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 Art

[0002] In facilities with accommodation, particularly hospitals and elderly care facilities, individual meals are provided to users. An individual menu is set for each user, and a tray on which the set menu is prepared is provided. By placing one or more tableware items on the tray, with the corresponding dishes arranged on them, the corresponding menu is prepared on the tray.

[0003] Patent Document 1 below discloses a system that uses a robotic 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. A two-dimensional code related to the tableware to be set corresponding to the menu is applied to each tray.

[0004] Based on the two-dimensional code applied to the tableware and the two-dimensional code applied to the tray, the system controls the robotic arm to set the tableware corresponding to the menu on the tray and prepare the menu corresponding to the tray.

[0005] Patent Document 2 below discloses a tableware washing system that uses a robotic arm to pick up tableware. In this system, for the automation of picking up, marks using characters are attached to the tableware. The marks are recognized using a camera, and the robotic arm is controlled based on the recognized marks.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0007] By the way, in hospitals and elderly care facilities, meals are provided three times a day, namely breakfast, lunch, and dinner, for each user. It is necessary to provide a different menu every day for each user, taking into account the user's health. Thus, in hospitals and elderly care facilities, it is required to provide a wide variety of meals three times a day for a large number of users.

[0008] Here, in the conventional method of applying identification codes such as two-dimensional codes to each tray and tableware, it is necessary to prepare in advance a variety of trays and tableware with different identification codes according to the provision of a wide variety of meals, and the construction cost and management cost of the system are very high. Even for a small number of menus, it is necessary to prepare trays and tableware 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 can provide a system with high adaptability to menu preparation.

Means for Solving the Problems

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

[0011] The control unit is configured to control the robotic arm based on the menu information read by the reading unit. The control unit is configured to control the robotic arm based on the menu information so that the robotic arm sets a tableware with a dish corresponding to the menu on the tray.

[0012] According to this system, since the food card specifying the menu is separate from the tray, it is not necessary to prepare a tray with an identification code such as a corresponding two-dimensional code for each menu. In addition, for example, when a tray used for breakfast is collected and reused for lunch or dinner, and it is necessary to prepare a different menu on the tray from the previous time, if the food card supplied with the tray is changed, it is possible to easily prepare the menu corresponding to the changed food card on the tray.

[0013] Therefore, according to one aspect of the present disclosure, it is possible to provide a system that can be constructed at low cost without changing the tray and tableware, and has a high adaptability to various menu preparations.

[0014] According to one aspect of the present disclosure, the reading unit may be configured to optically read the menu information carried on the food card using a camera. By using a camera, the menu information carried on the food card can be read from a position away from the food card with few restrictions on the orientation and arrangement of the food card.

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

[0016] When the food card carries character information that allows a person to identify the menu, the menu information can be visually confirmed, so that the work by a person can be easily performed. That is, the workability of a person when the work by a person intervenes before serving can be improved compared to the case where the food card carries the menu information only in a two-dimensional code.

[0017] If the menu information is carried only on the food tag in the form of a two-dimensional code, it is difficult to incorporate human operations. Even if operations are performed, when an operator needs to grasp the menu, they have to perform operations such as reading the two-dimensional code with a reader. When menu preparation using a robotic arm cannot be carried out temporarily or partially due to troubles or other reasons, there may be a situation where a person manually sets tableware on a tray instead of the robotic arm. When transporting the prepared tray to the user, there may be a situation where the transporter checks the menu. A food tag carrying character information can improve the workability of humans in such situations. That is, by carrying character information on the food tag, not only can operations by a robotic arm but also human operations be easily incorporated into the work process, and a system that collaborates with humans can be constructed.

[0018] According to one aspect of the present disclosure, the food tag may be a sheet on which character information is printed. By using such a sheet as a food tag, a variety of food tags specifying different menus can be prepared relatively easily.

[0019] According to one aspect of the present disclosure, the control unit may determine target tableware, which is one or more types of tableware to be set on the tray, from among a plurality of different types of tableware for the served dishes based on the menu information. The control unit may control the robotic arm so that the target tableware is set on the tray.

[0020] According to one aspect of the present disclosure, in an environment where the control unit designates a menu having a plurality of items including a staple food and one or more side dishes, for each item, the control unit may determine target item tableware, which is one or more types of tableware for the dishes belonging to the corresponding item and to be set on the tray corresponding to the menu. The above-mentioned target tableware may include the target item tableware for each item. The control unit may control the robotic arm so that the target item tableware for each item is set on the tray.

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

[0022] According to one aspect of the present disclosure, the control unit may optically determine the appearance of the target tableware using a camera, and control the robotic arm so that the robotic arm takes out the target tableware from among a plurality of types of tableware. In this case, since it is not necessary to attach a two-dimensional code or the like for individually identifying the tableware to the tableware and the tableware can be optically identified, the present system can be constructed at a lower cost.

