particularly to a conveying device for conveying food and drink. [Background technology]

[0002] Sushi restaurants, known as conveyor belt sushi restaurants, use a system of serving food and beverages using a conveyor lane that circulates around the restaurant along tables where customers eat. However, installing this type of conveyor lane is costly, and once installed, it is difficult to change the restaurant's layout. Patent Document 1, therefore, discloses a food and beverage conveying device that does not require the installation of a conveyor lane. This food and beverage conveying device is configured to transport food and beverages to tables while autonomously traveling along a set route within the restaurant. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-207843 Summary of the Invention [Problem to be solved by the invention]

[0004] It is desirable for food and drink served at restaurants to be delivered to customers while maintaining as much of the state in which it was served on the dishes in the kitchen as possible. In particular, care must be taken to prevent liquid soup from spilling from the dishes when serving noodles and other foods. Conveyor belt sushi conveyor lanes, which are specifically designed to convey food and drink, can be operated in a circular motion while maintaining a constant, appropriate conveying speed, making safety measures relatively easy. In contrast, the food and drink conveying device of Patent Document 1 requires designing conveying routes and adjusting conveying speeds that take into account the flow of customers, making safety measures more difficult than those for conveyor lanes.

[0005] The above-mentioned problems are not limited to cases where food and drink is transported within a store, but are also common when food and drink is transported outside the store, such as to terrace seats.

[0006] Therefore, an object of the present invention is to provide a conveying device that can automatically transport food and drink safely to a destination. [Means for solving the problem]

[0007] In order to achieve the above-mentioned objective, the present invention is a conveying device that automatically transports food and beverages to a destination location, and is characterized by comprising a placement section on which the food and beverages are placed and a conveying section that conveys the placement section, and by the placement section being attached so that it can be displaced relative to the conveying section, the effect of force acting on the placement section when the device is in operation is reduced. [Effects of the Invention]

[0008] According to the conveying device of the present invention, food and drink can be safely conveyed to a destination location through automatic operation. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram illustrating an example of a store that uses a conveying device according to a first embodiment. [Figure 2] 1A is a side view and FIG. 1B is a block diagram showing a transport device according to a first embodiment of the present invention. [Figure 3] 10 is a control table for controlling a motor of the transport device. [Figure 4] FIG. 10 is a diagram showing an overview of a store in which the food delivery system of the second embodiment is installed. [Figure 5] (a) Plan view of the marker mat, (b) Cross-sectional view of the marker mat. [Figure 6] FIG. 10 is a diagram showing identification information assigned to the RF tags of each marker mat. [Figure 7] FIG. 10 is a diagram showing a food serving device according to a second embodiment. [Figure 8]FIG. 2 is a schematic diagram of a circuit configuration of a transfer robot and an instruction device. [Figure 9] FIG. 10 is a diagram showing an operation table. [Figure 10] FIG. 1 is a flow diagram of a food delivery system. [Figure 11] FIG. 10 is a diagram showing an input screen of the instruction device. [Figure 12] FIG. 10 is a schematic diagram illustrating an example of a store that uses a conveying device according to a third embodiment. [Figure 13] FIG. 10 is a side view of a transport device according to a third embodiment. [Figure 14] 10A is a partial cross-sectional view taken along line AA of a conveyance device according to Modification 1-2, and FIG. 10B is a plan view thereof. DETAILED DESCRIPTION OF THE INVENTION

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a conveying device according to the present invention will be described below with reference to the drawings, taking as an example a case in which the conveying device is used in a restaurant.

[0011] [First embodiment] As shown in FIG. 1, the interior of a store in which the conveying device 10 according to the first embodiment is used is divided into a kitchen and an eating area. In the eating area, a counter table T is provided adjacent to the kitchen. The counter table T is U-shaped, and multiple chairs C (10 in this example) are arranged at intervals along its outer periphery. Meanwhile, a travel lane L for the conveying device 10 is provided on the inner periphery of the counter table T. Food and drink ordered by a customer are transported automatically by the conveying device 10 from the kitchen to a destination location corresponding to the seat number (1 to 10) of the chair C on which the customer is seated.

[0012] As shown in FIG. 2, the transport device 10 includes a vehicle-type transport robot 12. The main body 14 of the transport robot 12 is provided with a control board 16, wheels 18 (18L, 18R, 18F, 18B), an input display device 20, and an AI camera 22. The control board 16 is equipped with a microcomputer, a driver circuit, and a power supply circuit for supplying power to these components. The microcomputer has a built-in CPU and memory, and the CPU executes programs stored in the memory to comprehensively control various operations for the transport robot 12 to autonomously travel along the travel lane L. The driver circuit drives the motors that supply power to the drive wheels 18L and 18R (described later), and outputs drive power to the motors based on control signals input from the microcomputer for controlling the direction and amount of rotation of the motors. The motors rotate based on the power input from the driver circuit. The microcomputer's memory stores a control table (Fig. 3) that associates the seating positions (seat numbers 1 to 10) of customers to whom food and drink are to be delivered with the direction and amount of rotation of the motor.

