Modular planar cooking robot

Abstract

The present invention relates to a system (1) for preparation of food, comprising a planar transport system (20) comprising a plurality of transport platforms (21) for carrying food, a plurality of tiles (22) forming a transport surface (200), each tile (22) being configured to generate an electromagnetic field, and a planar transport control unit (23) configured to control said plurality of tiles (22) to let the respective transport platform (21) float above the tiles (22) and propel the respective transport platform (21) to move along a path along the transport surface (200) by means of an electromagnetic field generated by the tiles (22).

Description

[0001] Specification

[0002] Modular Planar Cooking Robot

[0003] The present invention relates to a system for preparation of food and to a corresponding method.

[0004] Systems for the final preparation of dishes (cooking robots) can currently be divided into the two categories line production and robotic cells.

[0005] In line production, classic conveyor belts or similar transport systems are used to arrange process steps such as portioning or preparation in a in a serial process. In some cases, process technology is also moved along on the conveyor system. The systems have either a synchronous cycle, in which all elements to be moved move uniformly, or an asynchronous cycle, in which all elements to be moved can move at different speeds or waiting time. The systems have a first-in-first-out logic.

[0006] Disadvantages of line production result from the fact that process steps can only be run through once, as there is one direction of movement. Further, the dishes must be very similar in preparation type and duration, since each dish must be produced in succession with approximately the same cycle time. Furthermore, the maximum throughput is limited by the slowest process step. Also, all processes must be designed to deliver to an assembly line, which often results in special construction of kitchen equipment. Most processes must fit on one level on the assembly line, requiring a large amount of floor space overall

[0007] In robotic cells, multi-axis kinematics, such as serial robotic arms or linear robots, handle both the transport of food, ingredients or containers as well as the interaction with process technology, such as hot plates, ovens, etc. The concept thus allows for more complex process sequences, which can vary greatly from dish to dish. The concept thus allows more complex process sequences, which can vary greatly from dish to dish, since process stations can be freely approached around the kinematics.

[0008] However, disadvantages of robotic cells stem from the facts that due to the use of multi-axis kinematics for transport and process steps at the same time, they are heavily utilized and throughput is limited. Further, all steps that require the multi-axis kinematics can be started and completed purely serially. Parallelization by using multiple multi-axis kinematics is not suitable because it scales space too. As a consequence, the maximum throughput per hour varies greatly depending on the dish and the corresponding preparation sequence.

[0009] Based on the above, the problem to be solved by the present invention is to provide a system for preparation of food, particularly dishes, and a corresponding method that are at least partially improved regarding the above-described difficulties.

[0010] This problem is solved by a system having the features of claim 1 and a method having the features of claim 19. Preferred embodiments of these aspects of the present invention are stated in the dependent claims and are described below.

[0011] According to claim 1 , a system for the preparation of food, particularly dishes, is disclosed, comprising: at least one module configured to place food (particularly ingredients thereof) into at least one container for accommodating food, a planar transport system comprising a plurality of transport platforms, each transport platform being configured to carry a container for carrying food, wherein the planar transport system further comprises a plurality of tiles forming a transport surface, each tile being configured to generate an electromagnetic field, and wherein the planar transport system further comprises a planar transport control unit configured to control said plurality of tiles to generate an electromagnetic field causing the respective transport platform to float above the transport surface and propel the respective transport platform to move along a (pre-determined or dynamic) path along the transport surface, wherein the at least one module comprises multiple tiles of said plurality of tiles, the multiple tiles forming at least a portion of the transport surface of the planar transport system.

[0012] Particularly, the tiles can be combined to an endless table and allow a 2D movement in any direction of the transport platforms.

[0013] Thus, the present invention utilizes independently moving transport platforms in a particular modular system, e.g., in conjunction with kitchen equipment technology and, depending on the process, multi-axis kinematics. Advantageously, this contributes to a strong parallelization of the process steps and allows process steps to be partially transferred to a logistics system (i.e. the planar transport system moving said transport platforms which can carry containers with ingredients / food therein), so that the multi-axis kinematics in turn can work more efficiently. The arrangements and processes described herein thus significantly increase the possible throughput per hour and at the same time reduce the required installation space.