[0023] Also, according to such a control method, even if a plurality of types of tableware groups are not arranged in the working area of the robotic arm so as to be classified for each type and regularly arranged for each type, the robotic arm can be controlled to appropriately take out the target tableware from among the tableware groups.

[0024] According to one aspect of the present disclosure, a plurality of types of tableware may be prepared at individual locations for each type. Each of the plurality of locations as individual locations may be attached with identification information capable of identifying the type of prepared tableware.

[0025] The control unit may determine the location where the target tableware is prepared based on optically reading the identification information, and control the robotic arm so that the robotic arm takes out the target tableware from among a plurality of types of tableware.

[0026] According to such a control method, the target tableware can be taken out with high accuracy without complicated image analysis, and the processing load on the control unit can be suppressed.

[0027] According to one aspect of the present disclosure, an individual location may be an individual carrier tray. Identification information may be attached to the carrier tray. According to such a method, the preparation required for discriminating the type of tableware is simple.

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

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

[0030] The menu preparation method may include controlling a robot arm based on the read menu information so that tableware on which a dish corresponding to the menu is arranged is set on the tray.

[0031] According to one aspect of the present disclosure, the controlling may include discriminating, based on the menu information, target tableware that is one or more types of tableware to be set on the tray from among a plurality of different types of tableware on which the arranged dishes are placed, 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 menu preparation method may be provided. The another menu preparation method may include preparing a menu card that is a member independent of the tray and carries menu information specifying a menu to be prepared on the tray.

[0033] This method may further include supplying food tickets together with a tray to a work area. This method may further include a computer reading menu information carried on the food tickets supplied to the work area together with the tray, using a reading device installed in the work area. This method may further include the computer controlling a robotic arm installed in the work area to set tableware with dishes corresponding to the menu on the tray, based on the read menu information.

Brief Description of the Drawings

[0034]

Figure 1

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Mode for Carrying Out the Invention

[0035] Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the drawings. The menu preparation system 1 of the present embodiment shown in FIG. 1 is configured to prepare the menu designated by the menu card 7 on the tray 5 supplied through the belt conveyor 3. The menu card 7 is composed of a member independent of the tray 5. The menu card 7 is placed on the tray 5. The menu preparation system 1 includes, in addition to the belt conveyor 3, a plurality of supply systems 10, a management system 50, and a notification device 70.

[0036] Menus often consist 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 warm vegetables, which are warm mixed vegetables, and cold vegetables, which are cold mixed vegetables.

[0037] The staple food is one menu item, and each of the main dish, side dish, and soup corresponding to the side dish is also one menu item. When the menu includes two or more mixed vegetables of warm vegetables and / or cold vegetables as the main dish and side dish, each mixed vegetable is also one menu item. The menu may include desserts such as fruits and yogurt. Desserts are also one menu item.

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

[0039] Each supply system 10 is configured to take out, as a supply target tableware, tableware on which a dish belonging to the menu item in charge is arranged, and which has a dish corresponding to the menu specified by the menu ticket 7, from the mounting table 9 and set it on a tray 5 supplied from the upstream of the belt conveyor 3.

[0040] Specifically, each supply system 10 is configured to discriminate a supply target tableware from a plurality of types of tableware on which dishes belonging to the menu item in charge are arranged, among which different dishes of the same menu item are arranged, and set the supply target tableware on the tray 5.

[0041] As shown in FIG. 2, each supply system 10 includes a robot arm 20 having a hand 21 at its tip that can hold the tableware D1 and D2 placed on the mounting table 9. One tableware corresponding to the supply target tableware is taken out from the group of tableware including the tableware D1 and D2 placed on the mounting table 9 by the robot arm 20 and set on the tray 5 on the belt conveyor 3. The tableware used in this embodiment is not limited, but basically all tableware with lids.

[0042] As shown in FIG. 3, the supply system 10 further includes a controller 11, a communication interface 13, and a tableware camera 15 in addition to the robot arm 20. The controller 11 is configured to control the robot arm 20 according to a command from the management system 50 and set the supply target tableware on the mounting table 9 discriminated using the tableware camera 15 on the tray 5.

[0043] The controller 11 includes a processor 11A, a memory 11B, and a storage 11C. The processor 11A executes processing according to 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 communicable with the management system 50. The supply system 10 is communicably connected to the management system 50 by wire or wirelessly through the communication interface 13.

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

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

[0047] The notification device 70 is provided to notify an operator that a tray 5 requiring manual work has arrived. An operator's work space UR is secured adjacent to the belt conveyor 3 so as to assist in menu preparation by the robot arm 20, 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 include, for example, a speaker, and can instruct an operator to set tableware on the tray 5 by voice output from the speaker. The notification device 70 can include, for example, a display, and can be configured to realize an instruction to the operator by display output from the display together with or instead of the voice.