[0013] The wheels 18 are used by the transport robot 12 to move along the travel lane L (FIG. 1) and include drive wheels 18L, 18R and auxiliary wheels 18F, 18B. The drive wheels 18L, 18R are provided as a pair (two wheels) on the left and right at a position midway in the direction of travel of the main body 14. In-wheel motors M1, M2 are incorporated into the hubs of the left and right drive wheels 18L, 18R, respectively, and the direction and amount of rotation of the left and right drive wheels 18L, 18R are configured to be controlled independently of each other. The auxiliary wheels 18F, 18B are provided as a pair (two wheels) on the front and rear at a position midway in the width direction of the main body 14. Each of the auxiliary wheels 18F, 18B is a swivel caster that rotates and swivels in response to the rotation of the drive wheels 18L, 18R. In this example, the left and right drive wheels 18L, 18R are rotated synchronously in the same direction, allowing the transport robot 12 to move in a desired direction. On the other hand, the moving direction of the transport robot 12 can be changed by rotating the left and right drive wheels 18L, 18R in opposite directions.

[0014] The input display device 20 is a touch panel display of a tablet terminal, and functions as a display unit that displays an operation screen for inputting the seating positions (seat numbers 1 to 10) of customers to whom food and drink will be delivered. The touch panel display also functions as a seat number input unit that inputs the seat number (1 to 10) designated by touch operation to the CPU.

[0015] The AI ​​camera 22 is a camera equipped with AI (artificial intelligence), and functions as a position information acquisition unit that captures images of markers (not shown) displayed on or around the travel lane L and acquires position information of the transport robot 12 based on the generated image information. For example, a two-dimensional code or an AR marker is used as the marker.

[0016] The transport device 10 also includes a hanging holder 24. The holder 24 has a circular tray 26 on which food and drink are placed. A non-slip mat is laid on the top surface (receiving surface) of the tray 26. An arched arm 28 extends from the outer periphery of the tray 26. A ring-shaped attachment portion 30 is provided at the upper end of the arm 28, and a flexible hanging member 32 is attached to this attachment portion 30. The hanging member 32 is a ring cord made of synthetic fiber with the required tensile strength and thickness, and supports the weight of the arm 28, the tray 26, and the food and drink (the entire dish including the tableware) placed on the tray 26. The main body 14 of the transport robot 12 is provided with a support arm 34 that extends upward from the rear in the direction of travel and bends forward. The tip portion 36 of the support arm 34 is a hook, and the upper part of the hanging member 32 is hooked onto this hook. The holder 24 suspended from the support arm 34 in this manner is capable of being displaced relative to the transfer robot 12 .

[0017] Next, the operational control when the conveying device 10 having the above configuration conveys food and drink automatically will be explained using the example of conveying dish D, which contains udon noodles and other ingredients and soup stock in a bowl, from the kitchen to a customer seated in seat number 6.

[0018] When the dish D ordered by the customer is ready, the kitchen staff places the holder 24 with the finished dish D placed on the tray 26 on the transport robot 12 waiting at the starting point of the moving lane L, and operates the input display device 20 to input the seat number "6." When the seat number is input, the microcomputer CPU refers to the control table (Fig. 3) and inputs a motor control signal corresponding to seat 6 to the driver circuit. Based on the input control signal, the driver circuit outputs a predetermined drive power to the in-wheel motors M1 and M2 incorporated in the left and right drive wheels 18L and 18R, respectively. As a result, the transport robot 12 moves straight up to the corner of the moving lane L with the left and right drive wheels 18L, 18R rotating synchronously in the forward (forward) direction, and when it reaches the corner, the right drive wheel 18R rotates in the forward (forward) direction and the left drive wheel 18L rotates in the backward (reverse) direction, changing direction to make a left turn, and after changing direction, the left and right drive wheels 18L, 18R again rotate synchronously in the forward (forward) direction as it moves straight up to seat number 6.

[0019] Furthermore, while the transfer robot 12 moves along the above-described transfer route, it acquires its own position information using the AI ​​camera 22. Then, by referring to the acquired position information, the transfer robot 12 checks whether it is moving correctly along the transfer route to the destination position and whether the location it arrives at is the destination position. In this way, the transfer robot 12 moves automatically along the movement lane L, and the holder 24 set on the transfer robot 12, and thus the dish D placed on the tray 26 of the holder 24, are transported to the destination position, seat 6.

