JPWO2019065304A1 - Food delivery system, food delivery method and management device for food delivery system - Google Patents

Abstract

The food provision system stacks and orders foodstuffs based on a data output unit (443) that outputs shape data, color data, and taste data of ordered foods, and shape data and taste data output from the data output unit. A three-dimensional modeling device that manufactures a shaped food having a shape and taste corresponding to the food, a user device that is attached to the user and has a display unit that displays a three-dimensional image that matches the real space, and three-dimensional modeling. It includes a display control unit that controls the display unit based on the color data output from the data output unit so that the three-dimensional image of the shaped food produced by the apparatus is displayed in the same color as the ordered food.

Description

The present invention relates to a food providing system for providing food produced by a 3D printer or the like, a food providing method, and a management device for the food providing system.

Conventionally, an apparatus for producing food using a 3D printer has been known (see, for example, Patent Document 1). In the apparatus described in Patent Document 1, foodstuffs having a desired color and flavor are produced by laminating foodstuffs based on a cross-sectional view of CAD data while adding a colorant and a flavoring agent.

Patent Document 1: International Publication No. 2015/1060659

By the way, some actual foods are provided in a colorful state using colorful ingredients. If an attempt is made to reproduce such a food using the 3D printer described in Patent Document 1 or the like, the manufacturing cost of the food may increase significantly.

The food providing system, which is one aspect of the present invention, stacks foodstuffs based on a data output unit that outputs food shape data, color data, and taste data, and shape data and taste data output from the data output unit. A three-dimensional modeling device that manufactures a shaped food having a shape and taste corresponding to the food, a user device that is attached to the user and has a display unit that displays a three-dimensional image that matches the real space, and a tertiary. It includes a display control unit that controls the display unit based on the color data output from the data output unit so that the three-dimensional image of the modeled food produced by the original modeling device is displayed in the same color as the food.

The food providing method according to another aspect of the present invention outputs food shape data, color data, and taste data, and stacks foodstuffs based on the output shape data and taste data to form a shape corresponding to the food. Manufactures a shaped food with the taste and taste, and outputs it so that a three-dimensional image matching the real space of the manufactured shaped food is displayed in the same color as the food on the display unit of the user device attached to the user. It includes controlling the display unit based on the color data.

The management device for a food providing system, which is still another aspect of the present invention, includes a signal input unit that receives data transmitted from a user device and a robot, and food shape data based on the data received via the signal input unit. Manufactured by a data output unit that identifies and outputs color data and taste data, a printer control unit that outputs shape data and taste data output from the data output unit to an external three-dimensional modeling device, and a three-dimensional modeling device. It is provided with a user equipment control unit that outputs color data output from a data output unit to an external user equipment so that a three-dimensional image of the shaped food to be produced is displayed in the same color as the food.

According to the present invention, it is not necessary to worry about the color of the shaped food itself produced by the three-dimensional modeling device, and the shaped food can be produced at low cost.

The figure which shows outline the whole structure of the food provision system which concerns on embodiment of this invention. The figure which shows the structure of the user apparatus of FIG. The figure which shows the schematic structure of the 3D printer of FIG. The figure which shows the structure of the robot of FIG. The block diagram which shows the schematic structure of the management server of FIG. The flowchart which shows an example of the processing executed by the arithmetic unit of FIG. The figure which shows an example of the operation by the food providing system which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 7. The food providing system according to the embodiment of the present invention is applied to a robot system, and provides food to a user by using information acquired by a robot that operates according to a command from the user. More specifically, the user is made to recognize the food (ordered food) that can be ordered in the remote place through the image signal of the camera acquired by using the robot in the remote place, and the ordered food is ordered according to the command from the user. The food corresponding to the above is manufactured by a 3D printer, and the manufactured food (modeled food) is provided to the user. Custom foods and shaped foods have the same shape and taste, but different colors.