[0049] The operator can set the tableware corresponding to the menu specified by the menu card 7 on the tray 5 based on the instructions from the notification device 70. Menu preparation involving the operator's manual intervention can be performed, for example, to prepare a very small number of special meals or to set tableware that cannot be handled by the robot arm 20 on the tray 5. At this time, since the menu information is character information, the operator can visually confirm the menu as needed and execute the necessary operations more accurately.

[0050] In addition to the notification device 70, the management system 50 is connected to the order receiving system 80 and the printer 90 via the communication interface 55, manages the order receiving data from the order receiving system 80, and further is configured to print and output the menu card 7 for each meal to be provided through the printer 90.

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

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

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

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

[0055] The meal-providing date and time is defined by the combination of the meal-providing year, month, and day and the time zone. The time zone is selected from morning, noon, and night. Each user's menu is created by selecting one dish for each menu item from the menu selection list. The menu selection list describes a group of selectable dishes for each menu item. The menu selection list is prepared for each meal-providing date and time.

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

[0057] The menu selection list further describes, for each "rice" dish, the type of tableware on which the dish is served. According to FIG. 5B, the type of tableware on which medium-sized rice is served is "rice bowl A", and the type of tableware on which small-sized rice is served is "rice bowl B".

[0058] For the menu item "soup", the menu selection list describes, for example, regular soup, low-salt soup, shiitake mushroom soup, and vegetable soup as a group of selectable "soup" dishes, and for each "soup" dish, the type of tableware on which the dish is served. According to FIG. 5B, the type of tableware on which regular soup is served is "soup bowl A", and the type of tableware on which low-salt soup is served is "soup bowl B".

[0059] The menu selection list describes, for the menu item "main dish", for example, hamburger, grilled salmon, mushroom dishes, and simmered saury as a group of selectable "main dish" dishes, and for each "main dish" dish, describes the type of tableware on which the dish is served. According to FIG. 5B, the type of tableware on which the hamburger is served is "main dish plate A", and the type of tableware on which the grilled salmon is served is "main dish plate B".

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

[0061] To prepare a meal for a certain provision date and time, a group of meal tickets 7 is prepared using a group of menu management data whose registered provision date and time of the meal match the provision date and time (S6). For one piece of menu management data, one meal ticket 7 is prepared.

[0062] The processor 51 of the management system 50 extracts a group of menu management data for the specified provision date and time from the menu management database according to a command from the user input via the user interface 57, and for each piece of menu management data, controls the printer 90 to print and output a meal ticket 7 on which the content indicated by the menu management data is described as menu information. Thereby, a group of meal tickets 7 is prepared.

[0063] FIG. 6 shows an example of the meal ticket 7. As can be understood from FIG. 6, the meal ticket 7 carries menu information as character information that allows a person looking at the meal ticket 7 to identify the menu. The menu information carried on the meal ticket 7 designates the menu to be prepared on the tray 5. Specifically, the menu information includes character information representing the name of the user at the serving destination, the management number, the provision date and time of the meal, the menu name, the menu breakdown (menu item), and the facility where the meal is provided.

[0064] After a group of meal tickets 7 are prepared (S6), and further after a set of tableware with the prepared dishes is set on the mounting table 9 of each supply system 10 (S4), the menu preparation system 1 is operated (S8). After the start of operation, trays 5 are sequentially placed on the belt conveyor 3, which is also the work area of each supply system 10 (S9). One meal ticket 7 is set on each tray 5 when it is placed on the belt conveyor 3 or in advance. The meal ticket 7 is placed at a predetermined position within the tray 5. In order to facilitate the user's visual inspection of the meal ticket when the tray 5 is served, the meal ticket is placed such that its character information faces outward of the tray 5, that is, the characters are displayed in the correct orientation for the person holding the tray 5.

[0065] Due to the function of the menu preparation system 1, tableware for each menu item corresponding to the menu specified through the meal ticket 7 is set on each tray 5 during the process of being conveyed by the belt conveyor 3. As a result, the menu specified by the meal ticket 7 is prepared on each tray 5.

[0066] The processor 51 of the management system 50 repeatedly executes the main control process shown in FIG. 7 based on the execution command input from the user in accordance with the operation of the menu preparation system 1. In the main control process, the processor 51 detects the tray 5 that has moved from upstream to the imaging area of the meal ticket camera 59 by the belt conveyor 3 based on the video data from the meal ticket camera 59 (S110), and identifies the meal ticket 7 within the tray 5 shown in the video data (S120).

[0067] As shown in FIG. 1, the meal ticket camera 59 is arranged upstream of the supply system 10 located at the most upstream of the belt conveyor 3 among the plurality of supply systems 10 installed together with the belt conveyor 3. The meal ticket camera 59 is arranged so as to be able to photograph the tray 5 conveyed by the belt conveyor 3 from above the belt conveyor 3.

