AUTOMATED WEIGHING AND CONVEYING SYSTEMS AND METHODS FOR CONTROLLING AUTOMATED WEIGHING AND CONVEYING SYSTEMS

Abstract

The invention relates to an automatic weighing and conveying system which may include a frozen raw material conveying unit which conveys frozen raw material, a frozen raw material hopper which stores and discharges frozen raw material supplied by the frozen raw material conveying unit, a raw material conveying unit distinct from the frozen raw material conveying unit which conveys raw material, a raw material hopper distinct from the frozen raw material hopper which stores and discharges raw material supplied by the raw material conveying unit, and a processing unit controlling the frozen raw material conveying unit and the raw material conveying unit to stop the operation of the frozen raw material conveying unit based on the amount of frozen raw material contained in the frozen raw material hopper with a first preset amount,and to stop the raw material conveying unit based on the amount of raw material contained in the raw material hopper with the second preset amount.

Description

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

[0001] [Cross-citation with related applications]

[0002] This application claims priority to Korean Patent Application No. 10-2023-0135229, filed October 11, 2023, the entire disclosure of which is incorporated herein by reference.

[0003] [Technical Field]

[0004] The present disclosure relates to an automatic weighing conveying system and a control method for the automatic weighing conveying system.

[0005] An automatic weighing and conveying system is used in food manufacturing equipment to weigh and convey each raw material used in the manufacturing process. Typically, when manufacturing food, each raw material used must be preprocessed and weighed according to the specific manufacturing method.

[0006] At this time, the system for measuring and transporting each raw material may include a transport section for transporting each raw material, and a hopper section for receiving and storing each raw material from the transport section.

[0007] Each raw material can be transported manually by the user or by a conveyor belt or other conveyor system. Once each raw material is transported from the conveyor system, the user can weigh it. However, recently, there has been a growing need for a system that preprocesses, automatically weighs, and transports each raw material for more efficient manufacturing.

[0008] The problem to be solved by the present disclosure is to provide an automatic weighing and transporting system capable of automatically transporting and weighing frozen raw materials and raw materials, and a control method for the automatic weighing and transporting system.

[0009] An automatic weighing and transporting system according to an embodiment of the present disclosure includes a frozen raw material transporting unit configured to transport a frozen raw material, a frozen raw material hopper unit configured to store and discharge the frozen raw material supplied by the frozen raw material transporting unit, a raw material transporting unit configured to transport a raw material and be distinct from the frozen raw material transporting unit, a raw material hopper unit configured to store and discharge the raw material supplied by the raw material transporting unit, and a processor configured to control the frozen raw material transporting unit and the raw material transporting unit to stop the operation of the frozen raw material transporting unit based on the frozen raw material hopper unit receiving a first preset amount of the frozen raw material, and to stop the operation of the raw material transporting unit based on the frozen raw material hopper receiving a second preset amount of the raw material.

[0010] The automatic weighing and transport system according to an embodiment of the present disclosure may further include a mobile robot configured to transport the frozen raw material and the raw raw material discharged from the frozen raw material hopper section and the raw raw material hopper section to a frozen raw material supply position for receiving the frozen raw material from the frozen raw material hopper section and a raw raw material supply position for receiving the raw raw material from the raw raw material hopper section.

[0011] The processor can control the frozen raw material hopper section so that the frozen raw material is discharged from the frozen raw material hopper section based on the receiving section being located at the frozen raw material supply position by the mobile robot, and can control the raw raw material hopper section so that the raw material is discharged from the raw material hopper section based on the receiving section being located at the raw material supply position by the mobile robot.

[0012] The automatic weighing transport system according to an embodiment of the present disclosure may further include a measuring unit including a frozen raw material measuring unit provided at the frozen raw material supply location to measure the weight of the receiving unit located at the frozen raw material supply location, and a raw material measuring unit provided at the raw material supply location to measure the weight of the receiving unit located at the raw material supply location.

[0013] The above frozen raw material measuring unit can measure a first weight of the receiving unit that has arrived at the frozen raw material supply location and a second weight of the receiving unit after discharge of the frozen raw material from the frozen raw material hopper unit has been completed, and the raw material measuring unit can measure a third weight of the receiving unit that has arrived at the raw material supply location and a fourth weight of the receiving unit after discharge of the raw material from the raw material hopper unit has been completed.

[0014] The processor can compare and determine whether the weight obtained by subtracting the first weight from the second weight is within a preset weight range of the frozen raw material, and can compare and determine whether the weight obtained by subtracting the third weight from the fourth weight is within a preset weight range of the raw material.

[0015] The automatic weighing conveying system according to an embodiment of the present disclosure further includes a control panel, and the processor can control the control panel to notify a user of a weight obtained by subtracting the first weight from the second weight being outside the preset weight range of the frozen raw material or a weight obtained by subtracting the third weight from the fourth weight being outside the preset weight range of the raw material.

[0016] An automatic weighing conveying system according to an embodiment of the present disclosure further includes a speaker, and the processor can control the speaker to sound an alarm based on whether a weight obtained by subtracting the first weight from the second weight is outside the preset weight range of the frozen raw material, or whether a weight obtained by subtracting the third weight from the fourth weight is outside the preset weight range of the raw material.

[0017] The raw material hopper section may be located on one side of the frozen material hopper section so as to be adjacent to the frozen material hopper section.

[0018] The above frozen raw material supply position and the raw material supply position are arranged in a row, and the automatic weighing and transport system according to an embodiment of the present disclosure may further include a mobile robot transport unit that moves the mobile robot located at one of the frozen raw material supply position and the raw material supply position to the other of the frozen raw material supply position and the raw material supply position.

[0019] The above mobile robot transport unit may be provided to move the mobile robot located at the frozen raw material supply location to the raw material supply location.

[0020] The processor may operate the mobile robot transport unit to transport the mobile robot located at the frozen raw material supply location to the raw material supply location based on the weight obtained by subtracting the first weight from the second weight being within the preset frozen raw material weight range.

[0021] The above mobile robot can move from the raw material supply position to the standby position based on the weight obtained by subtracting the third weight from the fourth weight being within the preset raw material weight range.

[0022] The above frozen raw material hopper section may include a first frozen raw material hopper configured to store and discharge a first frozen raw material and a second frozen raw material hopper configured to store and discharge a second frozen raw material that is distinct from the first frozen raw material, and the frozen raw material transport section may include a transport rail configured to receive and transport the first frozen raw material and the second frozen raw material, and a switching rail configured to have one end for receiving the first frozen raw material and the second frozen raw material from the transport rail so as to transport the first frozen raw material and the second frozen raw material to the first frozen raw material hopper and the second frozen raw material hopper, respectively, and an other end for switching positions between the first frozen raw material hopper and the second frozen raw material hopper with respect to the one end.

[0023] The raw material hopper section may include a first raw material hopper configured to store and discharge a first raw material and a second raw material hopper configured to store and discharge a second raw material that is distinct from the first raw material, and the raw material transport section may include a transport rail configured to receive and transport the first raw material and the second raw material, and a switching rail configured to have one end for receiving the first raw material and the second raw material from the transport rail so as to transport the first raw material and the second raw material to the first raw material hopper and the second raw material hopper, respectively, and the other end for switching positions between the first raw material hopper and the second raw material hopper with respect to the one end.

[0024] A control method of an automatic weighing and transporting system according to an embodiment of the present disclosure comprises: controlling a frozen raw material transporting unit and a raw raw material transporting unit to transport frozen raw material and raw raw material to a frozen raw material hopper unit and a raw raw material hopper unit, respectively; controlling the operation of the frozen raw material transporting unit to stop based on the fact that a first preset amount of frozen raw material is received in the frozen raw material hopper unit; controlling the operation of the raw raw material transporting unit to stop based on the fact that a second preset amount of raw material is received in the raw raw material hopper unit; moving a mobile robot that loads a receiving unit that receives frozen raw material and raw raw material from the frozen raw material hopper unit and the raw raw material hopper unit to a frozen raw material supplying position that receives frozen raw material from the frozen raw material hopper unit; controlling the frozen raw material hopper unit to discharge frozen raw material based on the arrival of the receiving unit to the frozen raw material supplying position by the mobile robot; and, based on the completion of the discharge of frozen raw material, loading the receiving unit located at the frozen raw material supplying position with the mobile robot to supply the raw raw material. It may include moving the raw material from the hopper unit to a raw material supply position to receive raw material, and controlling the raw material hopper unit to discharge raw material based on the arrival of the mobile robot to the raw material supply position.

[0025] A control method of an automatic weighing and transport system according to an embodiment of the present disclosure may further include controlling a frozen raw material measuring unit provided at the frozen raw material supply location to measure a first weight of the receiving unit based on the arrival of the receiving unit at the frozen raw material supply location, controlling the frozen raw material measuring unit to measure a second weight of the receiving unit based on the completion of discharge of the frozen raw material from the frozen raw material hopper unit, comparing and determining whether a weight obtained by subtracting the first weight from the second weight is within a preset frozen raw material weight range, and controlling to notify a user using a control panel based on the weight obtained by subtracting the first weight from the second weight being outside the preset frozen raw material weight range.

[0026] A control method of an automatic weighing conveying system according to an embodiment of the present disclosure may further include controlling a raw material measuring unit provided at the raw material supply location to measure a third weight of the receiving unit based on the arrival of the receiving unit at the raw material supply location, controlling the raw material measuring unit to measure a fourth weight of the receiving unit based on the completion of discharge of the raw material from the raw material hopper unit, determining whether a weight obtained by subtracting the third weight from the fourth weight is within a weight range of the raw material, and controlling the control panel to sound an alarm to a user based on the fact that a weight obtained by subtracting the third weight from the fourth weight is outside the weight range of the raw material.

[0027] A control method of an automatic weighing transport system according to an embodiment of the present disclosure may further include operating a mobile robot transport unit configured to transport the mobile robot from the frozen raw material supply location to the raw material supply location based on a weight obtained by subtracting the first weight from the second weight being within a weight range of the frozen raw material.

[0028] The control method of the automatic weighing transport system according to the embodiment of the present disclosure may further include moving the mobile robot from the raw material supply position to the standby position based on the weight obtained by subtracting the third weight from the fourth weight being within the weight range of the raw material.