The robot can act independently by a command from the user, but the following describes an example in which the robot acts together with a third party such as the user's family instead of acting alone. For example, suppose that it is difficult for a user to go out (for example, travel) with a family member, and a robot travels with the family member instead of the user. At this time, the robot is operated according to a command from the user, and the information acquired by the robot is provided to the user. As a result, the user can feel as if he / she is traveling with his / her family while staying at home, for example. In particular, in the present embodiment, the information on the food at the travel destination is provided to the user via the robot as follows, and the food is manufactured by the 3D printer using the information. This allows the user to feel as if they are eating with their family while traveling.

FIG. 1 is a diagram schematically showing an overall configuration of a food providing system 100 according to an embodiment of the present invention. As shown in FIG. 1, the food providing system 100 includes a user device 10 mounted on the user 1 located at the A point, a 3D printer 20 arranged at the A point, and a user at the A point located at the B point. It is configured to include a robot 30 operated by 1 and a management server 40.

The user device 10, the 3D printer 20, the robot 30, and the management server 40 are communicably connected by a network 2 including a wireless communication network such as an Internet line. Point A is, for example, the user's home, and point B is a point away from point A, for example, a point in a different area. It should be noted that points A and B may be different countries from each other.

The robot 30 at point B is rented from the store 3 at point B or near point B. That is, the robot 30 is rented by the family of the user 1 who has gone to the store 3, and acts together with the family of the user 1 at the point B. The robot 30 is returned to the store 3 by the family of the user 1 when the trip at the point B is completed. Each robot 30 in the store 3 is given a unique identification ID in advance.

FIG. 2 is a diagram showing the configuration of the user device 10. As shown in FIG. 2, the user device 10 is, for example, a wearable computer having a substantially helmet shape as a whole, and is worn on the user's head. The user device 10 includes a plurality of sensors 11 that detect brain activities such as the user's electroencephalogram, magnetoencephalogram, and cerebral blood flow. That is, the user device 10 includes a so-called brain-machine interface (BMI) that detects a user's thoughts or intentions from a brain activity signal and realizes machine operation without using the body.

Further, the user device 10 includes a display 12, a microphone 13, a speaker 14, an input device 15, a controller 16, a wireless unit 17, and a camera 18. The display 12 is, for example, a non-transparent head-mounted display, which is arranged so as to cover the periphery of both eyes of the user, and displays a camera image from the robot 30. The positions of the user's nose and mouth are exposed without being covered by the user device 10.

On the outer surface of the display 12, a pair of cameras 18 having an image sensor such as a CCD corresponding to the positions of both eyes of the user are provided. The display 12 can also display a three-dimensional image of the real space taken by the camera 18. A virtual image can be superimposed and displayed on this three-dimensional image.

The microphone 13 is provided so as to be movable toward the user's mouth, and inputs an audio signal uttered by the user. The speaker 14 is placed near the user's ear and outputs voice. The input device 15 is composed of a switch, a touch panel, or the like operated by the user, and various information such as personal information of the user can be input via the input device 15.

The controller 16 includes a microcomputer having a CPU, ROM, RAM, and the like, and controls the wireless unit 17 to communicate with the management server 40. For example, the controller 16 causes the management server 40 to transmit signals from the sensor 11 and the microphone 13. Further, the controller 16 outputs a control signal to the display 12, the speaker 14, and the like based on the signal transmitted from the management server 40.

FIG. 3 is a block diagram showing a schematic configuration of the 3D printer 20. The 3D printer 20 creates an object by laminating materials based on the shape data of a three-dimensional model, and in the present embodiment, the foodstuffs are laminated to produce a food (modeled food). As shown in FIG. 3, the 3D printer 20 includes an input device 21, a food material storage unit 22, a flavor storage unit 23, a stirring unit 24, a nozzle 25, a controller 26, and a wireless unit 27.

The food storage unit 22 stores a plurality of foods having different hardness, such as agar, konjac, and jelly, in different containers in a shredded state. The food storage unit 22 can also store powdered food in a container. The flavor storage unit 23 stores basic flavors such as sweetness, bitterness, sourness, saltiness, and umami in different containers in the form of powder or liquid. The stirring unit 24 stirs a predetermined amount of foodstuff of a predetermined type supplied from the foodstuff storage unit 22 and a predetermined amount of flavor of a predetermined type supplied from the flavor storage unit 23. The nozzle 25 moves according to the coordinate data output from the controller 26, and stacks the flavored foods supplied from the stirring unit 24 while ejecting them from the tip thereof, thereby producing a three-dimensional shaped food.