[0068] The identification of the meal ticket 7 is performed by analyzing video data. The processor 51 can identify the meal ticket 7 shown in the video data based on, for example, the shape and color of the meal ticket 7, and further the character information carried by the meal ticket 7. The processor 51 can obtain the menu information of the meal ticket 7 and other various information through the meal ticket camera 59. For example, the meal ticket camera 59 is used to identify the size, position, and orientation of the tray 5, the position and orientation of the meal ticket 7 in the tray 5, and to identify the area for setting the tableware described later from these pieces of information. The processor 51 can further use the time when the position of the tray 5 is recognized as the starting point for calculating the movement time or distance to each supply system 10.

[0069] The processor 51 reads the menu information carried by the meal ticket 7 as character information by converting the image data of the meal ticket 7 extracted from the video data into text data. In this way, the meal ticket 7 is optically read using the meal ticket camera 59. Here, the name of the user carried by the meal ticket 7 may be read as character information, or the management number carried by the meal ticket 7 may be read as character information.

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

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

[0072] After that, for each menu item, the processor 51 transmits picking tableware information to each supply system 10 responsible for supplying the tableware of the corresponding menu item (S140). The picking tableware information is information that describes the type of tableware to be set on the tray 5, that is, the tableware for the target item. The picking tableware information can include the identification number of the tray 5 on which the target item tableware is to be set, and information on the moving distance or moving time from the position of the food ticket camera 59 to the supply system 10 until the tray 5 arrives at the supply system 10.

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

[0074] On the premise that the tray 5 moves in conjunction with the movement of the belt conveyor 3 until the menu preparation is completed downstream of the food ticket camera 59, the processor 51 periodically transmits the identification number of the tray 5 that reaches the front area of each supply system 10 to each supply system 10 as tray conveyance information. The tray 5 located in the front area of the supply system 10 is calculated from the moving distance or moving time from the shooting area of the food ticket camera 59 and is recognized as the target tray 5 for setting tableware by the robot arm 20.

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

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

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

[0078] Separate from this supply control process, the controller 11 can execute a process of temporarily storing the picking tableware information transmitted from the management system 50 in the memory 11B. The controller 11 discriminates the identification number of the tray 5 supplied to the front area from the tray conveyance information, and can discriminate the type of tableware described as the target item tableware in the picking tableware information with the identification number matching that of the tray 5 as the supply target tableware to be set for the tray 5 (S220).

[0079] After that, the controller 11 discriminates the position of the supply target tableware on the mounting table 9 based on the video data obtained by photographing the mounting table 9 with the tableware camera 15 (S230).

[0080] For this discrimination, a tableware database shown in FIG. 9 is stored in advance in the storage 11C of the supply system 10. The tableware database stores, for each type, detailed data describing the characteristics of the corresponding type of tableware for a plurality of types of tableware used in the menu items for which the supply system 10 is responsible.

[0081] The detailed data is, for example, data describing the identification code of the corresponding type of tableware. According to this example, on each mounting table 9 of the supply system 10, as shown in FIG. 10, a sheet pan 91 labeled with the identification code of the corresponding type of tableware for each type of tableware is placed. The sheet pan 91 is a carrier for tableware.

[0082] The group of tableware placed on one sheet pan 91 is a group of the same type of tableware on which the same dish is served. A group of the same type of tableware on which the same dish is served is conveyed from the cooking room and placed on the mounting table 9 in a state of being placed on the sheet pan 91 labeled with the corresponding identification code.

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

[0084] According to this example, based on the video data of the mounting table 9, the controller 11 can read the identification code of each sheet pan 91 to determine the type of tableware placed on each sheet pan 91, and can determine the position of the tableware to be supplied on the mounting table 9.

[0085] Specifically, the controller 11 can execute the position determination process shown in FIG. 11A in S230. When starting the position determination process shown in FIG. 11A, the controller 11 refers to the tableware database to determine the identification code of the tableware to be supplied (S231). Then, the controller 11 optically determines the target sheet pan 91 including the identification label 93 with the identification code of the tableware to be supplied by video analysis of the video data from the tableware camera 15 (S232).

[0086] The controller 11 determines that the position of one piece of tableware placed on the target sheet pan on the mounting table 9 is the position of the tableware to be supplied (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 have feature data that describes the appearance features of the corresponding type of tableware instead of or in addition to the identification code. The feature data may be data that describes at least one feature of the size, shape, color, and pattern of the corresponding type of tableware. The feature data may be image data obtained by photographing the appearance of the tableware.

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

[0089] The controller 11 discriminates the tableware whose features indicated by the feature data found by the search match the appearance features within the video of the placement table 9 as the tableware to be supplied, and determines the position of the tableware to be supplied on the placement table 9 (S237). In this way, the controller 11 can execute the process of S230.

[0090] When the controller 11 finishes the process in S230, it determines whether the position determination of the tableware to be supplied has been successful (S240). If the position determination fails (No in S240), the controller 11 transmits a message notifying that the tableware to be supplied should be supplied to the tray 5 manually to the management system 50 (S245), and ends the supply control process for the corresponding tray 5.