[0014] According to an embodiment of the invention, the at least one module is configured to be connected to at least one or multiple further modules in a releasable fashion, respectively, the respective further module comprising multiple tiles of said plurality of tiles forming at least a portion of the transport surface of the planar transport system. Furthermore, in an embodiment of the invention, the at least one module is a portioning module configured to receive ingredients of the food, wherein the portioning module comprises a portioning unit configured to portion ingredients into a container residing on a transport platform

[0015] In an embodiment of the system according to the present invention, the planar transport control unit is configured to control said plurality of tiles in a manner that the respective transport platform can be raised and / or lowered and / or tilted about all three spatial directions.

[0016] Further, according to an embodiment of the system, the system comprises a plurality of modules comprising the at least one module as well as least one or several further modules being configured to be connected to one another (particularly in a releasable fashion), each further module of plurality of modules comprising multiple tiles of said plurality of tiles, the multiple tiles of the respective further module forming a portion of the transport surface of the planar transport system.

[0017] Further, according to yet another embodiment of the system, the respective transport platform is configured to transport a container within a module as well as between adjacent modules.

[0018] In a further embodiment of the system, the respective multiple tiles (i.e. the respective portion of the transport surface) are arranged in the respective module in such a way that when two modules are connected to one another their respective portion of the transport surface are aligned with one another to allow the respective transport platform to be moved seamlessly between the two modules.

[0019] Furthermore, according to an embodiment of the system, the module is configured to be connected to an adjacent module via a lateral surface of the respective module and an opposing lateral surface of the adjacent module

[0020] Furthermore, in yet another embodiment of the system, the respective further module is one of the following modules: a portioning module, configured to receive ingredients of the food, wherein the portioning module comprises a portioning unit configured to portion ingredients into a container residing on a transport platform, a container providing module comprising a container providing unit configured to provide a container on a transport platform, a transfer module comprising at least one transfer unit comprising a transfer compartment for receiving a container and handing over of the container to a person, wherein particularly the transfer compartment comprises at least one flap for closing and opening the transfer compartment, a robot module comprising a multi-axis kinematic and an end effector connected thereto, the end effector being configured to grip a container and to move the container from a transport platform on the transport surface towards a kitchen appliance and / or from a kitchen appliance onto a transport platform on the transport surface and / or between to kitchen appliances, preparation module comprising a preparation unit configured to prepare ingredients residing in a container, particularly the preparation unit can comprise and infrared lamp and / or a gas burner system.

[0021] Particularly, the respective kitchen appliance can be one of: a hot plate, a combi steam oven, a deep fryer, a pasta stove, a microwave, a grill station, an infrared lamp, an oven, a pressure steam cooker, a blast freezer, a transport trolley.

[0022] Further, according to an embodiment of the system, for preparing several dishes in parallel, the planar transport control unit is configured to control the plurality of tiles such that several transport platforms move simultaneously and / or move between modules in parallel.

[0023] Particularly, according to an embodiment of the system, the planar transport system is configured to be used to carry out pure logistics processes, i.e. moving transport platforms between different locations, preparation and / or arranging processes (such as the precise placement of ingredients, mixing of ingredients by rotating the transport platforms) as well as the intermediate buffering of containers.

[0024] Furthermore, according to yet another embodiment of the system, the respective module comprises multiples tiles arranged adjacent one another so as to allow transport platforms to overtake one another and / or to move in different directions (particularly past one another), and / or to enable a temporary storage of containers

[0025] Further, according to an embodiment of the system, the respective transport platform comprises an insulating material for placing a hot container thereon.

[0026] Furthermore, in an embodiment of the system, the respective transport platform comprises a scraper lip and / or a cleaning brush for automatic cleaning of the tiles upon moving of the respective transport platform over the transport surface.

[0027] Further, according to an embodiment of the system, the respective module is accessible from one or more lateral sides to allow cleaning of the transport surface, e.g., when the system is switched off. Furthermore, in an embodiment of the system, at least one of the transport platforms (or several or all of the transport platforms of the system) comprises a rotating member configured to contact the tiles upon floating and moving along the tiles so that the rotating member rotates, e.g., due to friction between the rotating member and the tiles.

[0028] Further, in yet another embodiment of the system, the at least one transport platform comprises a device operatively connected to the rotating member, wherein the device is configured to be driven by the rotating member.