The controller 26 includes a microcomputer having a calculation unit 26A such as a CPU, a storage unit 26B such as a ROM and RAM, and various peripheral circuits. The calculation unit 26A has a data input unit 261 and a signal output unit 262 as a functional configuration. The data input unit 261 captures the signal input from the input device 21, and also captures the signal (food data) transmitted from the management server 40 via the wireless unit 27. The signal output unit 262 outputs a control signal to each operation unit (actuator, etc.) of the food storage unit 22, the flavor storage unit 23, the stirring unit 24, and the nozzle 25 according to the signal captured by the data input unit 261 to store the food. The operation of the unit 22, the flavor storage unit 23, the stirring unit 24, and the nozzle 25 is controlled.

FIG. 4 is a diagram showing the configuration of the robot 30. As shown in FIG. 4, the robot 30 is a humanoid robot having a head, a body, two arms, and two legs, and can be moved by the robot itself by bipedal walking. The height of the robot 30 is close to the height of an adult, for example, about 140 to 160 cm.

The robot 30 has a plurality of sensors having detection functions corresponding to five senses, which are human sensory functions for sensing the outside world, that is, a visual sensor 311, an auditory sensor 312, a tactile sensor 313, an odor sensor 314, and a taste sensation. It has a sensor 315. These sensors 31 to 315 output signals corresponding to the five human senses (five sense signals) as detection signals.

More specifically, the visual sensor 311 is composed of a camera, and drives an imaging unit having an image sensor such as a CMOS sensor or a CCD sensor provided at the eye position of the robot 30 and a lens, and the imaging unit vertically and horizontally. It has a driving unit that operates the robot and a zoom mechanism that enlarges / reduces the subject, and acquires an image (moving image) around the robot 30. The auditory sensor 312 is composed of, for example, a microphone provided at the position of the ear of the robot 30, and acquires the sound around the robot 30. The tactile sensor 313 is composed of, for example, a force sensor provided at the position of the hand of the robot 30, and detects an external force acting on the hand of the robot 30. The odor sensor 314 is provided at the position of the nose of the robot 30 and detects the odor. The taste sensor 315 is provided at the position of the mouth of the robot 30 and detects the taste.

Further, the robot 30 has an actuator 32, a speaker 33, an input device 34, a GPS sensor 35, a controller 36, and a wireless unit 37. The actuator 32 is composed of, for example, a plurality of servomotors provided at the joints of the robot 30, and the robot 30 is operated by driving the actuator 32. The speaker 33 is provided at the position of the mouth of the robot 30 and outputs sound. The input device 34 includes various switches such as a power switch. The GPS sensor 35 receives GPS signals from GPS satellites. The position of the robot 30 can be detected by the signal from the GPS sensor 35.

The controller 36 includes a microcomputer having a CPU, ROM, RAM, etc., and controls the wireless unit 37 to communicate with the management server 40. For example, the controller 36 causes the management server 40 to transmit signals from the sensors 31 to 315 that output the five senses signals and the GPS sensor 35. Further, the controller 36 outputs a control signal to the actuator 32, the speaker 33, and the like based on the signal transmitted from the management server 40.

FIG. 5 is a block diagram showing an example of a schematic configuration of the management server 40. As shown in FIG. 5, the management server 40 includes an input device 41, a display device 42, a wireless unit 43, and a controller 44. The input device 41 and the display device 42 can be omitted. Further, the wireless unit 43 may be configured to be connected by wire as well as wirelessly.

The controller 44 has a calculation unit 44A such as a CPU, a storage unit 44B such as a ROM, RAM, and a hard disk, and other peripheral circuits, and controls the wireless unit 43 to control the user equipment 10, the 3D printer 20, and the robot 30. Communicate with. The calculation unit 44A has a signal input unit 441, an order reception unit 442, a data output unit 443, a robot control unit 444, a printer control unit 445, and a user equipment control unit 446 as functional configurations. The storage unit 44B has a food database 447 as a functional configuration.