[0029] According to the embodiment of the present disclosure, frozen raw materials and raw materials can be automatically transported and weighed, so that the transport and weighing speed of raw materials can be increased.

[0030] According to the embodiment of the present disclosure, frozen raw materials and raw materials can be automatically weighed, so that the weighing accuracy of raw materials can be improved.

[0031] According to an embodiment of the present disclosure, a mobile robot can move a receiving portion for storing raw materials and the hopper portion can be controlled according to the position of the mobile robot, so that the metering of raw materials can be performed without stopping, thereby improving productivity.

[0032] FIG. 1 is a schematic diagram of an automatic weighing conveying system according to one embodiment of the present disclosure.

[0033] Figure 2 is a front view of a raw material hopper section according to one embodiment of the present disclosure.

[0034] Figure 3 is a front view of a refrigerated raw material hopper section according to one embodiment of the present disclosure.

[0035] FIG. 4 is a side view of a transport section and a hopper section according to one embodiment of the present disclosure.

[0036] Figure 5 is a front view of a refrigerated raw material hopper section according to another embodiment of the present disclosure.

[0037] FIG. 6 is a side view of a transport section and a hopper section according to another embodiment of the present disclosure.

[0038] Figure 7 is a front view of a refrigerated raw material hopper section according to another embodiment of the present disclosure.

[0039] FIG. 8 is a side view of a transport section and a hopper section according to another embodiment of the present disclosure.

[0040] Figure 9 is a front view of a refrigerated raw material hopper section according to another embodiment of the present disclosure.

[0041] FIG. 10 is a side view of a transport section and a hopper section according to another embodiment of the present disclosure.

[0042] Fig. 11 is a front view of a refrigerated raw material hopper section according to another embodiment of the present disclosure.

[0043] Fig. 12 is a front view of a refrigerated raw material hopper section according to another embodiment of the present disclosure.

[0044] FIG. 13 is a side view of a transport section and a hopper section according to another embodiment of the present disclosure.

[0045] FIG. 14 is a perspective view of a mobile robot according to one embodiment of the present disclosure.

[0046] FIG. 15 is a front view of a mobile robot according to one embodiment of the present disclosure.

[0047] FIG. 16 is a side view of a mobile robot according to one embodiment of the present disclosure.

[0048] FIG. 17 is a perspective view of a mobile robot according to another embodiment of the present disclosure.

[0049] FIG. 18 is a side view of a mobile robot supporting a receiving portion according to another embodiment of the present disclosure.

[0050] FIG. 19 is a block diagram of an automatic weighing conveying system according to one embodiment of the present disclosure.

[0051] FIGS. 20 to 22 are flowcharts illustrating a control method of an automatic weighing transport system according to one embodiment of the present disclosure.

[0052] FIG. 23 is a schematic diagram of an automatic weighing conveying system according to another embodiment of the present disclosure.

[0053] FIG. 24 is a schematic diagram of an automatic weighing conveying system according to another embodiment of the present disclosure.

[0054] FIG. 25 is a schematic diagram of an automatic weighing conveying system according to another embodiment of the present disclosure.

[0055] FIG. 26 is a schematic diagram of an automatic weighing conveying system according to another embodiment of the present disclosure.

[0056] Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. When designating components in each drawing, it should be noted that, where possible, identical components are given the same reference numerals, even if they appear in different drawings. Furthermore, when describing embodiments of the present invention, detailed descriptions of known components or functions will be omitted if they are deemed to hinder understanding of the embodiments of the present invention.

[0057] In this specification, the terms "front-back," "left-right," and "up-down" are used for convenience of explanation and may be orthogonal to each other. The terms "horizontal" and "vertical" are used for convenience of explanation and may be orthogonal to each other. However, these directions are determined relative to the arrangement of the components of the automatic weighing and transport system, and the "up-down" direction may not necessarily mean the vertical direction.

[0058] Additionally, terms including ordinal numbers such as “first,” “second,” etc. used herein may be used to describe various components, but the components are not limited by the terms, and the terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. The term “and / or” includes any combination of a plurality of related listed items or any item among a plurality of related listed items.

[0059] Figure 1 is a schematic diagram of an automatic weighing and conveying system according to one embodiment of the present disclosure. Referring to Figure 1, the automatic weighing and conveying system (1) may be a system for transporting and weighing raw materials for manufacturing food. Typically, when manufacturing food, it is necessary to preprocess each raw material and weigh them at a preset ratio.

[0060] In particular, the automatic weighing and transporting system (1) according to one embodiment of the present disclosure may be a facility system for manufacturing dumplings. Dumplings may require dumpling skins and each raw material inserted into the dumpling skins. The automatic weighing and transporting system (1) according to one embodiment of the present disclosure may be a system for preprocessing each raw material inserted into the dumpling skins and pre-weighing each raw material according to a ratio before mixing them.

[0061] In general, manpower may be required when preprocessing and transporting or weighing each raw material. In contrast, the automatic weighing and transport system (1) according to one embodiment of the present disclosure can automatically transport each raw material by placing it on the transport unit (10), and the transport unit (10) can transport each raw material and automatically transfer it to the hopper unit (20), and discharge each raw material in a predetermined amount from the hopper unit (20). In addition, each raw material discharged from the hopper unit (20) can be stored through a receiving unit (60, see FIG. 2), and the receiving unit (60) can be transported by a mobile robot (50).

[0062] The automatic weighing and transport system (1) may include a raw material storage unit (2) for storing or delivering each raw material in its original state. The raw material storage unit (2) may be configured to store each raw material, more specifically, raw raw materials stored at room temperature and frozen raw materials stored in a freezer, before being delivered to a user or a mobile robot (50). For example, the raw material storage unit (2) may be configured as a refrigerator for refrigerated or frozen storage of raw materials.

[0063] Each raw material can be delivered from the raw material storage unit (2) to a user or a mobile robot (50) and then classified and delivered to the raw material transfer unit (11) and the frozen raw material transfer unit (12) according to the state of each raw material.

[0064] For example, in the case of chives or green onions that can be stored at room temperature, they can be transferred from the raw material storage unit (2) to the raw material transfer unit (11) by a user or a mobile robot (50). Preferably, chives and green onions have different properties as raw materials, so they can be transferred to the raw material transfer unit (11) with a time difference or transferred through different transfer units, such as the first raw material transfer unit (11a) and the second raw material transfer unit (11b).

[0065] The raw material may include first raw material and second raw material, which are classified according to the nature of the raw material.

[0066] On the other hand, frozen raw materials that can be stored in the freezer may include, for example, frozen chives or frozen green onions. Such frozen raw materials may be transferred from the raw material storage unit (2) to the frozen raw material transfer unit (12) by a user or a mobile robot (50).

[0067] The frozen raw material may include a first frozen raw material, a second frozen raw material, and a third frozen raw material classified according to the properties of the raw material.

[0068] The transport unit (10) may include a raw material transport unit (11) configured to transport raw materials, and a frozen material transport unit (12) configured to transport frozen materials, which is distinct from the raw material transport unit (11). The raw material transport unit (11) and the frozen material transport unit (12) may be provided with different transport lines. The reason for providing the raw material transport unit (11) and the frozen material transport unit (12) with different transport lines may be to transport the raw material while preprocessing it at the same time, and to transport the frozen material while preprocessing it at the same time.

[0069] More specifically, raw materials can be washed or sliced ​​in the raw material transport unit (11), and frozen materials can be crushed in the frozen material transport unit (12). However, this is not limited thereto, and the preprocessing process may be separate from the transport process.

[0070] The raw material transport section (11) may be configured as an "L" shaped transport line. The raw material may be preprocessed while being transported to the raw material transport section (11). Additionally, the raw material may be preprocessed before being delivered to the raw material transport section (11).

[0071] The raw material transport unit (11) may include a first raw material transport unit (11a) for transporting raw chives and a second raw material transport unit (11b) for transporting raw green onions.

[0072] The raw material transfer unit (11) can transfer each raw material to the raw material hopper unit (20R).

[0073] The frozen raw material transport section (12) may be provided as a transport line in an "L" shape. The frozen raw material may be preprocessed while being transported to the frozen raw material transport section (12). Additionally, the frozen raw material may be preprocessed before being delivered to the frozen raw material transport section (12). The length of the transport line of the frozen raw material transport section (12) may be provided to be shorter than the length of the transport line of the raw material transport section (11).

[0074] More specifically, the frozen raw material transport unit (12) may include a crushing process and a sorting process. The crushing process of the frozen raw material transport unit (12) may include a crushing process to prevent frozen chives, frozen green onions, or other frozen raw materials from clumping together during transport. In particular, the frozen raw materials tend to stick together when each is frozen, and this is to prevent this. In this way, the crushing process may involve separating or crushing the frozen raw materials during transport while they fall downward.

[0075] In addition, the sorting process of the frozen raw material transport unit (12) may include a process of sorting each frozen raw material using an optical sorter (e.g., a color sorter). The crushing process performed before the sorting process may also be for the purpose of separating each raw material for smooth sorting in the sorting process.

[0076] As described above, the frozen raw material transport unit (12) can deliver each frozen raw material to the frozen raw material hopper unit (20F) described later after going through the crushing process and the sorting process.

[0077] The raw material transfer unit (11) and the frozen raw material transfer unit (12) can transfer the raw materials to the raw material hopper unit (20R) and the frozen raw material hopper unit (20F), respectively, based on the raw materials stored in the hopper units (20R, 20F) being stored at less than the reference value as detected by the raw material detection sensors (20s, see FIG. 19) described below.

[0078] The raw material transport unit (11) may be connected to a raw material hopper unit (20R) for storing raw materials by classifying them according to their types. The raw material hopper unit (20R) may be provided to store and discharge raw materials supplied by the raw material transport unit (11). The raw material hopper unit (20R) may be provided with a single hopper to discharge the first raw material and the second raw material at different times, or may be provided with a plurality of hoppers to discharge the first raw material and the second raw material from each hopper.

[0079] For example, if the raw materials are classified into raw chives and raw green onions, the raw material hopper section (20R) may be configured to discharge the raw chives and raw green onions from a single hopper with a time difference, or to discharge each raw material through a first hopper for raw chives only and a second hopper for raw green onions only from a pair of hoppers. Each hopper will be described later.