[0029] Particularly, in an embodiment, the device is configured to transform rotational energy of the rotating member into electrical energy.

[0030] According to a further embodiment of the system, the device is configured to be driven by the rotating member to move a cleaning device, e.g. a cleaning brush, to clean tiles of the transport system upon floating and moving of the at least one transport platform along the tiles, wherein particularly the device can conduct a direct transmission of a rotary motion of the rotating member to the cleaning device.

[0031] Furthermore, in an embodiment of the system, the at least one transport platform comprises an energy storing unit configured to store said electrical energy, wherein particularly the at least one energy storing unit is configured to power at least one electronic circuit comprised by the at least one transport platform.

[0032] Particularly, in yet another embodiment of the system, the transport system is configured to pivot the at least one transport platform by means of a tile situated underneath the at least one transport platform to lift the rotating member off the tiles or to bring the contact member into contact with a tile.

[0033] A further aspect of the present invention relates to a method, particularly for the preparation of food, wherein the method particularly uses a system according to the present invention.

[0034] According to an embodiment of the method, the method comprises prompting, by the central control unit, the planar transport control unit to let the planar transport system move a transport platform to a pre-defined location on the transport surface.

[0035] Further, according to an embodiment of the method, the method further comprises prompting, by the central control unit, a local control unit of a container providing module to let a container providing unit of the container providing module to provide a container on the transport platform at the pre-defined location. Furthermore, according to an embodiment of the method, the method further comprises prompting, by the central control unit, the planar transport control unit to let the planar transport system move the transport platform and the container thereon to a pre-determined location on the transport surface in a portioning module of the system, and wherein the method further comprises prompting, by the central control unit, a local control unit of the portioning module to let a portioning unit of the portioning module portion at least one ingredient into the container at the pre-determined location in the portioning module.

[0036] Particularly, the positioning of the transport platform and the portioning of the ingredient is synchronized directly between the transport control unit and the local control unit of the portioning module or via the central control unit.

[0037] Further, in an embodiment of the method, the method comprises prompting, by the central control unit, the planar transport control unit to let the planar transport system move the transport platform and the container thereon to a sequence of pre-determined locations on the transport surface, and wherein the method further comprises prompting, by the central control unit, a local control unit of a portioning module to let a portioning unit of the portioning module portion at least one ingredient into the container at the respective location of said sequence of locations.

[0038] Particularly, in the planar transport control unit controls a continuous movement of the transport platform synchronized with the local control unit of the portioning module, which is synchronized directly between the planar transport control unit and the local control unit of the portioning module or via the central control unit, so that at least one ingredient can be placed in the container at the respective location of said sequence of locations.

[0039] According to yet another embodiment of the method, the method further comprises prompting, by the central control unit, the planar transport control unit to let the planar transport system move the transport platform and the container thereon to a pre-determined location on the transport surface in a preparation module of the system, and wherein the method further comprises prompting, by the central control unit, a local control unit of the preparation module to let a preparation unit of the preparation module apply thermal energy to at least one ingredient residing in the container at the pre-determined location in the preparation module.

[0040] Particularly, said thermal energy can be applied to one of: heat, gratinate, grill, flambe, keep warm the at least one ingredient residing in the container.

[0041] According to a further embodiment of the method, the method comprises prompting, by the central control unit, the planar transport control unit to let the planar transport system move the transport platform and the container thereon to a sequence of pre-determined locations on the transport surface, and wherein the method further comprises prompting, by the central control unit, a local control unit of a preparation module to let the preparation module process the at least one ingredient residing in the container at the respective location of said sequence of locations.

[0042] Furthermore, in an embodiment, the method further comprises prompting, by the central control unit, the planar transport control unit to let the planar transport system move the transport platform and the container thereon to a pre-determined location in a transfer module of the system, and wherein the method further comprises prompting, by the central control unit, a local control unit of the transfer module to let a transfer unit of the transfer module receive the container in a transfer compartment of the transfer unit.

[0043] According to a further embodiment, the method further comprises prompting, by the central control unit, the planar transport control unit to let the planar transport system move the transport platform to a pre-determined location in a robot module of the system, and wherein the method further comprises prompting, by the central control unit, a local control unit of the robot module to let an end effector of a multi-axis kinematic of the robot module remove a container residing on the transport platform or arrange a container on the transport platform at the location.