[0091] On the other hand, when the controller 11 succeeds in determining the position of the tableware to be supplied (Yes in S240), it controls the robot arm 20 to take out the tableware to be supplied existing at the determined position from the placement table 9 (S250). Further, it controls the robot arm 20 to set the taken-out tableware to be supplied in a predetermined area of the tray 5 in the front area of the supply system 10 (S260).

[0092] The positions within the tray 5 where the tableware to be supplied should be set are determined in advance for each menu item. According to one example, in the tray 5, regions R11, R12, R13, R21, R22 where a rice bowl D11, a soup bowl D12, a main dish plate D13, a cold dish plate D14, and a dessert plate D15 should be set are defined as shown in FIG. 12.

[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, regions R11, R12, R13 where a rice bowl D11, a soup bowl D12, and a main dish plate D13 should be set are defined, and in the second section R2, regions R21, R22 where a cold dish plate D14 and a dessert plate D15 should be installed may be defined.

[0094] In S250, the controller 11 controls the robot arm 20 so that the tableware to be supplied is set in the region within the tray 5 corresponding to the tableware of the menu item for which it is responsible. The relative position of the tray 5 conveyed in sequence by the belt conveyor 3 with respect to the robot arm 20 is the same when the control of the robot arm 20 for setting the tableware to be supplied with respect to the tray 5 is performed.

[0095] Therefore, the controller 11 can appropriately set the tableware to be supplied in a predetermined region of the tray 5 by controlling the robot arm 20 so that the tableware to be supplied held by the robot arm 20 is set in a predetermined region on the belt conveyor 3.

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

[0097] When a camera for tray photographing is provided 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 the tray conveyance information from the management system 50.

[0098] In this way, the controller 11 can execute the processes of S220 - S260 for each tray and set the tableware on which the dishes corresponding to the menu specified by the food ticket 7 in the tray 5 are arranged in the tray 5.

[0099] That is, in the menu preparation system 1 of the present embodiment, each supply system 10 controls the robot arm 20 in accordance with the conveyance operation of the tray 5 by the belt conveyor 3, and sets in the tray 5 the tableware on which the dishes of the menu items in charge are arranged and the tableware on which the dishes corresponding to the menu specified by the food ticket 7 are arranged. Thus, the menu specified by the food ticket 7 is prepared in the tray 5. In each supply system 10, one or more types of tableware can be placed on the tray 5.

[0100] In addition, based on the above-described message received from the supply system 10, the processor 51 of the management system 50 determines the tray 5 for which the menu preparation corresponding to the food ticket 7 is not completed in the control of the robot arm 20, and executes a process of controlling the notification device 70 so that the menu preparation for the corresponding tray 5 is completed through manual work by the operator.

[0101] That is, for the tray 5 that requires the operator for menu preparation, when the tray 5 is conveyed by the belt conveyor 3 to in front of the work space UR of the operator, the processor 51 commands the operator audibly through the notification device 70 to set the tableware lacking in 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 of the menu card 7, the operator can recognize the tableware to be placed on the tray 5 and set the tableware corresponding to the tray 5. Thereby, while receiving the support of the operator as needed, the menu preparation system 1 can prepare the menu designated by the menu 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 with reference to FIGS. 13 and 14. The hand 21 shown in FIGS. 13 and 14 is particularly suitable for handling rice bowls and soup bowls as tableware. Another shaped hand 21 may be attached to the robot arm 20 that does not handle bowls.

[0104] As can be understood from the figure, the hand 21 includes a clamping part 210 and a pressing part 230. The clamping part 210 includes left and right finger components 211, 212. The clamping part 210 supports the finger components 211, 212 so as to be laterally displaceable so that the distance between the left and right finger components 211, 212 can be changed.

[0105] Each finger component 211, 212 is provided with two finger parts 215 extending in the lateral direction on the surface facing the other finger component 212, 211. When the tableware is clamped by the hand 21, the finger parts 215 contact the lower part of the curved side surface of the tableware, where the normal line faces diagonally downward.

[0106] When clamping the tableware, the clamping part 210 clamps the tableware with the left and right finger components 211, 212 and presses the tableware from the lateral direction. At this time, the lower part of the side surface of the tableware is strongly pressed against the tip of the finger part 215. By this pressing, the tableware is supported by the finger part 215 so as not to fall downward.

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

[0108] When the tableware is clamped by the clamping part 210, the lower surface of the lower component 233 contacts the upper surface of the tableware and presses the upper surface of the tableware. When the upper surface of the tableware clamped by the clamping part 210 tries to push up the lower component 233, the biasing mechanism 231 presses the tableware downward.

[0109] The biasing mechanism 231 generates an elastic force that presses the tableware from top to bottom due to the elastic deformation that occurs when the upper surface of the tableware clamped by the clamping part 210 tries to push up the lower component 233, and is configured to clamp the tableware vertically between the lower component 233 and the finger components 211 and 212.