[0080] The frozen raw material transport unit (12) can be connected to a frozen raw material hopper unit (20F) for storing and classifying the frozen raw material according to its type. The frozen raw material hopper unit (20F) can be provided to store and discharge the frozen raw material supplied by the frozen raw material transport unit (12). The frozen raw material hopper unit (20F) can be provided with a single hopper so that frozen chives and frozen green onions are sequentially discharged one by one, or can be provided with a plurality of hoppers so that each raw material is stored in each hopper and discharged separately.

[0081] In the latter case, if the frozen raw materials are classified into frozen chives and frozen green onions, the frozen raw material hopper section (20F) may include a first hopper for frozen chives, a second hopper for frozen green onions, and a third hopper for other frozen raw materials. Each hopper will be described below.

[0082] Meanwhile, the raw material hopper section (20R) and the frozen material hopper section (20F) may be configured to discharge a preset amount of the raw material stored in each hopper. The raw material hopper section (20R) may be provided separately from the frozen material hopper section (20F). Here, the preset amount may vary depending on the ratio of each raw material. Generally, the ratio of each raw material may be determined according to the volume of the receiving section (60), and the preset amount of each raw material may vary according to the ratio of each raw material. In addition, the preset amount may mean mass or volume.

[0083] Each raw material and frozen material discharged from the raw material hopper section (20R) and the frozen material hopper section (20F) can be accommodated in one receiving section (60). Here, the receiving section (60) can be understood as a generally used configuration for accommodating raw materials.

[0084] The receiving unit (60) can be transported by a mobile robot (50). The mobile robot (50) can move the receiving unit (60) for receiving raw materials discharged from the hopper unit (20) from the first waiting position (WP1) to a supply position (FSP, RSP) for unloading raw materials from the hopper unit (20) and to a second waiting position (WP2) for finally unloading the receiving unit (60).

[0085] The supply locations (FSP, RSP) may include a frozen raw material supply location (FSP) where frozen raw material is discharged from the frozen raw material hopper section (20F), and a raw raw material supply location (RSP) where raw material is discharged from the raw raw material hopper section (20R).

[0086] The receiving portion (60) can be lifted from the first standby position (WP1) by the mobile robot (50), transported, moved to the frozen raw material supply position (FSP), and then placed down. Thereafter, the receiving portion (60) can be moved from the frozen raw material supply position (FSP) by the mobile robot (50) to the raw material supply position (RSP) and placed down again. Thereafter, the receiving portion (60) can be moved from the raw material supply position (RSP) to the second standby position (WP2) by the mobile robot (50).

[0087] The first waiting position (WP1) may be a position where the mobile robot (50) waits before moving. The mobile robot (50) may lift and transport the receiving portion (60) at the first waiting position (WP1).

[0088] The frozen raw material supply position (FSP) may be a position where the mobile robot (50) stops moving or is put down so that the receiving unit (60) can receive each frozen raw material from the frozen raw material hopper unit (20F) by loading the receiving unit (60).

[0089] The raw material supply position (RSP) may be a position where the mobile robot (50) stops moving or is put down so that the receiving portion (60) located at the frozen raw material supply position (FSP) can receive each raw material from the raw material hopper portion (20R) by moving the receiving portion (60) to the raw material supply position (FSP).

[0090] The second waiting position (WP2) may be a position where a receiving unit (60) supplied with a preset amount of each raw material from the raw material hopper unit (20R) is transported and placed down by a mobile robot (50).

[0091] In the automatic weighing transport system (1), a preset amount of each raw material is discharged from each hopper section (20F, 20R), and after the discharge of all raw materials is completed, weighing by the mobile robot (50) can be performed. This will be described in more detail later.

[0092] The first standby position (WP1), the frozen raw material supply position (FSP), the raw material supply position (RSP), and the second standby position (WP2) may be the positions of the receiving unit (60) or the positions of the mobile robot (50).

[0093] The receiving portion (60) can be lifted by a mobile robot (50) from a first standby position (WP1), placed down at a frozen raw material supply position (FSP) to receive frozen raw materials, then lifted again by a mobile robot (50), placed down at a raw raw material supply position (RSP) to receive raw materials, then lifted again by a mobile robot (50), moved to a second standby position (WP2), and placed on the floor by the mobile robot (50). The receiving portion (60) placed on the floor at the second standby position (WP2) can be transferred to the next process for manufacturing dumplings. In this process as well, the receiving portion (60) can be transferred by a user or the mobile robot (50).

[0094] The mobile robot (50) can wait at the first standby position (WP1), load the receiving unit (60) from the first standby position (WP1), stop moving for a moment at the frozen raw material supply position (FSP), receive a preset amount of frozen raw material from the receiving unit (60), and move to the raw raw material supply position (RSP). The mobile robot (50) can stop moving for a moment at the raw raw material supply position (RSP), receive a preset amount of raw material from the receiving unit (60), and move to the second standby position (WP2) to put the receiving unit (60) down at the second standby position. The mobile robot (50) can be supplied with power at the first standby position (WP1) or the second standby position (WP2).

[0095] However, the mobile robot (50) is not limited to lifting the receiving portion (60) from the first waiting position (WP1), but may be loaded with the receiving portion (60) by the user.

[0096] As will be described later, the automatic weighing transport system (1) may include a control unit (70, see FIG. 19) for controlling a transport unit (10), a hopper unit (20), and a mobile robot (50).

[0097] Fig. 2 is a front view of a raw material hopper according to one embodiment of the present disclosure. Fig. 3 is a front view of a frozen material hopper according to one embodiment of the present disclosure. Fig. 4 is a side view of a conveying unit and a hopper according to one embodiment of the present disclosure.

[0098] Referring to FIGS. 2 to 4, the raw material hopper section (20R) may include a first raw material hopper (21a) and a second raw material hopper (21b). The first raw material hopper (21a) and the second raw material hopper (21b) may each receive and store the first raw material and the second raw material through the raw material transfer section (11, see FIG. 1). Here, the first raw material may be raw chives, and the second raw material may be raw bamboo shoots.

[0099] The first raw material hopper (21a) can discharge raw materials stored inside the first raw material hopper (21a) by the first raw material operating device (23a). The second raw material hopper (21b) can discharge raw materials stored inside the second raw material hopper (21b) by the second raw material operating device (23b).

[0100] The first raw material operating device (23a) can discharge the first raw material received in the first raw material hopper (21a) through the first raw material discharge unit (22a) when the receiving unit (60) is located at the first raw material supply position (RSP1). When the first raw material in the amount of a preset weight is discharged to the receiving unit (60), the first raw material operating device (23a) can prevent the first raw material from being discharged through the first raw material discharge unit (22a).

[0101] The second raw material operating device (23b) can discharge the second raw material received in the second raw material hopper (21b) through the second raw material discharge unit (22b) when the receiving unit (60) is located at the second raw material supply position (RSP2). The second raw material operating device (23b) can prevent the second raw material from being discharged through the second raw material discharge unit (22b) when the second raw material in the amount of a preset weight is discharged to the receiving unit (60).

[0102] The raw material hopper section (20R) may include a first raw material transfer line and a second raw material transfer line provided inside each of the first raw material hopper (21a) and the second raw material hopper (21b).

[0103] More specifically, each of the first raw material hopper (21a) and the second raw material hopper (21b) may include a discharge gate (not shown) that opens and closes a raw material discharge portion (22a, 22b) for discharging the first and second raw materials, and a raw material transport line for transporting the raw materials toward the discharge gate. The discharge gate may be formed at one side of each raw material hopper (21a, 21b), and the raw material transport line may be provided at the lower side of each raw material hopper (21a, 21b).

[0104] Although not illustrated in the drawings, the first raw material operation device (23a) and the second raw material operation device (23b) may be configured to operate or stop the raw material transport line that transports each raw material. Here, the raw material transport line may be configured as a conveyor belt.

[0105] In other words, the first raw material operating device (23a) can open and close the discharge gate of the first raw material hopper (21a) and operate or stop the first raw material transport line that transports the first raw material inside the first raw material hopper (21a) to the discharge gate so that it is discharged. The raw material operating devices (23a, 23b) can operate or stop the raw material transport line by the processor (72) described below.

[0106] For example, when the first raw material hopper (21a) is full of the first raw material and the receiving portion (60) is positioned at the first raw material supply position (RSP1), the first raw material operating device (23a) can operate the discharge gate of the first raw material hopper (21a) and the first raw material transfer line to discharge the first raw material through the first discharge portion (22a). In addition, when the supply of the first raw material to the first raw material hopper (21a) is stopped or a preset weight of the first raw material is discharged, the first raw material operating device (23a) can close the first discharge portion (22a) with the discharge gate of the first raw material hopper (21a) and stop the discharge line to stop the discharge of the first raw material.

[0107] Likewise, the operation by the second raw material operating device (23b) corresponds to this, and the second raw material operating device (23b) can open and close the discharge gate of the second raw material hopper (21b), and operate or stop the second raw material transport line that transports the second raw material inside the second raw material hopper (21b) to the discharge gate so as to discharge it.

[0108] A raw material measuring unit (61) may be provided at the first raw material supply location (RSP1) and the second raw material supply location (RSP2). The raw material measuring unit (61R) may include a first raw material measuring unit (61Ra) provided at the first raw material supply location (RSP1) and a second raw material measuring unit (61Rb) provided at the second raw material supply location (RSP2).

[0109] For example, each raw material measuring unit (61Ra, 61Rb) may be a scale device for measuring the weight of the receiving unit (60) located at the first raw material supply position (RSP1) and the second raw material supply position (RSP2).

[0110] The frozen raw material hopper section (20F) may include a first frozen raw material hopper (25a), a second frozen raw material hopper (25b), and a third frozen raw material hopper (25c). The first to third frozen raw material hoppers (25a) to (25c) may each store frozen chives, frozen green onions, and other frozen raw materials that are different from the frozen chives and frozen green onions.

[0111] The first refrigerated raw material operating device (27a) mounted on the first refrigerated raw material hopper (25a) can discharge the first refrigerated raw material through the first refrigerated raw material discharge unit (26a). The second refrigerated raw material operating device (27b) mounted on the second refrigerated raw material hopper (25b) and the third refrigerated raw material operating device (27c) mounted on the third refrigerated raw material hopper (25c) can discharge the second refrigerated raw material and the third refrigerated raw material through the second refrigerated raw material discharge unit (26b) and the third refrigerated raw material discharge unit (26c), respectively.