[0020] As described above, when the transport device 10 operates, horizontal acceleration is applied to the support arm 34 of the transport robot 12 as it moves straight or changes direction. This horizontal acceleration is also applied to the upper part of the hanging member 32 of the holder 24 via the support arm 34. However, because the hanging member 32 is made of a flexible material, the holder 24 with the dish D placed on the tray 26 behaves like a pendulum. In this case, the resultant force of gravity and normal force acting on the tray 26 and the dish D (the bowl and its contents, such as udon noodles and broth) is in the same direction as the force acting on the hanging member 32 (the force pulling the hanging member 32 by the tip 36 of the support arm 34). Therefore, the tray 26 and the dish D (the bowl and its contents, such as udon noodles and broth) are equally accelerated by this resultant force. Therefore, in a coordinate system based on the dish D on the tray 26, no horizontal acceleration that would cause the liquid broth to spill is generated. As a result, the direction of the force acting on the entire dish D placed on the tray 26 is roughly perpendicular to the placement surface of the tray 26, so that situations such as soup stock spilling from the dish or the contents being distorted can be avoided as much as possible.

[0021] As described above, according to the conveyance device 10 of this embodiment, the holder 24, which functions as a placement unit, is attached so as to be displaceable relative to the conveyance robot 12, which functions as a conveyance unit. This reduces the effect of the force acting on the holder 24 when the conveyance device 10 is operating. Therefore, even food and drink containing liquid broth in a container, such as dish D, can be safely transported to a destination by automatic operation. This also makes it possible to increase the movement speed of the conveyance robot 12 when transporting food and drink. While most automatic conveyance robots are generally operated at speeds close to the walking speed of a human (e.g., approximately 0.8 m / s to 1.0 m / s), the conveyance device 10 of this embodiment is less susceptible to the effects of horizontal acceleration as described above. Therefore, it is possible to transport food and drink at speeds more than twice the normal speed (e.g., approximately 1.6 m / s to 2.0 m / s), which has the advantage of allowing the finished food to be delivered to the customer promptly.

[0022] [Second embodiment] The second embodiment of the present invention will be described below using the restaurant shown in Fig. 4 as an example. The restaurant has a service area where services are provided to customers and a kitchen area where staff prepare food.

[0023] <Restaurant Overview> The service area is provided with a ticket machine for purchasing tickets for food and drink D (FIG. 7), and multiple tables. The multiple tables are a counter table and multiple (seven in this embodiment) four-seater tables. The counter table is a long table arranged along the side wall of the store, and multiple (seven in this embodiment) seats are arranged at equal intervals along the counter table. The multiple four-seater tables are arranged at predetermined intervals from each other.

[0024] A customer who visits the restaurant purchases a ticket for the desired food or drink D from a ticket machine and is seated at a table indicated by a waiter. The waiter receives the ticket from the customer and places an order with the kitchen staff based on the ticket.

[0025] <Outline of the food delivery system> The restaurant is equipped with a food delivery system 100 that delivers cooked food and drink D (FIG. 7) to customers. Food delivery system 100 includes a plurality of markers 151 (FIG. 5) installed on the floor of the restaurant, a food delivery device 110 that travels autonomously on the floor, and an instruction device 140 that can communicate with food delivery device 110.

[0026] <marker> The multiple markers 151 serve as landmarks on the floor. In this embodiment, multiple mats are laid out in a grid pattern on the floor, and each mat is provided with a marker 151. Hereinafter, a mat provided with markers 151 will be referred to as a "marker mat 150." As shown in FIG. 5, the marker mat 150 is a rectangular mat and includes a base portion 152, a cover portion 153, and an RF tag 151A, which is a marker 151. The base portion 152 is a rectangular member provided on the underside of the marker mat 150 and is made of a durable material. The cover portion 153 is a member superimposed on the base portion 152 and is made of a material suitable for the floor surface. For example, if the floor is for people to wear shoes, it is made of a durable and waterproof material. If the floor is for people to wear indoor shoes, it is made of a material similar to carpet. The cover portion 153 is fixed to the base portion 152 with an adhesive. The RF tag 151A is placed between the base portion 152 and the cover portion 153, and stores unique identification information (hereinafter referred to as "marker ID") that allows it to be distinguished from the RF tags 151A of other marker mats 150. Figure 6 shows the marker IDs assigned to the RF tags 151A of each marker mat 150. In this example, the marker mats 150 are arranged in a grid pattern of 7 mats horizontally and 14 mats vertically in the service provision area. Furthermore, the marker mats 150 are arranged in a grid pattern of 3 mats horizontally and 2 mats vertically in the kitchen area.