[0044] Particularly, the central control unit can provide a sequence specification to the planar transport control and the local control unit of the robot module, which includes a positioning by the planar transport control unit, a positioning by the local control unit of the robot module and optionally a synchronization of both sequences between the planar transport control unit and the local control unit of the robot module directly or via the central control unit, so that the container can be removed from or placed on the transport platform by the end effector of the robot module.

[0045] Furthermore, according to yet another embodiment of the method, the planar transport control unit and the local control unit of the robot module can perform a continuous movement synchronized or sequentially, which is synchronized directly between the planar transport control unit and the local control unit of the robot module or via the central control unit, so that a container can be removed from or placed on a transport platform by the end effector of the robot module.

[0046] Further, in an embodiment of the method, the method further comprises prompting, by the central control unit, the planar transport control unit and a local control unit of a kitchen appliance of the system to let the planar transport system transfer a container to the kitchen appliance and start a preparation process of the kitchen appliance, or wherein the method further comprises prompting, by the central control unit, a local control unit of a robot module and a local control unit of a kitchen appliance of the system to let the robot module transfer a container to the kitchen appliance and start a preparation process of the kitchen appliance, and to remove the container from the kitchen appliance by the planar transport system or by the robot module when the preparation process is finished.

[0047] In the following embodiments of the aspects of the present invention as well as further features and advantages shall be described with reference to the Figures, wherein

[0048] Fig. 1 shows an embodiment of a system according to the present invention;

[0049] Fig. 2 shows an embodiment of a preparation module according to the present invention;

[0050] Fig. 3 shows embodiments of transport platforms of the system according to the present invention;

[0051] Fig. 4 shows a further embodiment of a transport platform of the system according to the present invention; and

[0052] Fig. 5 shows an embodiment of a method according to the present invention;

[0053] Fig. 1 shows an embodiment of a system 1 according to the present invention, wherein the system comprises at least one module 30 configured to place food, particularly ingredients thereof, into at least one container 42 for accommodating food, a planar transport system 20 comprising a plurality of transport platforms 21 , each transport platform 21 being configured to carry a container 42 for accommodating food, a plurality of tiles 22 forming a transport surface 200, each tile 22 being configured to generate an electromagnetic field, and a planar transport control unit 23 configured to control the electromagnet field of the respective tile 22 to let the respective transport platform 21 float above the transport surface 200 and propel the respective transport platform 21 to move along a (e.g. pre-determined or dynamic) path along the transport surface 200, wherein the at least one module 30 comprises multiple tiles 22 of said plurality of tiles 22, the multiple tiles 22 forming at least a portion of the transport surface 200 of the planar transport system.

[0054] Particularly, the present invention seeks to integrate the planar transport system 20 into a preferably modular robotic cooking system 1. According to the embodiment shown in Fig. 1 , the transport system 20 can comprise any suitable number of independently operating transport platforms 21 , which float and are propelled by the electromagnetic field over said tiles 22 that are particularly controlled to generate a time-dependent electromagnetic field that allows to move each transport platform 21 over the preferably horizontal transport surface 200 formed by the tiles 22. Particularly, the individual tiles 22 can comprise a rectangular arrangement of N x M planar coils. For instance, a typical number of coils is 72 in total, distributed over 2x2 (4 in total) segments (e.g. 18 coils per segment). Further, the coils can be individually controlled and thus their generated magnetic field can be individually regulated. The tiles 22 can be arranged in any order within a plane to create a larger field of tiles. The transport platforms 21 can comprise permanent magnets in a Halbach arrangement and are thus configured to float above the respective tile 22 due to the magnetic field of the tile's planar coils. The magnetic field of the coils is permanently modulated in such a way that a stable levitation of the respective transport platform 21 achieved. Furthermore, by measuring the individual magnetic field of the Halbach arrangement in the transport platform 21 through the respective tile, the transport platform 21 can be identified and its position above the tiles can be calculated. By further modulating the magnetic field of the tiles, the respective transport platform 21 can be moved in its six degrees of freedom on and over the tile(s). Furthermore, pivoting of the tiles about a horizontal axis is possible.