[0112] More specifically, when the first refrigerated raw material hopper (25a) is full of the first refrigerated raw material and the receiving portion (60) is located at the first refrigerated supply position (FSP1), the first refrigerated raw material operating device (27a) can open the first refrigerated raw material discharge portion (26a) through the discharge gate (not shown) of the first refrigerated raw material hopper (25a) and operate the first refrigerated raw material transfer line to discharge the first refrigerated raw material.

[0113] When a preset weight of the first frozen raw material is discharged through the first frozen raw material discharge unit (26a), the first frozen raw material operating device (27a) can close the discharge gate of the first frozen raw material hopper (25a) and stop the operation of the first frozen raw material transport line. In this way, the first frozen raw material operating device (27a) can control the discharge gate of the first frozen raw material hopper (25a) to close the first frozen raw material discharge unit (26a) and stop the first frozen raw material transport line.

[0114] When the receiving unit (60) is located at the second freezing supply position (FSP2), the second freezing raw material operating device (27b) can open the second freezing raw material discharge unit (26b) through the discharge gate of the second freezing raw material hopper (25b) so that the second freezing raw material is discharged through the second freezing raw material discharge unit (26b) and operate the second freezing raw material transfer line so that the second freezing raw material is discharged.

[0115] When a preset weight of the second frozen raw material is discharged through the second frozen raw material discharge unit (26b), the second frozen raw material operating device (27b) can control the discharge gate of the second frozen raw material hopper (25b) to close the second frozen raw material discharge unit (26b) and stop the second frozen raw material transport line again.

[0116] When the receiving unit (60) is located at the third frozen supply position (FSP3), the third frozen raw material operating device (27c) opens the third frozen raw material discharge unit (26c) through the discharge gate of the third frozen raw material hopper (25c) so that the third frozen raw material is discharged through the third frozen raw material discharge unit (26c), and operates the third frozen raw material transfer line so that the third frozen raw material is discharged.

[0117] When a preset weight of the third frozen raw material is discharged through the third frozen raw material discharge unit (26c), the third frozen raw material operating device (27c) can control the discharge gate of the third frozen raw material hopper (25c) to close the third frozen raw material discharge unit (26c), and can again stop the third frozen raw material transport line.

[0118] Likewise, the refrigeration raw material measuring units (61Fa, 61Fb, 61Fc) provided at each of the first refrigeration raw material supply positions (FSP1) to the third refrigeration raw material supply positions (FSP3) may include a first refrigeration raw material measuring unit (61Fa), a second refrigeration raw material measuring unit (61Fb), and a third refrigeration raw material measuring unit (61Fc) provided to measure the weight of the receiving unit (60) located at the first refrigeration raw material supply position (FSP1) to the third refrigeration raw material supply position (FSP3).

[0119] As shown in Fig. 4, the transfer unit (10) may include a transition rail (16) formed to be inclined.

[0120] The raw material transport section (11), as illustrated in Fig. 1, may include a first transport rail (15a) for supplying and transporting raw materials, and a switching rail (16) for receiving raw materials from the first transport rail (15a) and transporting them to the raw material hopper section (20R).

[0121] Likewise, the frozen raw material transport section (12) may include a second transport rail (15b) for supplying and transporting frozen raw materials, as illustrated in FIG. 1, and a switching rail (16) for receiving frozen raw materials from the second transport rail (15b) and transporting them to the frozen raw material hopper section (20F).

[0122] That is, the transition rail (16) of the transport section (10) can be inclined so that the height increases as it gets closer to the raw material hopper (21) and the frozen material hopper (25) in order to transport the raw material to the upper side of the raw material hopper (21) and the frozen material hopper (25). With this structure, the raw material transport section (11, see FIG. 1) can transport the raw material to the raw material hopper (21), and the frozen material transport section (12) can transport the frozen material to the frozen material hopper (25).

[0123] At this time, when multiple types of raw materials are transferred to the raw material transfer unit (11), each raw material can be classified into the first raw material hopper (21a) to the second raw material hopper (21b). For example, when the first raw material and the second raw material are transferred by the raw material transfer unit (11) with a time difference, when the first raw material is transferred, the raw material transfer unit (11) can be connected to the first raw material hopper (21a), and when the second raw material is transferred, the raw material transfer unit (11) can be connected to the second raw material hopper (21b).

[0124] In addition, when multiple types of raw materials are transported to the frozen raw material transport unit (12), each frozen raw material can be classified into the first frozen raw material hopper (25a) to the third frozen raw material hopper (25c). For example, the first frozen raw material, the second frozen raw material, and the third frozen raw material can be transported by the frozen raw material transport unit (12) with a time difference. When the first frozen raw material is transported, the frozen raw material transport unit (12) can be connected to the first frozen raw material hopper (25a), and when the second frozen raw material is transported, the frozen raw material transport unit (12) can be connected to the second frozen raw material hopper (25b). In addition, when the third frozen raw material is transported, the frozen raw material transport unit (12) can be connected to the third frozen raw material hopper (25c). However, the present invention is not limited thereto.

[0125] Additionally, each raw material can be moved toward the raw material discharge unit (22, 26) along a horizontally extending transport line inside the frozen raw material hopper (25) and the raw material hopper (21) and inserted into the receiving unit (60).

[0126] To achieve this structure, the switching rail (16) of the frozen raw material transport section (12) may include one end for receiving the first to third frozen raw materials from the second transport rail (15b), and the other end for switching positions between the first to third frozen raw material hoppers (25a) to (25c) with respect to the first end.

[0127] In addition, the switching rail (16) of the raw material transport section (11) may include one end for receiving the first raw material and the second raw material from the first transport rail (15a), and the other end for switching positions between the first raw material hopper (21a) and the second raw material hopper (21b) with respect to the one end.

[0128] That is, the switching rail (16) may have a structure in which one end rotates relative to the other end.

[0129] When frozen raw materials or raw materials are supplied to each hopper (21, 25) through the switching rail (16), the frozen raw materials or raw materials can be transported forward through the screw within each hopper (21, 25). Thereafter, the frozen raw materials or raw materials can be supplied to the receiving unit (60) that has arrived at the frozen raw material supply position (FSP) or raw raw material supply position (RSP) through the discharge unit (22, 26).

[0130] Fig. 5 is a front view of a refrigerated raw material hopper section according to another embodiment of the present disclosure. Fig. 6 is a side view of a conveying section and a hopper section according to another embodiment of the present disclosure.

[0131] Referring to FIGS. 5 and 6, the structure of a hopper section (120) according to another embodiment of the present disclosure will be described. In FIG. 5, a frozen raw material hopper section (120F) is illustrated, but a raw material hopper section may also be provided with a corresponding structure, but the number of hoppers may differ.

[0132] The frozen raw material hopper section (120F) may include a first frozen raw material hopper (125a) to a third frozen raw material hopper (125c). The first frozen raw material hopper (125a) may discharge the first frozen raw material through the first frozen raw material discharge section (126a). Similarly, the second frozen raw material hopper (125b) and the third frozen raw material hopper (125c) may discharge the second frozen raw material and the third frozen raw material through the second frozen raw material discharge section (126b) and the third frozen raw material discharge section (126c), respectively.

[0133] Unlike the hopper section (20) according to one embodiment of the present disclosure, in the hopper section (120) according to another embodiment of the present disclosure, each of the frozen raw material discharge section (126) and the raw material discharge section (122) may extend horizontally to one side from the lower side of the frozen raw material hopper (125) and the raw material hopper (121). At this time, the frozen raw material discharge section (126) and the raw material discharge section (122) may further extend horizontally in the opposite direction of the frozen raw material hopper (125) and the raw material hopper (121).

[0134] At this time, the frozen raw material discharge unit (126) and the raw material discharge unit (122) may not only be configured to simply discharge the frozen raw material and the raw material, but may also be configured to individually measure a set amount of each raw material.

[0135] That is, it may be a structure for discharging only a predetermined weight of each raw material from the discharge portion (120, 126) in the hopper portion (120) according to another embodiment of the present disclosure to the receiving portion (60).

[0136] At this time, when the receiving unit (60) is located at the frozen raw material supply position (FSP), the frozen raw material discharge unit (126) can open and close the frozen raw material hopper (125) to discharge a frozen raw material of a predetermined weight into the receiving unit (60).

[0137] In addition, when the receiving unit (60) is located at the raw material supply position (RSP), the raw material discharge unit (122) can open and close the raw material hopper (121) to discharge a raw material of a predetermined weight into the receiving unit (60).

[0138] A measuring unit (161) including a first refrigerated raw material measuring unit (161Fa) to a third refrigerated raw material measuring unit (161Fc) may be provided at each of the first refrigerated raw material supply position (FSP1) to the third refrigerated raw material supply position (FSP3).

[0139] Fig. 7 is a front view of a refrigerated raw material hopper section according to another embodiment of the present disclosure. Fig. 8 is a side view of a transport section and a hopper section according to another embodiment of the present disclosure.

[0140] Referring to FIGS. 7 and 8, the structure of a hopper section (220) according to another embodiment of the present disclosure will be described. In FIG. 7, a frozen raw material hopper section (220F) is illustrated, but a raw material hopper section may also be provided with a corresponding structure, but the number of hoppers may differ.

[0141] According to another embodiment of the present disclosure, the frozen raw material hopper section (220F) may include a first frozen raw material hopper (225a) to a third frozen raw material hopper (225c) for storing the first frozen raw material to the third frozen raw material, respectively.

[0142] The first frozen raw material hopper (225a) to the third frozen raw material hopper (225c) can discharge the frozen raw material through the first chute (228a) to the third chute (228c), respectively.

[0143] In other words, the first frozen raw material hopper (225a) can discharge the first frozen raw material through the first chute (228a). The second frozen raw material hopper (225b) and the third frozen raw material hopper (225c) can discharge the second frozen raw material and the third frozen raw material through the second chute (228b) and the third chute (228c), respectively.

[0144] According to this structure, the receiving unit (60) is not transported by the mobile robot (50) to receive each frozen raw material from the first frozen raw material hopper (225a) to the third frozen raw material hopper (225c) at the frozen raw material supply position (FSP), and each frozen raw material can be supplied at different times through the first chute (228a) to the third chute (228c).