[0027] By laying multiple marker mats 150 on the floor as described above, the marker mat 150 corresponding to the delivery position of food and drink D is identified. For example, the delivery positions of the counter table seats [#01, #02, #03, #04, #05, #06, #07] correspond to marker IDs [028, 035, 049, 056, 070, 077, 091], and the delivery positions of the four-seater table [#08, #09, #10, #11, #12, #13] correspond to marker IDs [037, 058, 079, 100, 032, 060, 088].

[0028] <Serving device> As shown in Figure 7, the food serving device 110 of this embodiment functions as a conveying device that automatically transports food and drink D to the customer's location (delivery location), and is equipped with a loading shelf 130, which is a loading section on which food and drink D is placed, and a transport robot 120 that transports the loading shelf 130.

[0029] The storage shelf 130 includes a pair of side plates 131 and a plurality of shelf boards 132. The side plates 131 are vertically extending plate-like bodies, and the two plate-like bodies are arranged parallel with their plate surfaces facing each other. The shelf boards 132 are horizontally extending plate-like bodies, and the plurality of shelf boards 132 are arranged one above the other with their plate surfaces facing each other. Food and drink D can be placed on each shelf board 132 of the storage shelf 130 configured in this manner.

[0030] The transport robot 120 of this embodiment is similar to the first embodiment in that it includes a pair of left and right drive wheels 121, in-wheel motors 122 (hereinafter simply referred to as "motors 122") (FIG. 8) provided on each drive wheel 121, and a pair of front and rear auxiliary wheels 123. Here, in this embodiment, a support frame 111 that supports the storage shelf 130 is provided on the main body of the transport robot 120. The support frame 111 is composed of a lower plate-like portion 112 that extends horizontally along the upper surface of the transport robot 120, a pair of vertical plate-like portions 113 that stand upright from both ends of the lower plate-like portion 112 and face upward, and an upper plate-like portion 114 that spans horizontally between the upper ends of the vertical plate-like portions 113, and the storage shelf 130 is arranged inside thereof.

[0031] In this embodiment, ball rollers 115 are disposed between the lower plate-like portion 112 and the mounting shelf 130, and ball rollers 115 are disposed between the upper plate-like portion 114 and the mounting shelf 130. By disposing the ball rollers 115 between the mounting shelf 130 and the support frame 111 in this manner, the mounting shelf 130 can be displaced relative to the transport robot 120. Furthermore, buffer members 116 are provided between the pair of vertical plate-like portions 113 and the mounting shelf 130. The buffer members 116 are members that absorb impacts and accelerations that accompany relative displacement of the mounting shelf 130, and may be, for example, parts such as sponge material or springs, or mechanical members such as dampers. With the above configuration, the mounting shelf 130 can be started and stopped slowly when the transport robot 120 starts and stops, thereby maintaining the state in which the food and drink D is served.

[0032] Also, as shown in FIG. 8, the transport robot 120 of this embodiment differs from the first embodiment in that it does not have an AI camera or an input display device, but has a switch 124, a reader module 125, and a communication module 126.

[0033] Switch 124 outputs an ON / OFF signal, and this signal is input to microcomputer 127. Switch 124 is operated by the customer when food or drink D is taken out from shelf 130, that is, when delivery is completed. In this way, switch 124 is operated by the customer and functions as an operation unit that outputs an operation signal.

[0034] The reader module 125 is a module that functions as a reading unit that reads the marker ID from the RF tag 151 A of the marker mat 150 , and inputs the read marker ID to the microcomputer 127 .

[0035] The communication module 126 is a module that functions as a communication unit that communicates with the instruction device 140 described below via a network installed within the store, inputs information received from the instruction device 140 into the microcomputer 127, and transmits information input from the microcomputer 127 to the instruction device 140.

[0036] A control program is stored in the microcomputer 127 of the transfer robot 120. The microcomputer 127 executes the control program to function as a control unit that controls the transfer robot 120. A control signal from the microcomputer 127 is input to a motor driver 128. The motor driver 128 independently rotates each motor 122 forward, reverse, or stops it based on the control signal input from the microcomputer 127.

[0037] <Instruction device> The instruction device 140 is operated by a staff member of the restaurant, and based on the operation, issues operating instructions to the food distribution device 110. As shown in Fig. 8, the instruction device 140 includes a communication module 141, a touch panel display 142, a CPU 143, and a memory 144.