[0110] According to the hand 21 configured in this way, it is possible to clamp the tableware with a lid left and right and vertically while pressing down on the lid of the tableware with a lid, and carry the tableware to the tray 5 while suppressing the spillage of the dishes in the tableware and the soiling of the tableware. Therefore, this hand 21 is very excellent for transporting tableware with a lid to the tray 5 using the robot arm 20.

[0111] The menu preparation system 1 of the present embodiment described above is configured to optically read the menu information carried on the menu card 7 supplied together with the tray 5 using the menu card camera 59. The menu card 7 is composed of 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 with dishes corresponding to the menu on the tray 5 on the robot arm 20.

[0113] When the food label 7 for specifying the menu is separate from the tray 5, it is not necessary to prepare a tray with a two-dimensional code as in the conventional case for each menu. When the food label 7 supplied together with the tray 5 is changed, the menu corresponding to the changed food label 7 is prepared on the tray 5. Therefore, according to the present embodiment, the system can be constructed at low cost without changing the tray and tableware, and a menu preparation system 1 with high adaptability to various menu preparations can be provided.

[0114] Furthermore, the food label 7 of the present embodiment carries menu information as character information that allows a person who views the food label 7 to identify the menu. When the food label 7 carries character information that allows a person to identify the menu, the workability of a person when human work intervenes before serving can be improved compared to the case where the food label 7 carries the menu information only in a two-dimensional code.

[0115] If the menu information is carried on the food label 7 only in a two-dimensional code, the operator needs to read the two-dimensional code with a reader when the menu should be grasped. There are situations where a person visually checks the menu for trouble or preparation of special meals and manually sets the tableware on the tray 5 instead of the robot arm 20. There are also situations where the carrier checks the menu when transporting the prepared tray 5 to the user. The food label 7 carrying character information can improve the workability of a person in such situations.

[0116] In the present embodiment, it is also significant that the food label 7 is composed of a printed sheet. By using such a printed sheet as the food label 7, various food labels 7 for specifying different menus can be easily prepared.

[0117] As an example, as shown in FIG. 11B, the menu preparation system 1 of the present embodiment optically discriminates the appearance of the target tableware to be supplied using the tableware camera 15, and controls the robot arm 20 so that the robot arm 20 takes out the target tableware from among a plurality of types of tableware.

[0118] According to such a control method, even if it is not necessary to classify multiple types of tableware by type using the sheet pan 91, the robot arm 20 can be controlled to appropriately take out the target tableware to be supplied from among the tableware groups.

[0119] As an example, as shown in FIG. 11A, in the menu preparation system 1 of the present embodiment, multiple types of tableware are prepared in individual sheet pans 91 for each type. An identification label 93 on which an identification code capable of identifying the type of prepared tableware is described is attached to each of the sheet pans 91.

[0120] Based on optically reading the identification code, the menu preparation system 1 determines the sheet pan 91 on which the target tableware to be supplied is prepared, and controls the robot arm 20 so that the robot arm 20 takes out the target tableware to be supplied from among multiple types of tableware.

[0121] According to such a control method, it is possible to accurately determine the type of tableware without complicated video analysis, and the processing load on the controller 11 can be suppressed. In particular, in the present embodiment, since the identification label 93 is provided on the sheet pan 91 which is a carrier plate, the preparations necessary for determining the type of tableware and picking the target tableware to be supplied are simple.

[0122] In the present embodiment, a covered tableware is used as the tableware for serving dishes. According to the covered tableware, it not only helps in terms of the hygiene of the served dishes, but also can prevent foreign matter from being mixed in during the process of preparing the menu on the tray 5.

[0123] Furthermore, in the present embodiment, the hand 21 provided at the tip of the robot arm 20 is configured to be able to hold and carry the covered tableware while pressing down the lid of the covered tableware. Therefore, it is also possible to suppress the contents of the tableware from leaking out due to the shaking when the tableware is placed on the tray 5.

[0124] Needless to say, the present disclosure is not limited to the above-described embodiments and can take various forms. The menu preparation system 1A shown in FIG. 15 is a first modification of the menu preparation system 1 described above.

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

[0126] The supply system 10A of the first modification corresponds to the supply system 10 of the above-described embodiment. Each supply system 10A can read the food ticket 7 placed on the tray 5 using the camera C1 connected to itself, and further identify the outer edge of the tray 5 by video analysis to 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 set, on the tray 5, tableware for the menu item in charge, which is tableware on which the dish corresponding to the menu specified by the food ticket 7 is served.

[0128] That is, at least a part of the functions of the management system 50 may be mounted on the supply system 10A. The plurality of supply systems 10A can set a group of tableware corresponding to the menu on the tray 5 while cooperating with each other. In particular, by providing a camera C1 for capturing an image of the tray 5 for each supply system 10, it is possible to check the food ticket information, the position, and the orientation of the tray 5 immediately before setting the tableware on the tray 5, so that the tableware can be appropriately arranged in the tray 5 regardless of the orientation of the tray 5.