[0055] Particularly, the tiles 22 can be combined to a transport surface 200 of arbitrary size and allow a 2D movement in any direction of the 2D transport surface. In addition, the transport platforms 21 can be raised and lowered, and tilted about all three spatial directions.

[0056] The transport platforms 21 are primarily used for the parallel transport of different containers 42 within a module 30, 40, 50, 60, 70 as well as between adjacent modules.

[0057] The tiles 22 are particularly integrated into the modules 30, 40, 50, 60, 70 in such a way that the modules can be connected and aligned with each other on each lateral surface and thus the transport platforms 21 can be moved seamlessly from one module to another. Path planning and independent control of the transport platforms is handled by a planar transport control unit 23.

[0058] The planar transport system 20 can be integrated into different modules, e.g. but not limited to portioning modules 30, container providing modules 40, transfer modules 50, robot modules 60 or preparation modules 70. Particularly, a minimum configuration of the system 1 can be a combination of a portioning module 30 with one of the container providing module 40, transfer module 50, robot module 60, preparation module 70. It is however important to note that integration into modules is not a basic requirement but an advantageous embodiment.

[0059] In the robot module 60, a transfer of containers 42 between the planar transport system 20 and robot arm 61 can take place, so that the arm 61 can perform the feeding or removal in kitchen equipment technology 80 (e.g., hot plates, combi steam ovens, deep fryers, pasta stoves, microwaves, grill stations, infrared lamps, ovens, pressure steam cookers, blast freezers or transport trolleys). When several dishes are ordered at the same time, several transport platforms can start moving simultaneously and pass through several stations and modules in parallel, and modules in parallel. The optimal planning of all movements is taken over by the central control 90.

[0060] The planar transport system 20 can be used to carry out pure logistics processes, preparation or preparation processes (such as the precise placement of ingredients, the preparation of dishes, the preparation of meals, etc.), precise placement of ingredients, mixing of ingredients by rotating the transport platforms) as well as the intermediate buffering of provided containers.

[0061] The structural configuration of all modules 30, 40, 50, 60, 70 is such that they have multiples of the tiles 22 in the planar plane, such that multiple modules can be seamlessly connected to one another in all horizontal directions and the transport platforms 21 can move quasi endlessly through modules without transition. Multiple tiles 22 adjacent to each other allow parallel streams of transport platforms 21 to overtake one another, move in different directions, or to enable the storage of containers 42.

[0062] Furthermore, as shown in Fig. 3, transport platforms 21 can be equipped with insulating layers / materials 25 so that hot containers 42 can be accommodated on insulated platforms 21 . Further, the transport platforms 21 can be equipped with scraper lips 26 and / or cleaning brushes 27, so that automatic cleaning of the tiles 22 by means of moving platforms 21 can be conducted in a simple fashion.

[0063] Further, the respective module 30, 40, 50, 60, 70 can be designed such that the transport surface 200 (e.g. tiles 22) is accessible from one or more lateral sides of the modules when the system 1 is switched off and can be cleaned (e.g. by wiping the surface 200 clean).

[0064] By combining several modules with planar transport systems 20, arbitrary / desired working spaces can be created and continuously expanded or reduced. Robotic arms 61 , 63 can continue to reach from their own module 60 to an adjacent one, and planar transport systems 20 can seamlessly move transport platforms 21 back and forth between all modules of the system 1. This allows large areas or long lines of any design to be created and floor plans of kitchens can be accommodated more easily.

[0065] Furthermore, as shown in Fig. 4, at least one, several or all of the transport platforms 21 used by the system 1 can comprise a rotating member 28 configured to contact the tiles 22 upon floating and moving of the respective platform 21 along the tiles 22 so that the rotating member 28 rotates, e.g., due to friction between the rotating member 28 and the respective tile 22 on which the rotating member (e.g. a wheel) 28 currently rolls.

[0066] Particularly, the respective transport platform 21 can further comprise a device 29 operatively connected to the rotating member 28, wherein the device 29 is configured to be driven by the rotating member 28 when the latter rolls on the tile(s) 22 due to contact with the latter. The device 29 can be configured to transform rotational energy of the rotating member 28 into electrical energy.