[0145] Likewise, a frozen raw material supply location (FSP) may be provided with a frozen raw material measuring unit (261F) configured to measure the weight of a receiving unit (60) located at the frozen raw material supply location (FSP).

[0146] As illustrated in FIG. 8, in the transport section and hopper section according to another embodiment of the present disclosure, the switching rail (16) can receive each raw material from the transport rail (15) and supply it to the hopper (221, 225). Thereafter, each raw material can be discharged from the hopper (221, 225) to the chute (228) in a predetermined amount from the discharge section (226) and supplied to the receiving section (60).

[0147] Fig. 9 is a front view of a refrigerated raw material hopper section according to another embodiment of the present disclosure. Fig. 10 is a side view of a conveying section and a hopper section according to another embodiment of the present disclosure.

[0148] Referring to FIGS. 9 and 10, the structure of a hopper section (320) according to another embodiment of the present disclosure will be described. In FIG. 9, a frozen raw material hopper section (320F) is illustrated, but a raw material hopper section may also be provided with a corresponding structure, but the number of hoppers may differ.

[0149] According to another embodiment of the present disclosure, the frozen raw material hopper section (320F) may include a first frozen raw material hopper (325a) to a third frozen raw material hopper (325c) for storing the first frozen raw material to the third frozen raw material, respectively.

[0150] The first frozen raw material hopper (325a) to the third frozen raw material hopper (325c) may be connected to a frozen raw material discharge unit (326). The frozen raw material discharge unit (326) may include a first frozen raw material discharge unit (326a) that receives a first frozen raw material from the first frozen raw material hopper (325a), a second frozen raw material discharge unit (326b) that receives a second frozen raw material from the second frozen raw material hopper (325b), and a third frozen raw material discharge unit (326c) that receives a third frozen raw material from the third frozen raw material hopper (325c).

[0151] The first frozen raw material discharge unit (326a) to the third frozen raw material discharge unit (326c) can be rotated so that only one of them is connected to the receiving unit (60).

[0152] That is, the first frozen raw material discharge unit (326a) to the third frozen raw material discharge unit (326c) may have a rotatable structure including one end adjacent to the receiving unit (60) and the other end being switched between each of the frozen raw material hoppers (325a, 325b, 325c).

[0153] According to another embodiment of the present disclosure, the frozen raw material supply position (FSP) is structured so that each frozen raw material is supplied according to the frozen raw material discharge unit (326a, 326b, 326c) rather than the mobile robot (50) moving, so that one frozen raw material measurement unit (361F) can be provided as a single configuration.

[0154] Fig. 11 is a front view of a refrigerated raw material hopper section according to another embodiment of the present disclosure.

[0155] Referring to FIG. 11, a mobile robot transport section (462) for transporting a mobile robot (50, see FIG. 26) may be further provided on the lower side of the frozen raw material hopper section (420F).

[0156] The mobile robot transfer unit (462) may be a device for sequentially moving the mobile robot (50) from the first frozen raw material supply position (FSP1) to the second frozen raw material supply position (FSP2) and the third frozen raw material supply position (FSP3), and then moving it from the first raw material supply position (RSP1) to the second raw material supply position (RSP2).

[0157] However, and not limited thereto, the mobile robot transport unit (462) may move the mobile robot (50) from the first raw material supply position (RSP1) to the second raw material supply position (RSP2), then to the first frozen raw material supply position (FSP1), and then to the second frozen raw material supply position (FSP2) and the third frozen raw material supply position (FSP3).

[0158] That is, at this time, the frozen raw material supply position (FSP) and the raw raw material supply position (RSP) are arranged in a row, and the raw raw material hopper section (420R) and the frozen raw material hopper section (420F) can be positioned on one side of the frozen raw material hopper section (420F) so that the raw raw material hopper section (420R) and the frozen raw material hopper section (420F) are adjacent to each other.

[0159] The mobile robot transfer unit (462) can move the mobile robot (50) located at one of the frozen raw material supply position (FSP) and the raw raw material supply position (RSP) to the other of the frozen raw material supply position (FSP) and the raw raw material supply position (RSP).

[0160] According to this structure, the user or the mobile robot (50) does not need to apply a separate external force to move the receiving portion (60) while supplying the first to third frozen raw materials and the first and second raw materials to the receiving portion (60), so that productivity and usability can be improved.

[0161] At this time, the first frozen raw material measuring unit (461Fa) to the third frozen raw material measuring unit (461Fc) may be provided at positions corresponding to the first frozen raw material hopper (425a) to the third frozen raw material hopper (425c) below the mobile robot transfer unit (462).

[0162] Fig. 12 is a front view of a refrigerated raw material hopper section according to another embodiment of the present disclosure. Fig. 13 is a side view of a transport section and a hopper section according to another embodiment of the present disclosure.

[0163] Referring to FIGS. 12 and 13, a split rail (17) may be further included on the upper side of each of the frozen raw material hoppers (525a, 525b, 525c) of the frozen raw material hopper section (520F). The split rail (17) may be configured to be connected to the structure of the transition rail (16) in which the positions of one end and the other end are fixed, rather than having the structure of the transition rail (16) that is arranged to rotate as described above.

[0164] In other words, the switching rail (16) according to another embodiment of FIGS. 12 and 13 may have a structure in which the position is fixed and each raw material is only transported upward from the transport rail (15) with a time difference, and instead, the split rail (17) may rotate to supply each raw material from the switching rail (16) to the first frozen raw material hopper (525a) to the third frozen raw material hopper (525c).

[0165] Likewise, a first refrigerated raw material measuring unit (561Fa) to a third refrigerated raw material measuring unit (561Fc) may be provided at each of the first refrigerated raw material supply locations (FSP1) to the third refrigerated raw material supply locations (FSP3).

[0166] FIG. 14 is a perspective view of a mobile robot according to one embodiment of the present disclosure. FIG. 15 is a front view of a mobile robot according to one embodiment of the present disclosure. FIG. 16 is a side view of a mobile robot according to one embodiment of the present disclosure.

[0167] Referring to FIGS. 14 to 16, the mobile robot (50) may include a main body (51) extending in the vertical direction, a support bar (55) extending to one side of the main body (51) to support a receiving portion (60, see FIG. 3), and a driving wheel (50w).

[0168] A driving motor for moving a mobile robot (50) may be mounted inside the main body (51). A mobile robot control unit is provided inside the main body (51) so that wireless communication can be achieved with the control unit (70) of the automatic weighing transport system (1, see FIG. 19).

[0169] The support bar (55) is connected to a height adjustment frame (56) so that its height can be adjusted in the vertical direction.

[0170] The driving wheel (50w) can be mounted on the lower side of the main body (51) and the support bar (55). The driving wheel (50w) is connected to the driving motor and can roll on the floor according to a signal from the control unit of the mobile robot (50).

[0171] By this structure, the mobile robot (50) can be moved according to a signal from the control unit (70) of the automatic weighing transport system (1), and the height of the support bar (55) can be adjusted according to the signal from the control unit (70) to lift or lower the receiving portion (60, see FIG. 3).

[0172] Fig. 17 is a perspective view of a mobile robot according to another embodiment of the present disclosure. Fig. 18 is a side view of a mobile robot according to another embodiment of the present disclosure supporting a receiving portion.

[0173] Referring to FIGS. 17 and 18, a mobile robot (150) according to another embodiment of the present disclosure may include a main body (151) provided on the upper side of the driving wheel (150w) and equipped with a driving wheel (150w) for driving the mobile robot (150), and a support body (157) arranged on the upper side of the main body (151) for supporting a receiving portion (60).

[0174] The main body (151) may be formed in a plate shape extending horizontally. Inside the main body (151), a control unit capable of wirelessly communicating with the control unit (70, see FIG. 19) of the automatic weighing transport system (1) and a driving motor for operating the driving wheel (150w) according to a signal from the control unit may be provided.

[0175] The main body (151) may be formed in a square shape when viewed from above. A support body (157) may be coupled to the main body (151) on the upper side of the main body (151). The support body (157) may be adjusted in height in the vertical direction so as to adjust the distance from the main body (151).

[0176] By this structure, the mobile robot (150) can be moved according to a signal from the control unit (70) of the automatic weighing transport system (1), and the height of the support body (157) can be adjusted according to the signal from the control unit (70), thereby adjusting the height of the receiving unit (60).

[0177] FIG. 19 is a block diagram of an automatic weighing conveying system according to one embodiment of the present disclosure.

[0178] Referring to FIG. 1 and FIG. 19, the automatic weighing transport system (1) may include a transport unit (10), a hopper unit (20, 120, 220, 320, 420, 520), and a mobile robot (50, 150). The automatic weighing transport system (1) may include a control unit (70) that transmits and receives signals to and from the transport unit (10), the hopper unit (20, 120, 220, 320, 420, 520), and the mobile robot (50, 150).

[0179] The transport unit (10) may include a raw material transport unit (11) provided to transport raw materials, and a frozen material transport unit (12) provided to transport frozen materials.

[0180] The hopper section (20, 120, 220, 320, 420, 520) may include a raw material detection sensor (20s). The raw material detection sensor (20s) may be positioned at the bottom or top of the hopper where each raw material is received. The raw material detection sensor (20s) may be provided to sense the amount of raw material received in each hopper. Here, the amount of raw material may be mass, but preferably volume.

[0181] The mobile robot (50, 150) may include a drive motor (not shown) and a driving wheel (50w, 150w) mounted inside each main body (51, 151).

[0182] The control unit (70) may include a memory (71) and a processor (72). The memory (71) may include volatile memory such as S-RAM (Static Random Access Memory) and D-RAM (Dynamic Random Access) for temporarily storing data while power is supplied, and non-volatile memory such as ROM (Read Only Memory) and EPROM (Erasable Programmable Read Only Memory) for preserving data even when power is cut off.

[0183] The processor (72) may include various logic circuits and operation circuits, process data according to a program provided from the memory (71), and generate a control signal according to the processing result.

[0184] The processor (72) can operate the raw material transport unit (11) when raw material is delivered to the raw material transport unit (11). In addition, the processor (72) can operate the frozen material transport unit (12) when frozen material is delivered to the frozen material transport unit (12).