The food database 447 stores food data including shape data, color data, and taste data of a plurality of foods (dishes, etc.) formed by a single or a plurality of foodstuffs and flavors together with food names. The food data includes data on foods recognized by the user via the robot 30 (visual sensor 311), for example, foods that can be ordered at a restaurant or a store that sells foods (custom foods), and the shape of the custom foods. It includes data on the shaped food when the food (shaped food) is manufactured by the 3D printer 20 by imitating the taste. The data of the shaped food is stored in the food database 447 in association with the data of the ordered food. Information on foods of various genres is stored in the food database 447, and this information is periodically updated or sequentially updated, for example, via an input device 41.

The signal input unit 441 transmits the data transmitted from the user device 10 (sensor 11, microphone 13 and the like in FIG. 2) and the data transmitted from the robot 30 (sensors 31 to 315 and the like in FIG. 4) to the wireless unit 43. Get through. The signal input unit 441 also acquires an operation completion signal output from the 3D printer 20 when the production of food is completed by the 3D printer 20.

The order receiving unit 442 receives an order for food to be manufactured by the 3D printer 20. For example, when food is photographed by the camera (visual sensor 311) of the robot 30 and the food is displayed on the display 12 of the user device 10 and the food is ordered via the robot 30 by a command from the user, the order reception unit 431 accepts an order for the food. Since the robot 30 cannot eat food, it is not necessary for the ordered food to be actually made at the restaurant.

The robot 30 may actually order food according to a command from the user, but it may simply pretend to be an order. Instead of pretending to be an order, the order receiving unit 442 may determine the user's intention to order food and accept the order. That is, the user may instruct the food order via the sensor 11 or the microphone 13 without going through the ordering operation by the robot 30, and the order receiving unit 442 may accept the order.

When the robot 30 makes an ordering operation for food, the order receiving unit 442 determines the name of the ordered food based on the signals from the sensor 11 and the visual sensor 311 and identifies the ordered food. When the name of the ordered food is unknown, the food data matching the shape data and the color data of the food acquired by the visual sensor 311 can be searched from the food database 436, and the ordered food can be specified by this.

The data output unit 443 refers to the food database 447 and extracts and outputs the shape data, the color data, and the taste data of the ordered food specified by the order receiving unit 442.

Based on the signal (brain activity signal) from the sensor 11 of the user device 10 read by the signal input unit 441, the robot control unit 444 transmits an operation signal to the actuator 32 of the robot 30 to the robot 30 via the wireless unit 43. Send. The controller 36 of the robot 30 outputs a control signal to the actuator 32 in response to this operation signal. As a result, the robot 30 can be operated according to the user's intention. The robot control unit 444 can also output the voice based on the signal from the microphone 13 of the user device 10 from the speaker 33 of the robot 30.

The printer control unit 445 transmits the shape data and taste data of the ordered food among the food data output from the data output unit 443 to the 3D printer 20 via the wireless unit 43. The controller 26 (signal output unit 262) of the 3D printer 20 sends control signals to each operation unit of the food storage unit 22, the flavor storage unit 23, the stirring unit 24, and the nozzle 25 based on the transmitted shape data and taste data. Is output. As a result, a shaped food having the same shape and taste as the custom-made food is produced.

The user device control unit 446 transmits an operation signal to the user device 10 to the user device 10 via the wireless unit 43 based on the signals (five sense signals) from the sensors 31 to 315 of the robot 30 read by the signal input unit 441. Send. For example, the image signal detected by the visual sensor 311 is transmitted. The controller 16 of the user device 10 outputs a control signal to the display 12 in response to the image signal, and causes the display 12 to display the three-dimensional image obtained from the visual sensor 311. The user device control unit 446 can also output the voice based on the signal from the auditory sensor 312 from the speaker 14 of the user device 10.