[0129] The menu preparation system 1A of the first modification example may be configured to function without using the management system 50. That is, the controller 11 of each supply system 10A can be provided with a menu selection list and a tableware database for which it is responsible. When the tray 5 arrives, the controller 11 optically reads the menu information on the menu card 7 with the camera C1 connected to itself, determines the type of tableware corresponding to the read menu item information, and may be configured to place the tableware on the mounting table 9 into the tray 5. At this time, the menu information on the menu card 7 can be carried as character information, as a two-dimensional code, or both. By configuring each supply system 10A in this way, it is possible to complete the process from reading the menu card 7 to setting the tableware within each supply system 10A. In this example, it is possible to easily shift from the conventional system to the menu adjustment system by the robot.

[0130] The menu preparation system 1B shown in FIG. 16 is a second modification example of the above-described menu preparation system 1. According to this menu preparation system 1B, the work space UR of the operator is provided not at the most downstream of the belt conveyor 3 but at an intermediate point of the belt conveyor 3 sandwiched between a plurality of supply systems 10B. The supply system 10B of the second modification example corresponds to the supply system 10 of the above-described embodiment.

[0131] In this case, cameras C2 and C3 that function as menu card cameras 59 can be provided at the upstream and downstream portions of the belt conveyor 3 that are separated with the work space UR of the operator as a boundary. The supply system 10B located downstream of the work space UR of the operator can read the menu card 7 placed on the tray 5 and further determine the orientation of the tray 5 based on the tray 5 and the menu card 7 photographed by the camera C3. According to such a configuration, even if the tray 5 moves or the orientation of the tray 5 changes due to the work by the operator, it is possible to appropriately perform menu preparation for the tray 5.

[0132] In addition, another example is conceivable where the food ticket 7 is provided with a two-dimensional code in addition to the character information, enabling the system to efficiently read the menu information of the food ticket. The menu preparation system 1 of the above-described embodiment uses a plurality of robot arms 20 arranged along the belt conveyor 3 to set a plurality of types of tableware on the tray 5 according to the menu specified by the food ticket 7. However, the number of robot arms required to prepare one menu can be determined according to the capabilities and the system. For example, the menu preparation system 1 may be configured such that one robot arm 20 sets all the tableware corresponding to the menu on the tray 5. Also, the plurality of supply systems 10 and the management system 50 may be integrated into one system.

[0133] The functions of one component in the above-described embodiment may be distributed and provided among a plurality of components. The functions of a plurality of components may be integrated into one component. A part of the configuration of the above-described embodiment may be omitted. At least a part of the configuration of the above-described embodiment may be added to or replaced with the configuration of other above-described embodiments. All aspects included in the technical idea specified from the language described in the claims are embodiments of the present disclosure.

Explanation of Reference Numerals

[0134] 1, 1A, 1B... Menu preparation system, 3... Belt conveyor, 5... Tray, 7... Food ticket, 9... Mounting table, 10, 10A, 10B... Supply system, 11... Controller, 11A... Processor, 11B... Memory, 11C... Storage, 13... Communication interface, 15... Tableware camera, 20... Robot arm, 21... Hand, 50... Management system, 51... Processor, 52... Memory, 53... Storage, 55... Communication interface, 57... User interface, 59... Food ticket camera, 70... Notification device, 90... Printer, 91... Sheet pan, 93... Identification label, 210... Clamping portion, 211, 212... Finger components, 215... Finger portion, 230... Pressing portion, 231... Biasing mechanism, 233... Lower structure, C1, C2, C3... Camera.

Claims

1. Menu information carried on a menu card that is a member independent of the tray supplied together with the tray, the menu information specifying the menu to be prepared on the tray, and a reading unit configured to read the menu information; Based on the menu information read by the reading unit, among a plurality of types of tableware with different types of tableware for the prepared dishes, determining one or more types of tableware to be set on the tray as target tableware, and controlling the robot arm to set the target tableware on the tray, a control unit configured to cause the robot arm to set tableware with a dish corresponding to the menu on the tray; comprising The plurality of types of tableware are prepared at individual locations for each type. At each of the plurality of locations as the individual locations, a sheet carrying identification information capable of identifying the type of tableware prepared is placed or pasted. The control unit determines the location where the target tableware is prepared by optically reading the identification information carried on the sheet, and controls the robot arm so that the robot arm takes out the target tableware from the plurality of types of tableware, a menu preparation system.

2. Menu information carried on a menu card that is a member independent of the tray supplied together with the tray, the menu information specifying the menu to be prepared on the tray, and a reading unit configured to read the menu information; Based on the menu information read by the reading unit, among a plurality of types of tableware with different types of tableware for the prepared dishes, determining one or more types of tableware to be set on the tray as target tableware, and controlling the robot arm to set the target tableware on the tray, a control unit configured to cause the robot arm to set tableware with a dish corresponding to the menu on the tray; comprising The plurality of types of tableware are prepared on individual transport trays for each type. Each of the plurality of transport trays as the individual transport trays is provided with identification information capable of identifying the type of tableware prepared. The control unit discriminates the location where the target tableware is prepared by optically reading the identification information, and controls the robot arm so that the robot arm takes out the target tableware from among the plurality of types of tableware. A menu preparation system.