[0038] The communication module 141 is a module that functions as a communication unit that communicates with the food distribution device 110 via a network installed within the store, inputs information received from the food distribution device 110 to the CPU 143, and transmits information input from the CPU 143 to the food distribution device 110.

[0039] The touch panel display 142 functions as a display unit that displays information on the screen based on a signal input from the CPU 143, and as an input unit that inputs touch information to the CPU 143 based on a touch operation on the screen.

[0040] The memory 144 functions as an operation instruction storage unit that stores the delivery position of the food and drink D in association with the operation instructions (operation commands) for the food and drink serving device 110, and specifically, stores an operation table as shown in FIG. 9. The operation table stores operation commands indicating the operation mode for each marker mat 150, associated with the table number that is the delivery position of the food and drink D (for counter tables, the table number is determined corresponding to each seat). The operation commands are forward, turn right, turn left, stop, and wait. Note that the number of operation commands for one marker mat 150 is not limited to one, and may be two or more.

[0041] Furthermore, a driving instruction program is stored in the memory 144, and the CPU 143 functions as a driving instruction unit by executing the driving instruction program. The instruction device 140 can be an information processing device such as a tablet terminal.

[0042] <Flow of food delivery system> Next, the flow of the food serving system 100 of this embodiment will be described with reference to Figure 10. The following describes an example in which food and drink D is served to customers at table 11. Here, it is assumed that while food and drink D is being prepared, the food serving device 110 is waiting at the standby position (on the marker mat 150 with the marker ID "020").

[0043] First, we will explain the flow of the instruction device 140. The CPU 143 of the instruction device 140 displays the input screen 160 shown in Fig. 11 on the touch panel display 142 (s140). The input screen 160 displays a message display section that displays a message 161 prompting the user to input the table number of the destination table, an input box 162 that functions as an input section for inputting the table number, a number GUI 163 that functions as a number selection section for selecting the number to input into the input box or clearing it, and a food serving start GUI 164 that functions as a start instruction section for starting food serving.

[0044] When the food and drink D is ready, the staff member performs an input operation on the touch panel display 142. Here, when No. 11 is input as the destination table number and the serving start GUI 164 is selected (s141: yes), the CPU 143 of the instruction device 140 performs a target table setting process s142. The target table setting process s142 searches the operation table using the input destination table number as a search key to identify a record. Here, the CPU 143 of the instruction device 140 starts communication with the food serving device 110 and acquires identification information (hereinafter referred to as a device ID) assigned to the food serving device 110. The record number of the identified record is then associated with the acquired device ID and stored in the memory 144. In this example, the record number of the No. 11 table is stored in association with the terminal ID.

[0045] After the target table setting process s142, the CPU 143 of the instruction device 140 executes a start command transmission process s143. The start command transmission process s143 is a process for transmitting a forward movement command to the food distribution device 110.

[0046] After the departure command transmission process s143, the CPU 143 of the instruction device 140 checks whether a marker ID and a terminal ID have been received from the food distribution device 110 (s144). If the marker ID has not been received (s144: no), the CPU 143 of the instruction device 140 executes the check process s144. On the other hand, if the marker ID has been received (s144: yes), the CPU 143 of the instruction device 140 executes the search process s145.

[0047] The search process s145 is a process for searching for a driving command corresponding to the received marker ID. The record number corresponding to the terminal ID received together with the marker ID is extracted from the memory 144, and the driving command corresponding to the received marker ID is extracted from the record with that record number. In this example, since the record number of table 11 is stored, if, for example, marker ID (015) is received from the record of table 11, the left turn command "L" is extracted.

[0048] When an operation command is extracted in the search process s145, the CPU 143 of the instruction device 140 transmits the operation command to the food distribution device 110 (s146). If the operation command is "W" (s147: yes), the food distribution device 110 has returned to its standby position and is waiting for the next serving, and the input screen display process s140 is executed. On the other hand, if the operation command is other than "W" (s147: no), the food distribution device 110 is moving, and therefore checks whether the next marker ID has been received (s144).

[0049] Next, the operation flow of the food distribution device 110 will be described.

[0050] The microcomputer 127 of the food distribution device 110 checks whether an operation command has been received from the instruction device 140 (s110). If an operation command has been received (s110: yes), the microcomputer 127 stores the received operation command in memory and then sets the operation mode based on the operation command (s111). Note that the number of operation commands sent from the instruction device 140 is not limited to one, and there are cases where two operation commands are sent. For example, at a location where food and drink D is provided to a customer, two operation commands are sent: a first operation command, a stop command (S), and a second operation command for moving after provision. In this case, the operation mode is set based on the first operation command.