[0067] Furthermore, the device 29 can be configured to be driven by rotating member 28 to move a cleaning device (e.g. the cleaning brush 27 described before) to clean tiles 22 of the transport system 20 upon floating and moving of the respective transport platform 21 along the tiles 22, wherein particularly the device 29 can conduct direct transmission of a rotary motion of the rotating member 28 to the cleaning device 27. However, the device 29 can also be configured to drive any other device comprised by the transport platform 21 that needs to be moved with respect to the transport platform 21 and the tile(s) 22.

[0068] Furthermore, the respective transport platform 21 can comprise an energy storing unit configured to store said electrical energy generated by the device 9, wherein particularly the energy storing unit is configured to power at least one electronic circuit comprised by the respective transport platform 21 carrying the device 29.

[0069] Further, the transport system 20 can be configured to pivot the respective transport platform 21 by means of adapting the electro-magnetic field of at least one tile in the vicinity of the transport platform 21 to lift the rotating member 28 off the tiles 22 or to bring the rotating member 28 into contact with a tile 22.

[0070] Further, Fig. 5 illustrates an embodiment of a method according to the present invention using a system 1 according to the present invention, wherein the method comprises prompting, by the central control unit 90, the planar transport control unit 23 to let the planar transport system 20 move a transport platform 21 to a location on the transport surface 200, particularly for following an individual or a series of preparation steps in the preparation of food.

[0071] The method can further comprise prompting, by the central control unit 90, a local control unit 34 of a container providing module 40 to let a container providing unit 41 of the container providing module 40 provide a container 42 on the transport platform 21 at a location.

[0072] Furthermore, the method can further comprise prompting, by the central control unit 90, the planar transport control unit 23 to let the planar transport system 20 move the transport platform 21 and the container 42 thereon to a location on the transport surface 200 in a portioning module 30 of the system 1 , and wherein the method can further comprise prompting, by the central control unit 90, a local control unit 34 of the portioning module 30 to let a portioning unit 32 of the portioning module 30 portion at least one ingredient into the container 42 at a location in the portioning module 30.

[0073] The method can further comprise prompting, by the central control unit 90, the planar transport control unit 23 to let the planar transport system 20 move the transport platform 21 and the container 42 thereon to a pre-determined location on the transport surface 200 in a preparation module 70 of the system 1 , and wherein the method can further comprise prompting, by the central control unit 90, a local control unit 34 of the preparation module 70 to let a preparation unit 71 of the preparation module 70 apply thermal energy to at least one ingredient residing in the container 42 at the location in the preparation module 70.

[0074] Furthermore, the method further comprises prompting, by the central control unit 90, the planar transport control unit 23 to let the planar transport system 20 move the transport platform 21 and the container 42 thereon to a pre-determined location in a transfer module 50 of the system 1 , and wherein the method further comprises prompting, by the central control unit 90, a local control unit 53 of the transfer module 50 to let a transfer unit 51 of the transfer module 50 receive the container 42 in a transfer compartment of the transfer unit 51 .

[0075] Furthermore, the method can further comprise prompting, by the central control unit 90, the planar transport control unit 23 to let the planar transport system 20 move a transport platform 21 to a location in a robot module 60 of the system 1 , and wherein the method further comprises prompting, by the central control unit 90, a local control unit 62 of the robot module 60 to let an end effector 63 of a multi-axis kinematic 61 of the robot module 60 remove a container 42 residing on the transport platform 21 or arrange a container 42 on the platform 21 at the location in the robot module 60.

[0076] Further, the method can comprise prompting, by the central control unit 90, the planar transport control unit 23 and a local control unit 81 of a kitchen appliance 80 of the system 1 to let the planar transport system 20 transfer a container 42 to the kitchen appliance 80 and start a preparation process of the kitchen appliance 80, or wherein the method further comprises prompting, by the central control unit 90, a local control unit 62 of a robot module 60 and a local control unit 81 of a kitchen appliance 80 of the system 1 to let the robot module 60 transfer a container 42 to the kitchen appliance 80 and start a preparation process of the kitchen appliance 80, and to remove the container 42 from the kitchen appliance 80 by the planar transport system 20 or by the robot module 60 when the preparation process is finished. Reference Numerals

Claims

Patent claims1. A system (1) for preparation of food, comprising:- at least one module (30) configured to place food into at least one container (42) for accommodating food,- a planar transport system (20) comprising a plurality of transport platforms (21), each transport platform being configured to carry a container (42) for accommodating food, a plurality of tiles (22) forming a transport surface (200), each tile (22) being configured to generate an electromagnetic field, and a planar transport control unit (23) configured to control the electromagnet field of the respective tile (22) to let the respective transport platform (21) float above the transport surface (200) and propel the respective transport platform (21) to move along a path along the transport surface (200), wherein- the at least one module (30) comprises multiple tiles (22) of said plurality of tiles (22), the multiple tiles (22) forming at least a portion of the transport surface (200) of the planar transport system (20).