[0185] When the raw material is transferred to the hopper section (20, 120, 220, 320, 420, 520) by the transfer section (10), information on which raw material is transferred can be transmitted to the control section (70) by the raw material detection sensor (20s) provided at the bottom of the hopper section (20, 120, 220, 320, 420, 520). At this time, the control section (70) can display information on the type of raw material currently being transferred on the control panel (90) to help the user transfer the raw material to the transfer section (10) so that the user can transfer the raw material more efficiently without confusion.

[0186] In addition, when a raw material is detected by the raw material detection sensor (20s) provided on the upper part of the hopper part (20, 120, 220, 320, 420, 520), the raw material detection sensor (20s) can transmit information that the raw material has reached the upper limit of the hopper part (20, 120, 220, 320) to the control part (70). At this time, the transport part (10) can be temporarily stopped from operating. The control part (70) can display information about the type of raw material that has currently reached the upper limit on the control panel (90) so that the user can transfer the next raw material to the transport part (10) without confusion and so that the next raw material can be transported more efficiently.

[0187] The raw material detection sensor (20s) may be, but is not limited to, an optical sensor capable of detecting raw materials, and any sensor capable of detecting raw materials is sufficient.

[0188] By this structure, the processor (72) can control the frozen raw material transfer unit (12) to stop the operation of the frozen raw material transfer unit (12) based on the fact that the frozen raw material hopper unit (20F, 120F, 220F, 320F, 420F, 520F) receives a first preset amount of the frozen raw material. In addition, the processor (72) can control the raw material transfer unit (11) to stop the operation of the raw material transfer unit (11) based on the fact that the raw material hopper unit (20R) receives a second preset amount of the frozen raw material.

[0189] Here, depending on the type of frozen raw material, the first preset amounts of the first frozen raw material hopper (25a, 125a, 225a, 325a, 425a, 525a) to the third frozen raw material hopper (25c, 125c, 225c, 325c, 425c, 525c) may be different from each other.

[0190] Additionally, depending on the type of raw material, the second preset amounts of the first raw material hopper (21a) and the second raw material hopper (21b) may be different from each other.

[0191] Additionally, the processor (72) can retrieve information on a method for manufacturing a specific food stored in the memory (71) and display the information on the method for manufacturing a specific food on the control panel (90).

[0192] The processor (72) can move the mobile robot (50, 150) from the first standby position (WP1) to the supply position (SP) based on whether the hopper (21, 25, 125, 225, 325, 425, 525) of the hopper section (20, 120, 220, 320, 420, 520) is full of the corresponding raw material.

[0193] That is, the processor (72) can control the mobile robot (50, 150) to lift the receiving portion (60) and move it from the first standby position (WP1) to the frozen raw material supply position (FSP) based on the frozen raw material hopper (25, 125, 225, 325, 425, 525) being filled with the first preset amount of frozen raw material.

[0194] The processor (72) can control the frozen raw material hopper section (20F, 120F, 220F, 320F, 420F, 520F) to discharge the frozen raw material in an amount equivalent to the weight of the frozen raw material received by the frozen raw material hopper section (20F, 120F, 220F, 320F, 420F, 520F) based on the arrival of the mobile robot (50, 150) at the frozen raw material supply position (FSP). At this time, the processor (72) can control the mobile robot (50, 150) to stop moving at the frozen raw material supply position (FSP) and come to a stop.

[0195] However, in the case where multiple frozen raw material supply locations (FSPs) are provided, the mobile robot (50, 150) and the hopper of the frozen raw material hopper section (20F, 120F, 220F, 320F, 420F, 520F) can be controlled as described above at each frozen raw material supply location (FSP1, FSP2, FSP3).

[0196] In addition, the processor (72) can control the mobile robot (50, 150) so that the receiving portion (60) receives the raw material from the raw material hopper portion (20R) after receiving the frozen material from the frozen material hopper portion (20F, 120F, 220F, 320F, 420F, 520F). According to this structure, the problem of the raw material sticking to the inner surface of the receiving portion (60) can be prevented when the raw material is inserted into the receiving portion (60) before the frozen material.

[0197] Based on the arrival of the mobile robot (50, 150) at the raw material supply location (RSP), the processor (72) can control the raw material hopper section (20R) so that a predetermined weight of raw material is discharged from the raw material hopper section (20R).

[0198] However, in the case where multiple raw material supply locations (RSP) are provided, the mobile robot (50, 150) and the hopper of the raw material hopper section (20R) can be controlled as described above at each raw material supply location (RSP1, RSP2, RSP3).

[0199] When the raw material stored by the hopper section (20) is discharged in a preset amount, the processor (72) can control the mobile robot (50, 150) to move to the second standby position (WP2).

[0200] The automatic weighing conveying system (1) may include a measuring unit (61, 161, 261, 361, 461, 561) provided to measure the weight of a receiving unit (60) located at a supply location (FSP, RSP).

[0201] The measuring unit (61, 161, 261, 361, 461, 561) may include a frozen raw material measuring unit (61F, 161F, 261F, 361F, 461F, 561F) provided at each of the frozen raw material supply locations (FSP) to measure the weight of the receiving unit (60) located at the frozen raw material supply location (FSP), and a raw material measuring unit (61R) provided at the raw material supply location (RSP) to measure the weight of the receiving unit (60) located at the raw material supply location (RSP).

[0202] The frozen raw material measuring unit (61F, 161F, 261F, 361F, 461F, 561F) can measure the first weight of the receiving unit (60) that has arrived at the frozen raw material supply location (FSP) and the second weight of the receiving unit (60) after the discharge of the frozen raw material from the frozen raw material hopper unit (20F, 120F, 220F, 320F, 420F, 520F) is completed.

[0203] The raw material measuring unit (61R) can measure the third weight of the receiving unit (60) that has arrived at the raw material supply location (RSP) and the fourth weight of the receiving unit (60) after raw material discharge from the raw material hopper unit (20R) is completed.

[0204] The measuring unit (61, 161, 261, 361, 461, 561) can exchange signals with the control unit (70). More specifically, the measuring unit (61, 161, 261, 361, 461, 561) can transmit the first to fourth weights of the receiving unit (60) to the control unit (70), and can receive a signal from the control unit (70) to measure the weight of the receiving unit (60) based on the arrival of the mobile robot (50, 150) at the supply position (RSP, FSP).

[0205] The processor (72) can receive the first weight and the second weight from the frozen raw material measuring unit (61F, 161F, 261F, 361F, 461F, 561F) and compare and determine whether the weight obtained by subtracting the first weight from the second weight is within the preset weight range of the frozen raw material. In addition, the processor (72) can receive the third weight and the fourth weight from the raw material measuring unit (61R) and compare and determine whether the weight obtained by subtracting the third weight from the fourth weight is within the preset weight range of the raw material.

[0206] The processor (72) can control the control panel (90) to notify the user that the weight obtained by subtracting the first weight from the second weight is outside the preset weight range of the frozen raw material, or the weight obtained by subtracting the third weight from the fourth weight is outside the preset weight range of the raw raw material, based on the fact that the weight obtained by subtracting the first weight from the second weight is outside the preset weight range of the frozen raw material, or the weight obtained by subtracting the third weight from the fourth weight is outside the preset weight range of the raw raw material.

[0207] The control panel (90) can be controlled to keep the notification window on the display before the user manually terminates it.

[0208] The automatic weighing transport system (1) may further include a control unit (70), a speaker (80) for transmitting and receiving signals, and a mobile robot transport unit (462).

[0209] The processor (72) can control the speaker (80) to sound an alarm on the speaker (80) and stop the operation of the mobile robot transfer unit (462) based on whether the weight obtained by subtracting the first weight from the second weight is outside the preset weight range of the frozen raw material or whether the weight obtained by subtracting the third weight from the fourth weight is outside the preset weight range of the raw material.

[0210] In addition, the processor (72) can operate the mobile robot transfer unit (462) to move the mobile robot (50, 150) located at the frozen raw material supply position (FSP) to the raw raw material supply position (RSP) based on the weight obtained by subtracting the first weight from the second weight being within the preset weight range of the frozen raw material.

[0211] Additionally, the processor (72) can control the mobile robot (50, 150) to move from the raw material supply position (RSP) to the second standby position (WP2) based on the weight obtained by subtracting the third weight from the fourth weight being within the preset raw material weight range.

[0212] The above-described frozen raw material supply locations (FSP) and raw raw material supply locations (RSP) may include first to third frozen raw material supply locations (FSP1, FSP2, FSP3) and first and second raw raw material supply locations (RSP1, RSP2), respectively, and the principle may be applied to all of the locations.

[0213] FIGS. 20 to 22 are flowcharts illustrating a control method of an automatic weighing transport system according to one embodiment of the present disclosure.

[0214] Referring to FIGS. 20 to 22, the processor (72) illustrated in FIG. 19 can control the mobile robot (50, 150), the hopper section (20, 120, 220, 320, 420, 520), the transport section (10), the mobile robot transport section (462), the control panel (90), and the speaker (80) as follows.

[0215] When the automatic weighing transport system (1) starts operating (1000), the processor (72) can control the frozen raw material transport unit (12) and the raw material transport unit (11) to transport raw materials (1010).

[0216] Thereafter, the processor (72) can control the frozen raw material transport unit (12) to stop transporting the frozen raw material when the first preset amount of each raw material, which is an amount reaching the storage capacity of each hopper of each frozen raw material hopper unit (20F, 120F, 220F, 320F, 420F, 520F), is stored in each hopper (example of 1020) (1030).

[0217] On the other hand, the processor (72) can continue to operate the frozen raw material transport unit (12) if the frozen raw material is not received in the first preset amount, which is the amount that reaches the storage capacity of each frozen raw material hopper unit (20F, 120F, 220F, 320F, 420F, 520F) (No of 1020).

[0218] Thereafter, the processor (72) can determine whether the raw material has been received in the second preset amount, which is an amount that reaches the storage capacity, in the hopper (21a, 21b) of the raw material hopper section (20R) (1040).

[0219] If the second preset amount of raw material is received in the hopper (21a, 21b) of the raw material hopper section (20R) (example of 1040), the processor (72) can control the operation of the raw material transport section (11) to stop (1050).