The user equipment control unit 446 determines which of the image acquired by the visual sensor 311 of the robot 30 and the image acquired by the camera 18 of the user equipment 10 is displayed on the display 12. The display of the display 12 is switched according to this determination. For example, when the robot 30 is operated by a command from the user, the user device control unit 446 transmits a signal from the visual sensor 311 to the user device 10, and displays an image based on the signal from the visual sensor 311 on the display 12. Display it. On the other hand, when the production of the shaped food is completed by the 3D printer 20 after ordering the food, the user device control unit 446 transmits an image switching signal to the user device 10 so as to display an image based on the signal from the camera 18. The display image can be switched by operating the input device 15 of the user device 10.

When transmitting the image switching signal, the user device control unit 446 also transmits the color data of the ordered food output from the data output unit 443 to the user device 10. The controller 16 of the user device 10 controls the color of the display image of the shaped food based on the color data. That is, when the image of the shaped food taken by the camera 18 is displayed on the display 12, the controller 16 controls the display color of the image so that the shaped food is displayed in the same color as the ordered food.

FIG. 6 is a flowchart showing an example of a process executed by the calculation unit 44A of the management server 40 according to a program stored in the storage unit 44B in advance, particularly a process related to display control on the display 12 of the user device 10. The process shown in this flowchart is started when, for example, a robot operation start command is input from the user device 10, and is repeated at a predetermined cycle.

First, in step S1, it is determined whether or not the robot 30 has ordered food according to a command from the user, that is, whether or not the order receiving unit 442 has accepted the food order. If the result is denied in step S1, the process proceeds to step S2, and the image signal acquired by the visual sensor 311 of the robot 30 read by the signal input unit 441 is transmitted to the user device 10 via the wireless unit 43. As a result, the image (moving image) acquired via the robot 30 is displayed on the display 12 of the user device 10.

On the other hand, if affirmed in step S1, the process proceeds to step S3, and the order receiving unit 442 specifies the name of the ordered food. Next, in step S4, the data output unit 443 refers to the food database 447 and outputs the food data of the ordered food specified in step S3, that is, the shape data, the color data, and the taste data. Next, in step S5, the printer control unit 445 transmits the food data (shape data and taste data) of the ordered food to the 3D printer 20 via the wireless unit 43.

Next, in step S6, it is determined whether or not the production of the shaped food is completed based on whether or not the operation completion signal is transmitted from the 3D printer 20. If affirmed in step S6, the process proceeds to step S7, and if denied, the process proceeds to step S2. In step S7, the user device control unit 446 transmits a signal (for example, an image switching signal) to the user device 10 via the wireless unit 43 so that the image acquired by the camera 18 is displayed on the display 12. As a result, the image display of the display 12 is switched, and the image of the real space (image of the shaped food) taken by the camera 18 is displayed on the display 12.

Further, in step S7, the user equipment control unit 446 transmits the color data of the ordered food output from the data output unit 443 in step S4 to the user equipment 10. The controller 16 of the user device 10 controls the display color of the shaped food based on the color data. As a result, the user recognizes the shaped food as the same color as the ordered food. Therefore, the same food as the ordered food can be easily reproduced and provided to the user. The shape and taste of the shaped food correspond to (for example, match) the shape and taste of the custom-made food, and the appearance of the shaped food displayed on the display 12 is the same as that of the custom-made food. It makes me feel as if I tasted food.

The operation of the food providing system 100 according to the present embodiment will be described more specifically. As shown in FIG. 7, when the robot 30 orders the custom food 5 (cake) at the point B, the shape data and the taste data of the custom food 5 are transmitted to the 3D printer 20 (step S5). The 3D printer 20 operates based on these shape data and taste data, and a shaped food 6 (cake) having the same shape and taste as the ordered food 5 is produced at point A. The surface of the custom-made food 5 is formed by a plurality of colors and patterns, whereas the surface of the shaped food 6 is formed by, for example, a single color and has no pattern.

When the production of the shaped food 6 is completed, the image display on the display 12 is switched (step S7). At this time, the color data of the custom food 5 is transmitted to the user device 10, and the shaped food 6 is displayed on the display 12 in the same color and pattern as the custom food 5. As a result, the user 1 recognizes that the shaped food 6 is actually different in color but is the same as the custom-made food 5, and by eating the shaped food 6, the user 1 can obtain the feeling of eating the custom-made food 5.