2. The system according to claim 1 , wherein the planar transport control unit (23) is configured to control said plurality of tiles (22) in a manner that the respective transport platform (21) can be raised and / or lowered and / or tilted about all three spatial directions.

3. The system according to claim 1 or 2, wherein the system (1) comprises a plurality of modules (30, 40, 60, 70) comprising the at least one module (30) as well as at least one or several further modules (40, 60, 70), the modules (30, 40, 60, 70) being configured to be connected to one another in a releasable fashion, each further module of said plurality of modules comprising multiple tiles (22) of said plurality of tiles (22), the multiple tiles (22) of the respective further module forming a portion of the transport surface (200) of the planar transport system (20).

4. The system according to claim 3, wherein the respective transport platform (21) is configured to transport a container (42) within a module (30, 40, 60, 70) as well as between adjacent modules (30, 40, 60, 70).

5. The system according to claim 3 or 4, wherein the respective multiple tiles (22) are arranged in the respective module (30, 40, 60, 70) in such a way that when two modulesare connected to one another their respective portion of the transport surface (200) are aligned with one another to allow the respective transport platform (21) to be moved seamlessly between the two modules.

6. The system according to one of the claims 3 to 5, wherein the respective module (30, 40, 60, 70) is configured to be connected to an adjacent module via a lateral surface of the respective module and an opposing lateral surface of the adjacent module.

7. The system according to one of the claims 3 to 6, wherein the respective further module (30, 40, 60, 70) is one of the following modules: a portioning module (30), configured to receive ingredients of the food, wherein the portioning module (30) comprises a portioning unit (32) configured to portion ingredients into a container (42) residing on a transport platform (21), a container providing module (40) comprising a container providing unit (41) configured to provide a container (42) on a transport platform (21), a transfer module (50) comprising at least one transfer unit (51) comprising a transfer compartment for receiving a container (42) and handing over of the container (42) to a person, a robot module (60) comprising a multi-axis kinematic (61) and an end effector (63) connected thereto, the end effector (63) being configured to grip a container (42) and to move the container (42) from a transport platform (21) on the transport surface (200) towards a kitchen appliance (80) and / or from a kitchen appliance (80) onto a transport platform (21) on the transport surface (200) and / or between two kitchen appliances, preparation module (70) comprising a preparation unit (71) configured to prepare ingredients residing in a container (42).

8. The system according to one of the preceding claims, wherein for preparing several dishes in parallel, the planar transport control unit (23) is configured to control the plurality of tiles (22) such that several transport platforms (21) move simultaneously and / or move between modules (30, 40, 60, 70) in parallel.

9. The system according to one of the claims 3 to 8, wherein the respective module (30, 40, 60, 70) comprises multiple tiles (22) arranged adjacent one another so as to allowtransport platforms (22) to overtake one another and / or to move in different directions, and / or to enable a temporary storage of containers (42).

10. The system according to one of the preceding claims, wherein the respective transport platform (21) comprises an insulating device, particularly an insulating material (25), for placing a hot container (42) thereon.11 . The system according to one of the preceding claims, wherein for automatic cleaning of the tiles (22) upon moving of the respective transport platform (21) over the transport surface (200), the respective transport platform (21) comprises at least one of: a scraper lip (26), a cleaning brush (27), a cleaning nozzle, a cleaning cloth, a wet cleaning cloth.

12. The system according to one of the claims 3 to 11 , wherein the respective module (30, 40, 60, 70) is accessible from one or more lateral sides to allow cleaning of the transport surface (200).

13. The system according to one of the preceding claims, wherein at least one of the transport platforms (21) comprises a rotating member (28) configured to contact the tiles (22) upon floating and moving along the tiles (22) so that the rotating member (28) rotates.