[0220] On the other hand, if the raw material is not received in the hopper (21a, 21b) of the raw material hopper section (20R) in the second preset amount (NO of 1040), the processor (72) can maintain the operation of the raw material transport section (11).

[0221] Thereafter, the processor (72) can cause the mobile robot (50, 150) to move the receiving unit (60) to the refrigerated raw material supply location (FSP).

[0222] Based on the arrival of the mobile robot (50, 150) at the frozen raw material supply location (FSP), the processor (72) can control the frozen raw material measurement unit (61F, 161F, 261F 361F, 461F, 561F) to measure the first weight of the receiving unit (60) (1070).

[0223] Thereafter, the processor (72) can control the frozen raw material hopper section (20F, 120F, 220F, 320F, 420F, 520F) to open the frozen raw material discharge section (26, 126, 226, 326, 426, 526) (1080).

[0224] When the discharge of the frozen raw material is completed through the frozen raw material discharge unit (26, 126, 226, 326, 426, 526) (when the specified amount of frozen raw material is discharged), the processor (72) can close the frozen raw material discharge unit (26, 126, 226, 326, 426, 526) (1090).

[0225] Thereafter, the processor (72) can control the refrigeration raw material measuring unit (61F, 161F, 261F, 361F, 461F, 561F) to measure the second weight of the receiving unit (60) (1110).

[0226] The processor (72) compares and determines whether the weight obtained by subtracting the first weight from the second weight is within the preset weight range of the frozen raw material (1110), and if the former is outside the range of the latter (example of 1110), the control panel (90) can control the control panel (90) to notify the user of the weight by which the difference between the second weight and the first weight is outside the preset weight range of the frozen raw material (1120). In addition, the processor (72) can control the speaker (80) to sound an alarm in succession (1130).

[0227] The processor (72) can move the mobile robot (50, 150) from the frozen raw material supply position (FSP) to the raw raw material supply position (RSP) based on the weight obtained by subtracting the first weight from the second weight being within the preset weight range of the frozen raw material.

[0228] The processor (72) can control the raw material measuring unit (61R) to measure the third weight of the receiving unit (60) (1150) based on the arrival of the mobile robot (50, 150) at the raw material supply location (RSP) (example of 1140).

[0229] Afterwards, the processor (72) can open the raw material discharge unit (22a, 22b) (1160), and when the raw material is discharged in the amount of the preset raw material weight, the raw material discharge unit (22a, 22b) can be closed (1170).

[0230] When the raw material discharge unit (22a, 22b) is closed, the processor (72) can control the raw material measurement unit (61R) to measure the fourth weight of the receiving unit (60) (1180).

[0231] The processor (72) can compare and determine whether the weight obtained by subtracting the third weight from the fourth weight is within the preset raw material weight range (1190). If the former is outside the latter's range (example of 1190), the control panel (90) can be controlled to notify the user of the weight by which the difference between the fourth weight and the third weight is outside the preset raw material weight range (1200). In addition, the processor (72) can control the speaker (80) to sound an alarm (1210).

[0232] On the other hand, the processor (72) determines whether the weight obtained by subtracting the third weight from the fourth weight is within the preset raw material weight range, and if the former is within the latter range (No of 1190), it can control the mobile robot (50, 150) to move to the second standby position (WP2) (1220).

[0233] If this series of processes is carried out continuously, the weighing and transport of frozen and raw materials can be automated, resulting in more accurate weighing and significantly improved productivity.

[0234] That is, according to this structure, the amount of each raw material discharged is controlled by the hopper section (20, 120, 220, 320), and the process of measuring the total amount (preferably mass) of the receiving section (60) that receives raw and frozen raw materials of the measuring and moving robot (50, 150) is performed, so that the accuracy is improved compared to the measuring arbitrarily set by the user, and the error in the ratio of each raw material for the food manufacturing method can be reduced. As a result, the seasoning and taste of each food can be consistent, so that satisfaction from the consumer's perspective can be improved.

[0235] Here, the weight obtained by subtracting the first weight from the second weight of the mobile robot (50, 150) may be the weight of the frozen raw material supplied to the receiving portion (60), and the weight obtained by subtracting the third weight from the fourth weight of the mobile robot (50, 150) may be the weight of the raw material supplied to the receiving portion (60).

[0236] Below, the differences in the arrangement of the configuration of the automatic weighing conveying system (1) illustrated in Fig. 1 compared to other embodiments will be described with emphasis. Configurations not mentioned may correspond to the configurations described in Fig. 1, and thus will be omitted.

[0237] FIG. 23 is a schematic diagram of an automatic weighing conveying system according to another embodiment of the present disclosure.

[0238] Referring to FIG. 23, an automatic weighing transport system (1-1) according to another embodiment of the present disclosure may have a single transport rail (15a) for receiving raw materials from a raw material transport section (11).

[0239] According to this structure, raw materials such as raw chives and raw green onions can be delivered to the raw material conveying section (11) with a time difference, and a single raw material hopper section (20R) that receives raw chives and raw green onions can discharge each raw material with a time difference.

[0240] In addition, frozen raw materials such as frozen chives and frozen green onions can be delivered to the frozen raw material transport unit (12) with a time difference, and a single frozen raw material hopper unit (20F) that accommodates frozen chives and frozen green onions can discharge each frozen raw material with a time difference.

[0241] According to this structure, the frozen raw material supply position (FSP) and the raw material supply position (RSP) of the mobile robot (50) and the receiving unit (60) can be fixed to one position, so that the movement of the mobile robot (50) can be reduced.

[0242] FIG. 24 is a schematic diagram of an automatic weighing conveying system according to another embodiment of the present disclosure.

[0243] Referring to FIG. 24, an automatic weighing transport system (1-2) according to another embodiment of the present disclosure may have a raw material transport section (11) with a single transport rail (15a) and a frozen material transport section (12) with a single transport rail (15b), unlike the automatic weighing transport system (1) illustrated in FIG. 1.

[0244] The raw material hopper section (20R) and the frozen material hopper section (20F) can be arranged adjacent to each other to reduce the movement of the mobile robot (50).

[0245] In addition, compared to FIG. 23, the transport rail (15b) of the frozen raw material hopper section (20F) and the transport rail (15a) of the raw material hopper section (20R) can be connected to the first to third frozen raw material hoppers (25a, 25b, 25c, see FIG. 3) and the first and second raw material hoppers (21a, 21b).

[0246] More specifically, the first transport rail (15a) can supply the first raw material and the second raw material to the first raw material hopper (21a) and the second raw material hopper (21b), respectively, by the first switching rail (16a).

[0247] Likewise, the second transport rail (15b) can supply the first to third frozen raw materials to the first to third frozen raw material hoppers (25a) to (25c) respectively by the second switching rail (16b).

[0248] In addition, compared to FIG. 1, the raw material hopper section (20R) and the frozen material hopper section (20F) are positioned relatively centrally in the arrangement of the automatic weighing transport system (1), thereby reducing the movement of the mobile robot (50), thereby reducing the movement time of the mobile robot (50).

[0249] According to this structure, the movement of the mobile robot (50) can be shortened, and the frozen raw material supply position (FSP) and the raw raw material supply position (RSP) may not be moved to positions according to the plurality of frozen raw material hoppers and the plurality of raw raw material hoppers, and the mobile robot (50) may be moved so that the receiving part (60) receives each raw material at each supply position (FSP, RSP).

[0250] FIG. 25 is a schematic diagram of an automatic weighing conveying system according to another embodiment of the present disclosure.

[0251] Compared to FIGS. 1 and 23, the automatic weighing transport system (1-3) of FIG. 25 includes a raw material hopper section (20R) and a frozen material hopper section (20F), each including a plurality of raw material hoppers and frozen material hoppers (225a, 225b, 225c, see FIG. 7), which can be directly connected to the first transport rail (15a) and the second transport rail (15b).

[0252] In this case, the transport distance of raw and frozen raw materials can be relatively shortened compared to Fig. 24.

[0253] In addition, with respect to the frozen raw material transport section (12), the section where the first to third frozen raw materials are introduced into the frozen raw material transport section (12) is divided into three sections so that the first to third frozen raw materials may not be mixed with each other.

[0254] Even in this structure, the first raw material and the second raw material can be transferred from the first transfer rail (15a) to the first raw material hopper and the second raw material hopper by the first switching rail (16a), and after primary metering is performed at the discharge portions of the first raw material hopper and the second raw material hopper, secondary metering can be performed at the receiving portion (60).

[0255] In addition, the first to third frozen raw materials can be transferred from the second transport rail (15b) to the first frozen raw material hopper (225a) to the third frozen raw material hopper (225c) by the second switching rail (16b), and after primary metering is performed at the discharge portions (226a, 226b, 226c) of the first frozen raw material hopper (225a) to the third frozen raw material hopper (225c), secondary metering can be performed at the receiving portion (60).

[0256] FIG. 26 is a schematic diagram of an automatic weighing conveying system according to another embodiment of the present disclosure.

[0257] The automatic weighing and transport system (1-4) of FIG. 11 and FIG. 26 may have a frozen raw material hopper section (420F) and a raw material hopper section (420R) arranged adjacent to each other.

[0258] According to this structure, when the receiving unit (60) is moved to the first frozen raw material supply position (FSP1) by the mobile robot (50), it can be automatically moved to the raw material supply position (RSP) in response to a signal from the control unit (70, see FIG. 19).

[0259] More specifically, the receiving unit (60) transported by the mobile robot (50) receives a first refrigerated raw material from a first refrigerated raw material supply location (FSP1), and as the mobile robot (50) is moved by the mobile robot transport unit (462), the receiving unit (60) can receive a second refrigerated raw material from a second refrigerated raw material supply location (FSP2). Thereafter, as the mobile robot (50) is moved by the mobile robot transport unit (462), the receiving unit (60) can be moved to a third refrigerated raw material supply location (FSP3) and receive a third refrigerated raw material.

[0260] At this time, the weight of the first to third refrigerated raw materials supplied to the receiving unit (60) can be measured through the first refrigerated raw material measuring unit (461Fa) to the third refrigerated raw material measuring unit (461Fc) to transmit and receive signals with the control unit (70).