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

4. The menu preparation system according to claim 3, wherein the menu card is a sheet that carries the menu information as character information that enables a person who views the menu card to identify the menu, and the sheet on which the character information is printed.

5. In an environment where the menu information designates a menu including a plurality of items including a staple food and one or more side dishes, for each item, a tableware on which a dish belonging to the corresponding item is served, and the menu The control unit discriminates one or more types of target item tableware to be set on the corresponding tray, The target tableware includes the target item tableware for each item, The menu preparation system according to any one of claims 1 to 4, wherein the control unit controls the robot arm so that the target item tableware corresponding to each item is set on the tray.

6. The tray has a plurality of areas, The menu information designates a dish to be set for each area, The control unit discriminates 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 area, The menu preparation system according to any one of claims 1 to 4, wherein the control unit controls the robot arm so that the target area tableware discriminated for the corresponding area is set for each area.

7. The individual place is an individual carrier dish, and the menu preparation system according to claim 1, wherein the sheet carrying the identification information is placed or attached to the carrier dish.

8. 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 7.

9. A menu preparation method executed by a computer, reading, using a reading device, menu information carried on a food label that is a member independent of the tray supplied together with the tray and that specifies the menu to be prepared on the tray; based on the read menu information, discriminating 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 served; controlling the robot arm so as to set the target tableware on the tray, thereby controlling the robot arm so as to set tableware with a dish corresponding to the menu on the tray; including the plurality of types of tableware are prepared at individual places for each type, at each of the plurality of places as the individual places, a sheet carrying identification information capable of identifying the type of prepared tableware is placed or attached; the controlling includes optically reading the identification information carried on the sheet using a camera to discriminate the place where the target tableware is prepared, and controlling the robot arm so that the robot arm takes out the target tableware from among the plurality of types of tableware.

10. A menu preparation method executed by a computer, Menu information carried on a menu card, which is a member independent of the tray and is supplied together with the tray, and which specifies the menu to be prepared on the tray, is read using a reading device. Based on the read menu information, one or more target tableware items to be set on the tray are discriminated from a plurality of types of tableware with different dishes served, among the plurality of types of tableware. The robot arm is controlled so as to set the tableware with the dish corresponding to the menu on the tray by controlling the robot arm to set the target tableware on the tray. Including The plurality of types of tableware are prepared on individual transport trays for each type. Each of the plurality of transport trays as the individual transport trays is attached with identification information capable of identifying the type of tableware prepared. The controlling includes discriminating the location where the target tableware is prepared by optically reading the identification information using a camera, and controlling the robot arm so that the robot arm takes out the target tableware from among the plurality of types of tableware. A menu preparation method.

11. A menu preparation method, As a member independent of the tray, a menu card carrying menu information specifying the menu to be prepared on the tray is prepared. The menu card is supplied to the work area together with the tray. A computer reads the menu information carried on the menu card supplied to the work area together with the tray, using a reading device installed in the work area. Based on the read menu information, the computer discriminates one or more target tableware items to be set on the tray from a plurality of types of tableware with different dishes served, among the plurality of types of tableware. The computer controls the robot arm so that the target tableware is set on the tray by the robot arm installed in the work area, and controls the robot arm so that tableware on which a dish corresponding to the menu is arranged is set on the tray. including The plurality of types of tableware are prepared at individual locations for each type. At each of the plurality of locations as the individual locations, a sheet carrying identification information capable of identifying the type of prepared tableware is placed or pasted. The controlling includes determining the location where the target tableware is prepared by optically reading the identification information carried on the sheet using a camera, and controlling the robot arm so that the robot arm takes out the target tableware from among the plurality of types of tableware. A menu preparation method.

12. A menu preparation method, Prepare a menu card carrying menu information specifying the menu to be prepared on the tray as a member independent of the tray. Supply the menu card to the work area together with the tray. The computer reads the menu information carried on the menu card supplied to the work area together with the tray using a reading device installed in the work area. Based on the read menu information, the computer determines a target tableware, which is one or more types of tableware to be set on the tray, from among a plurality of types of tableware with different dishes arranged. The computer controls the robot arm so that the target tableware is set on the tray by the robot arm installed in the work area, and controls the robot arm so that tableware on which a dish corresponding to the menu is arranged is set on the tray. including The plurality of types of tableware are prepared on individual transport trays for each type. Each of the plurality of transport trays as the individual transport trays is provided with identification information capable of identifying the type of tableware prepared. The controlling includes determining the location where the target tableware is prepared by optically reading the identification information using a camera, and controlling the robot arm so that the robot arm takes out the target tableware from among the plurality of types of tableware. This is a menu preparation method.

Images