[0051] If no operation command has been received from the instruction device 140 (s110: no), the microcomputer 127 of the food distribution device 110 checks the input from the switch 124 (s112). If the input from the switch 124 changes from OFF (previous) to ON (present) (s112: yes), it determines that the food or drink D has been taken out by the customer, and sets the operation mode based on the second operation command included in the received operation command (s113).

[0052] Next, the microcomputer 127 executes the driving control process s114 based on the set driving mode. Specifically, if the driving command is forward (F), the microcomputer 127 sets the driving mode to forward mode, and rotates both drive wheels 121 forward. If the driving command is stop (S), the microcomputer 127 sets the driving mode to stop mode, and stops the rotation of both drive wheels 121. If the driving command is right turn (R), the microcomputer 127 sets the driving mode to right turn mode, and rotates the right drive wheel 121 in reverse and the left drive wheel 121 in forward direction. This causes the food distribution device 110 to turn right on the spot. If the driving command is left turn (L), the microcomputer 127 sets the driving mode to left turn mode, and rotates the right drive wheel 121 in forward direction and the left drive wheel 121 in reverse direction. This causes the food distribution device 110 to turn left on the spot. If the driving command is origin (W), the microcomputer 127 sets the driving mode to standby mode, and stops both drive wheels 121.

[0053] If the marker ID acquired from the reader module 125 is updated during the process of repeating the execution of the operation control process s114, i.e., if the marker ID of the destination marker mat 150 is acquired, the microcomputer 127 of the food distribution device 110 transmits the acquired marker ID and the device ID of its own device to the instruction device 140 (s116) and requests a new operation command. After executing the request, the microcomputer 127 executes the operation command reception confirmation process s110.

[0054] According to the food serving system 100 of this embodiment, the food serving device 110 can simultaneously transport multiple foods and drinks D, preventing the presentation of the foods and drinks D from being damaged during transport. Furthermore, since the transport route of the food serving device 110 can be set based on marker IDs placed on the floor, even if the table arrangement is changed due to rearrangement, the transport route setting can be easily changed.

[0055] [Third embodiment] In the first and second embodiments described above, vehicle-type transport robots 12, 120 are used as the transport unit, but other configurations may be used as long as they can move to the destination position by automatic driving. For example, as in the transport device 210 shown in Figures 12 and 13, the transport unit may be a mobile body 220 that moves along guide rails G laid in the store.

[0056] An example of a store in which the mobile body 220 is used is a relatively small store with a kitchen located in front of an eating area where chairs C are arranged in a row along a long, narrow counter table T. Above the counter table T, a guide rail G is suspended from the ceiling and laid along the counter table T. The guide rail G is made of lightweight C-shaped steel with lips G1 and G2, and is suspended from the ceiling with its opening facing downward.

[0057] The movable body 220 has a slider 222 that moves linearly within the inner space along the guide rail G. The slider 222 includes drive rollers 224L and 224R, guide rollers 226L and 226R, and a hanging rod 228 for supporting the holder 24. The drive rollers 224L and 224R abut against the lip portions G1 and G2 of the guide rail G and are driven to rotate by the power of a motor, moving the slider 222 in the direction of rotation. The guide rollers 226L and 226R are provided opposite the side wall portions G3 and G4 of the guide rail G and prevent the slider 222 from shifting in the moving direction. The hanging rod 228 protrudes downward from an opening G5 of the guide rail G, and the upper part of the hanging member 32 is hooked onto a hook 230 provided at the lower end of the hanging rod 228. The holder 24 suspended from the hook 230 of the suspension rod 228 in this manner is capable of being displaced relative to the slider 222 .

[0058] The drive control method of the slider 222 is basically the same as that of the transport robot 12 described above. Specifically, the main body of the slider 222 houses a control board, motor, and power transmission mechanism. The control board is equipped with a communication module, a microcomputer, a driver circuit, and a power circuit that supplies power to these components. The communication module is a module for wireless communication with a tablet device in the kitchen. The microcomputer has a built-in CPU and memory. The CPU executes programs stored in the memory, functioning as a control unit that comprehensively controls the linear motion of the slider 222. The driver circuit drives the motor that supplies power to the drive rollers 224L and 224R. It outputs drive power to the motor based on control signals input from the microcomputer for controlling the direction and amount of rotation of the motor. The motor rotates based on the power input from the driver circuit. The motor shaft is connected to a power transmission mechanism composed of multiple gears, and the drive rollers 224L and 224R rotate synchronously via this power transmission mechanism. The memory of the microcomputer stores a control table that associates the seating positions (seat numbers 1 to 7 (FIG. 12)) of customers to whom food and drink are to be delivered with the direction and amount of rotation of the motor.