[0261] Thereafter, the mobile robot (50) is moved from the third frozen raw material supply location (FSP3) to the first raw material supply location (RSP 1) by the mobile robot transfer unit (462), so that the receiving unit (60) can be supplied with the first raw material, and as the mobile robot (50) is moved by the mobile robot transfer unit (462), the receiving unit (60) can be supplied with the second raw material at the second raw material supply location (RSP2).

[0262] Even at this time, at each of the first raw material supply locations (RSP1) and the second raw material supply locations (RSP2), the first raw material measuring unit and the second raw material measuring unit can measure the weight of the first raw material and the second raw material supplied to the receiving unit (60), respectively, and transmit and receive signals with the control unit (70).

[0263] In this way, a mobile robot transport unit (462) may be provided between the frozen raw material supply position (FSP) and the raw raw material supply position (RSP) of the mobile robot (50). For example, the mobile robot transport unit (462) may be a conveyor belt installed on the floor to transport the mobile robot (50). In addition, the mobile robot transport unit (462) may be configured to lift the mobile robot (50) and move it horizontally.

[0264] For this structure, the first frozen raw material hopper to the third frozen raw material hopper and the first raw material hopper and the second raw material hopper can be arranged in a row.

[0265] The mobile robot transport unit (462), the frozen raw material hopper unit (420F), and the raw material hopper unit (420R) can all be controlled to optimize the time it takes for each raw material to be discharged in accordance with the signal of the control unit (70).

[0266] The above description is merely an illustrative illustration of the technical idea of ​​the present invention, and those skilled in the art will appreciate that various modifications and variations can be made without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the technical idea of ​​the present invention, and the scope of the technical idea of ​​the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within a scope equivalent thereto should be interpreted as being included in the scope of the rights of the present invention.

Claims

1. A frozen raw material transport unit designed to transport frozen raw materials; A frozen raw material hopper section provided to store and discharge frozen raw material supplied by the frozen raw material transport section; A raw material transport unit, which is distinguished from the above frozen raw material transport unit and is provided to transport raw raw materials; A raw material hopper section, which is distinguished from the frozen raw material hopper section and is provided to store and discharge raw materials supplied by the raw material transport section; and An automatic weighing and transport system comprising a processor that controls the frozen raw material transport unit and the raw material transport unit to stop the operation of the frozen raw material transport unit based on the frozen raw material hopper unit receiving a first preset amount of the frozen raw material, and to stop the operation of the raw material transport unit based on the raw raw material hopper unit receiving a second preset amount of the raw material.

2. In paragraph 1, An automatic weighing and transport system further comprising a mobile robot configured to transport frozen raw materials and raw materials discharged from the frozen raw material hopper section and a receiving section for receiving raw materials to a frozen raw material supply location for receiving frozen raw materials from the frozen raw material hopper section and a raw raw material supply location for receiving raw materials from the raw raw material hopper section.

3. In paragraph 2, The above processor, Based on the fact that the receiving portion is located at the frozen raw material supply position by the mobile robot, the frozen raw material hopper portion is controlled so that the frozen raw material is discharged from the frozen raw material hopper portion, An automatic weighing and transport system that controls the raw material hopper section so that raw material is discharged from the raw material hopper section based on the positioning of the receiving section at the raw material supply position by the mobile robot.

4. In paragraph 2, An automatic weighing and transport system further comprising a measuring unit including a frozen raw material measuring unit provided at the frozen raw material supply location to measure the weight of the receiving unit located at the frozen raw material supply location, and a raw raw material measuring unit provided at the raw raw material supply location to measure the weight of the receiving unit located at the raw raw material supply location.

5. In paragraph 4, The above frozen raw material measuring unit measures the first weight of the receiving unit that has arrived at the frozen raw material supply location and the second weight of the receiving unit after the discharge of the frozen raw material from the frozen raw material hopper unit is completed. The above raw material measuring unit is an automatic weighing and transport system that measures the third weight of the receiving unit that has arrived at the raw material supply location and the fourth weight of the receiving unit after the raw material is discharged from the raw material hopper unit.

6. In paragraph 5, The above processor, Comparing and determining whether the weight obtained by subtracting the first weight from the second weight is within the preset weight range of the frozen raw material, An automatic weighing and conveying system that compares and determines whether the weight obtained by subtracting the third weight from the fourth weight is within the preset weight range of raw materials.

7. In paragraph 6, Control Panel; including; The above processor, Based on the fact that the weight obtained by subtracting the first weight from the second weight is outside the weight range of the preset frozen raw material, or the weight obtained by subtracting the third weight from the fourth weight is outside the weight range of the preset raw material, An automatic weighing conveying system that controls the control panel to notify the user that the weight obtained by subtracting the first weight from the second weight is outside the preset weight range of the frozen raw material, or that the weight obtained by subtracting the third weight from the fourth weight is outside the preset weight range of the raw material.

8. In paragraph 6, including speakers; The above processor, Based on the fact that the weight obtained by subtracting the first weight from the second weight is outside the weight range of the preset frozen raw material, or the weight obtained by subtracting the third weight from the fourth weight is outside the weight range of the preset raw material, An automatic weighing conveying system that controls the speaker so that the alarm of the speaker sounds.

9. In paragraph 3, An automatic weighing and transport system in which the raw material hopper section is located on one side of the frozen raw material hopper section so as to be adjacent to the frozen raw material hopper section.

10. In paragraph 6, The above frozen raw material supply location and the above raw material supply location are arranged in a row, An automatic weighing and transport system further comprising a mobile robot transport unit that moves the mobile robot, which is located at one of the frozen raw material supply location and the raw raw material supply location, to the other of the frozen raw material supply location and the raw raw material supply location.

11. In paragraph 10, The above mobile robot transfer unit is an automatic weighing transfer system provided to move the mobile robot located at the frozen raw material supply location to the raw material supply location.

12. In paragraph 10, An automatic weighing and transport system in which the processor operates the mobile robot transport unit to transport the mobile robot located at the frozen raw material supply location to the raw material supply location based on the weight obtained by subtracting the first weight from the second weight being within the preset frozen raw material weight range.

13. In paragraph 6, An automatic weighing and transport system in which the mobile robot moves from the raw material supply position to the standby position based on the weight obtained by subtracting the third weight from the fourth weight being within the preset raw material weight range.

14. In paragraph 1, The above frozen raw material hopper section includes a first frozen raw material hopper configured to store and discharge a first frozen raw material and a second frozen raw material hopper configured to store and discharge a second frozen raw material that is distinct from the first frozen raw material. The above frozen raw material transport unit is, A transport rail for supplying and transporting the first and second refrigerated raw materials, An automatic weighing and transport system comprising a switching rail having one end for receiving the first frozen raw material and the second frozen raw material from the transport rail so as to transport the first frozen raw material and the second frozen raw material from the transport rail to the first frozen raw material hopper and the second frozen raw material hopper, respectively, and the other end for switching positions between the first frozen raw material hopper and the second frozen raw material hopper with respect to the one end.

15. In paragraph 1, The above raw material hopper section includes a first raw material hopper configured to store and discharge a first raw material and a second raw material hopper configured to store and discharge a second raw material that is distinct from the first raw material. The above raw material transport unit is, A transport rail for supplying and transporting the first and second raw materials, An automatic weighing and transport system comprising a switching rail including one end for receiving the first raw material and the second raw material from the transport rail so as to transport the first raw material and the second raw material to the first raw material hopper and the second raw material hopper, respectively, and the other end for switching positions between the first raw material hopper and the second raw material hopper with respect to the one end.

16. Controlling the frozen raw material transport section and the raw material transport section to transport the frozen raw material and the raw material to the frozen raw material hopper section and the raw material hopper section, respectively; Controlling the operation of the frozen raw material transport unit to stop based on the frozen raw material being received in the frozen raw material hopper unit in a first preset amount; Controlling the operation of the raw material transport unit to stop based on the raw material being received in the raw material hopper unit in a second preset amount; Moving a mobile robot that loads a receiving portion that receives frozen raw materials and raw materials from the frozen raw material hopper portion and the raw raw material hopper portion to a frozen raw material supply position that receives frozen raw materials from the frozen raw material hopper portion; Controlling the frozen raw material hopper section to discharge frozen raw material based on the arrival of the receiving section to the frozen raw material supply location by the mobile robot; Based on the completion of the discharge of the frozen raw material, moving the mobile robot to the raw material supply position to receive the raw material from the raw material hopper section by loading the receiving portion located at the frozen raw material supply position; and A control method for an automatic weighing and transport system, comprising: controlling the raw material hopper section to discharge raw material based on the arrival of the receiving section to the raw material supply location by the mobile robot; 17. In paragraph 16, Controlling a refrigerated raw material measuring unit provided at the refrigerated raw material supply location to measure a first weight of the receiving unit based on the arrival of the receiving unit at the refrigerated raw material supply location; Controlling the frozen raw material measuring unit to measure the second weight of the receiving unit based on the completion of discharge of the frozen raw material from the frozen raw material hopper unit; Comparing and determining whether the weight obtained by subtracting the first weight from the second weight is within the preset weight range of the frozen raw material; and A control method for an automatic weighing and conveying system, further comprising: controlling a control panel to notify a user based on the weight obtained by subtracting the first weight from the second weight being outside the preset weight range of the frozen raw material; 18. In paragraph 17, Controlling a raw material measuring unit provided at the raw material supply location to measure a third weight of the receiving unit based on the arrival of the receiving unit at the raw material supply location; Controlling the raw material measuring unit to measure the fourth weight of the receiving unit based on the completion of discharge of the raw material from the raw material hopper unit; Comparing and determining whether the weight obtained by subtracting the third weight from the fourth weight is within the weight range of the raw material; and A control method for an automatic weighing conveying system, further comprising: controlling the control panel to sound an alarm to the user based on the weight obtained by subtracting the third weight from the fourth weight being outside the weight range of the raw material; 19. In paragraph 17, A control method for an automatic weighing and transport system, further comprising: operating a mobile robot transport unit configured to transport the mobile robot from the frozen raw material supply location to the raw material supply location based on the weight obtained by subtracting the first weight from the second weight being within the weight range of the frozen raw material; 20. In paragraph 18, A control method for an automatic weighing transport system, further comprising: moving the mobile robot from the raw material supply position to a standby position based on the weight obtained by subtracting the third weight from the fourth weight being within the weight range of the raw material;

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