14. The system according to claim 13, wherein the at least one transport platform (21) comprises a device (29) operatively connected to the rotating member (28), wherein the device (29) is configured to be driven by the rotating member (28).

15. The system according to claim 14, wherein the device (29) is configured to transform rotational energy of the rotating member (28) into electrical energy.

16. The system according to claim 14, wherein the device (29) is configured to be driven by rotating member (28) to move a cleaning device (27) to clean tiles (22) of the transport system (20) upon floating and moving of the at least one transport platform (21) along the tiles (22).

17. The system according to claim 15, wherein the at least one transport platform (21) comprises an energy storing unit configured to store said electrical energy, whereinparticularly the at least one energy storing unit is configured to power at least one electronic circuit comprised by the at least one transport platform (21).

18. The system according to one of the claims 13 to 17, wherein the transport system (20) is configured to pivot the at least one transport platform (21) by means of at least one tile (22) in the vicinity of the at least one transport platform (21) to lift the rotating member (28) off the tiles (22) or to bring the rotating member (28) into contact with a tile (22).

19. A method using a system (1) according to one of the preceding claims, wherein the method comprises prompting, by the central control unit (90), the planar transport control unit (23) to let the planar transport system (20) move a transport platform (21) to a location on the transport surface (200).

20. The method according to claim 19, wherein the method further comprises prompting, by the central control unit (90), a local control unit (34) of a container providing module (40) to let a container providing unit (41) of the container providing module (40) provide a container (42) on the transport platform (21) at the location.

21. The method according to claim 20, wherein the method further comprises prompting, by the central control unit (90), the planar transport control unit (23) to let the planar transport system (20) move the transport platform (21) and the container (42) thereon to a location on the transport surface (200) in a portioning module (30) of the system (1), and wherein the method further comprises prompting, by the central control unit (90), a local control unit (34) of the portioning module (30) to let a portioning unit (32) of the portioning module (30) portion at least one ingredient into the container (42) at the location in the portioning module (30).

22. The method according to claim 21 , wherein the method further comprises prompting, by the central control unit (90), the planar transport control unit (23) to let the planar transport system (20) move the transport platform (21) and the container (42) thereon to a location on the transport surface (200) in a preparation module (70) of the system (1), and wherein the method further comprises prompting, by the central control unit (90), a local control unit (34) of the preparation module (70) to let a preparation unit (71) of the preparation module (70) apply thermal energy to at least one ingredient residing in the container (42) at the location in the preparation module (70).

23. The method according to one of the claims 19 to 22, wherein the method further comprises prompting, by the central control unit (90), the planar transport control unit (23) to let the planar transport system (20) move the transport platform (21) and the container (42) thereon to a location in a transfer module (50) of the system (1), and wherein the method further comprises prompting, by the central control unit (90), a local control unit (53) of the transfer module (50) to let a transfer unit (51) of the transfer module (50) receive the container (42) in a transfer compartment of the transfer unit (51).

24. The method according to one of the claims 19 to 23, wherein the method further comprises prompting, by the central control unit (90), the planar transport control unit (23) to let the planar transport system (20) move a transport platform (21) to a location in a robot module (60) of the system (1), and wherein the method further comprises prompting, by the central control unit (90), a local control unit (62) of the robot module (60) to let an end effector (63) of a multi-axis kinematic (61) of the robot module (60) remove a container (42) residing on the transport platform (21) or arrange a container (42) on the platform (21) at the location in the robot module (60).

25. The method according to one of the claims 19 to 24, wherein the method further comprises prompting, by the central control unit (90), the planar transport control unit (23) and a local control unit (81) of a kitchen appliance (80) of the system (1) to let the planar transport system (20) transfer a container (42) to the kitchen appliance (80) and start a preparation process of the kitchen appliance (80), or wherein the method further comprises prompting, by the central control unit (90), a local control unit (62) of a robot module (60) and a local control unit (81) of a kitchen appliance (80) of the system (1) to let the robot module (60) transfer a container (42) to the kitchen appliance (80) and start a preparation process of the kitchen appliance (80), and to remove the container (42) from the kitchen appliance (80) by the planar transport system (20) or by the robot module (60) when the preparation process is finished.

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