[0059] When slider 222 receives an input signal of a seat number from a tablet terminal in the kitchen, the microcomputer CPU refers to the control table and inputs a motor control signal corresponding to that seat position to the driver circuit. Based on this input signal, the driver circuit outputs a predetermined drive power to the motor, which rotates drive rollers 224L and 224R, and moves slider 222 to the position corresponding to the specified seat number.

[0060] While the conveying device according to the present invention has been described above based on the embodiments, it goes without saying that the present invention is not limited to the above-described embodiments, and may be embodied in modified forms, for example, as follows: In the following description, components that are substantially the same as those described in the first to third embodiments are given the same reference numerals, and their description and illustration will be omitted as appropriate, and the description will focus on the differences.

[0061] [Variation 1-1] In the first and third embodiments, a hanging-type holder 24 is used as the placement unit, but it is also possible to use a configuration similar to that of a known food delivery machine (delivery machine). This delivery machine also uses the same basic principle of reducing the effect of force acting on the placement unit during operation as the holder 24 described above, in that the frame supporting the platform on which food and drink is placed is suspended from the conveyance unit via an air spring.

[0062] [Variation 1-2] Furthermore, the placement unit is not limited to the "hanging type" described above, and may be configured to be attached in other ways so as to be displaceable relative to the transport unit. For example, as in the transport device 310 shown in Figure 14, the placement unit may be a movable platform 324 in which a tray 326 for placing food and drink can be displaced horizontally. The movable platform 324 is attached to the top surface of the main body 14 of the transport robot 12 described above.

[0063] Movable base 324 has frame 328 fixed to main body 14 along the periphery of main body 14. Frame 328 extends upward from the top surface of main body 14 and forms a peripheral wall surrounding the periphery of the top surface. Cushioning material 330, which elastically deforms when subjected to an external force, is attached to the inner periphery of frame 328. A plurality of ball rollers 332A-332E (five in this example) are fixed to the area surrounded by cushioning material 330 on the top surface of main body 14. Tray 326 is placed above ball rollers 332A-332E. Tray 326 has substantially the same shape as the area surrounded by cushioning material 330 in a plan view, and is supported by ball rollers 332A-332E with the periphery of tray 326 in contact with (close to) cushioning material 330. The tray 326 supported by the ball rollers 332A to 332E in this manner can be displaced relative to the transport robot 12 within the range in which the buffer material 330 inside the frame 328 is elastically deformed.

[0064] When the transport device 310 having the above configuration is in operation, horizontal acceleration is applied to the transport robot 12 moving straight or changing direction. This horizontal acceleration is equally applied to the entire movable platform 324 attached to the transport robot 12 and to the food and drink placed on the tray 326 (not shown). However, because the tray 326 displaces relative to the transport robot 12, the tray 326 and the food and drink placed on the tray 326 are accelerated in stages. When the transport robot 12 decelerates and the horizontal acceleration changes, an inertial force acts on the tray 326 and the food and drink placed on the tray 326. At this time, the tray 326 is subjected to a force from the buffer material 330 in the opposite direction to the inertial force, so the effect of the inertial force is reduced compared to when the tray 326 is fixed to the transport robot 12. As a result, similar effects to those achieved when the transport robot 12 is gradually decelerated and brought to a gentle stop can be expected, as in the second embodiment described above.

[0065] [Variation 2] The transport devices 10, 210 of the first and third embodiments described above may be further provided with an elevator that raises and lowers the placement unit in the vertical direction. For example, the elevator may be configured such that the support arm 34 (FIG. 2) of the transport robot 12 is replaced with a sliding telescopic arm that is extendable in the vertical direction. Alternatively, the hanging rod 228 (FIG. 13) of the slider 222 may be replaced with a telescopic rod that is extendable in the vertical direction.

[0066] [Variation 3] In the above embodiment, only the case where the conveying device automatically conveys food and drink to the destination location is illustrated, but it is of course also possible to automatically convey tableware after eating to the destination location (such as the kitchen or the tableware return shelf). Specifically, a signal requesting collection of tableware is sent to the server using a tablet terminal or call button at the customer's seat, and the server, upon receiving this signal, sends a collection command signal to the conveying device. In this case, the tableware may be conveyed to the location where the customer who ordered the food and drink is seated, and the tableware may be collected on the way back to the kitchen, or a conveying device dedicated to collecting tableware may be operated.

[0067] [Variation 4-1] The transport route of the transport device can be flexibly changed depending on the size and layout of the store. For example, as in the store shown in Figure 4, if the distance between tables is relatively narrow and the transport route overlaps with the customer flow line or there is not enough space for the transport device to pass each other, a waiting section can be set on the transport route. Specifically, the transport device is controlled to temporarily stop at a position between adjacent tables or between the seats of customers seated back to back. Whether or not such control is necessary is determined by sending a wait signal from the server based on images acquired from the AI ​​camera.

[0068] [Variation 4-2] The conveying path of the conveying device may be designed so that the conveying device moves along the floor of the store or inside the tables or counters. This configuration prevents customers from seeing the food and drink being conveyed, resulting in a clean interior design for the store. In this case, the conveying device may deliver the food and drink to the destination, and the customer may then pick up the food and drink themselves. Alternatively, a serving mode may be adopted in which the lifting unit described in Variation 2 above lifts the delivered food and drink from under the table or counter.

[0069] [Variation 5] The transport unit may be an air vehicle. A known drone can be used as this air vehicle. The drone's body is equipped with basic components such as a motor to drive the propellers, a flight controller (FC) and electric speed controller (ESC) that provide overall control of the drone's flight, and an AI camera. Furthermore, autonomous flight is achieved by employing known SLAM technology. Specifically, the drone acquires its location information based on images generated by capturing images of the store interior and AR markers using an AI camera. The drone then determines route information from this location information and flies along a predetermined route.

[0070] A hook is provided on the bottom of the drone having the above configuration, and the hanging member 32 of the holder 24 is hung on this hook. The holder 24, which is hung on the hook on the bottom of the drone in this way, can be displaced relative to the drone.

[0071] [Variation 6] In the first embodiment described above, the transport device 10 may use the AI ​​camera 22 to perform control to correct a deviation in the traveling direction of the transport robot 12. Specifically, while the transport robot 12 is moving, the AI ​​camera 22 captures an image of a marker and analyzes the generated image to calculate the orientation (traveling direction) of the transport robot 12 relative to the travel lane L, and calculates the angle between the actual traveling direction and the straight-ahead direction of the travel lane L as the "deviation amount." Then, the necessity of correction is determined based on whether the calculated "deviation amount" is within an allowable threshold range. If the deviation amount is within the threshold range, normal motor control based on the control table ( FIG. 3 ) continues. On the other hand, if the deviation amount exceeds the threshold range, correction control is performed to correct the motor rotation amount according to the magnitude of the deviation amount and the actual traveling direction. That is, if the traveling direction of the transport robot 12 is deviated leftward relative to the straight-ahead direction, the rotation amount of the in-wheel motor M1 of the left drive wheel 18L is increased. Conversely, if the direction of travel of the transport robot 12 deviates to the right relative to the straight-ahead direction, the rotation amount of the in-wheel motor M2 of the right drive wheel 18R is increased. This correction is continued until the deviation amount returns to within the threshold range. As a result, when the deviation amount returns to within the threshold range, the correction is terminated and the system transitions to motor control based on the normal control table. Note that the motor correction control described above may be performed on the AI ​​camera 22 side or on the CPU side of the microcomputer.

[0072] [Variation 7] In the above embodiment and modified example, the conveying device is assumed to be used inside a store, but the conveying device can also be used outdoors, for example, on terrace seats adjacent to a store, on the roof of a building, or in outdoor restaurants, campsites, etc. In this case, by acquiring location information using an AI camera or GPS, it becomes possible to realize automatic operation of the conveying device even outdoors.

[0073] The present invention can be implemented in various forms, including improvements, modifications, and variations based on the knowledge of those skilled in the art, without departing from the spirit of the invention. Furthermore, the invention can be implemented in a form in which any of the features of the invention are replaced with other technology, as long as the same action or effect is achieved. [Explanation of symbols]

[0074] 10. Conveyor 12 Transport robot (transport unit) 14 Holder (mounting part)

Claims

1. A conveying device that automatically conveys food and drink to a destination location, a placing section on which the food and drink are placed; a conveying unit that conveys the placement unit; Equipped with A conveying device characterized in that the placement section is attached so as to be displaceable relative to the conveying section, thereby reducing the effect of force acting on the placement section during operation.

2. The transport device according to claim 1 , wherein the transport unit is a vehicle.

3. The conveying device according to claim 1 , wherein the conveying section includes a moving body that moves along a rail.

4. The transport device of claim 1 , wherein the transport unit is an air vehicle.

5. The transport device according to claim 1 , further comprising a lifting unit that lifts the placement unit up and down.

6. The conveying device according to any one of claims 1 to 5, which moves along a conveying route set within a restaurant.

7. 6. The conveying device according to claim 1, which automatically conveys tableware after eating to a destination position.

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