According to this embodiment, the following effects can be obtained.
(1) The food providing system 100 according to the present embodiment has a data output unit 443 that outputs shape data, color data, and taste data of food (custom food), and shape data and taste output from the data output unit 443. A 3D printer 20 that manufactures shaped foods that have a shape and taste corresponding to custom foods by stacking foodstuffs based on data, and a display that is attached to the user and displays a three-dimensional image that matches the real space. The display 12 is controlled based on the color data output from the data output unit 443 so that the three-dimensional image of the shaped food produced by the user device 10 having the 12 and the 3D printer 20 is displayed in the same color as the ordered food. The user equipment control unit 446 and the controller 16 are provided (FIGS. 1, 2, and 5).

As a result, the shape and taste of the custom-made food can be easily reproduced by the 3D printer 20. The color of the custom-made food is not reproduced, and the shaped food is simulated in a color matching the custom-made food through the display 12. Therefore, it is possible to manufacture the shaped food with the color of the food material supplied from the food material storage unit 22, for example, without worrying about the color of the shaped food, and it is possible to reduce the manufacturing cost of the shaped food. That is, it is possible to provide a highly satisfying shaped food to the user by using the 3D printer 20 with an inexpensive configuration.

(2) The food providing system 100 further includes a movable robot 30 that operates in response to a command from a user via wireless communication and has a visual sensor 311 (FIG. 1). The user device control unit 446 and the controller 16 further control the display 12 so that the three-dimensional image captured by the visual sensor 311 is displayed in place of the three-dimensional image that matches the real space (step S2). As a result, the user can obtain various information via the robot 30 at a remote location. For example, from the appearance of the food displayed on the display 12, it is possible to determine which food the user wants to order.

(3) The food provision system 100 further includes a food database 447 in which food data including shape data, color data, and taste data of a plurality of foods are stored (FIG. 5). When a food is ordered via the robot 30, the data output unit 443 extracts shape data, color data, and taste data corresponding to the food from the food database 447 and outputs the data (step S4). As a result, it is possible to provide the user with a shaped food that reproduces the food ordered via the robot 30. Therefore, the user can feel as if he / she is eating with his / her family, and a high degree of satisfaction can be obtained.

(4) The data output unit 443 can output the shape data and the color data of the food photographed by the visual sensor 311, and can also extract and output the taste data corresponding to the food from the food database 447. As a result, for example, even when the name of the food to be ordered is unknown, the food data (taste data) can be extracted from the shape data and the color data of the food taken by the visual sensor 311. It can be used to easily produce a desired food product.

(5) The food providing method according to the embodiment of the present invention outputs shape data, color data, and taste data of custom-made food (step S4), and the foodstuff is based on the output shape data and taste data. To produce a shaped food having a shape and taste corresponding to the custom-made food (step S5), a three-dimensional image of the manufactured shaped food in the real space is displayed on the display 12 of the user device 10 attached to the user. Includes controlling the display 12 based on the output color data so that is displayed in the same color as the ordered food (step S7). As a result, it is possible to reduce the manufacturing cost of the food and provide the user with the same food as the custom food.

In the above embodiment, the food providing system 100 is applied to the robot system, but the food providing system of the present invention can be similarly applied to other than the robot system. That is, the data output unit 443 may output the shape data, the color data, and the taste data of the food for which the order has been received without going through the robot 30. In the above embodiment, the shaped food is manufactured by using the 3D printer 20, but the shaped food has a shape and taste corresponding to the food by laminating the ingredients based on the shape data and the taste data output from the data output unit. If food is manufactured, the configuration of the three-dimensional modeling apparatus is not limited to that described above.

In the above embodiment, the head-mounted display is used as the display 12, but the configuration of the display unit that displays a three-dimensional image that matches the real space is not limited to this. The configuration of the user device attached to the user is not limited to that described above. In the above embodiment, the display 12 of the user device 10 is switched by a command from the user device control unit 446, and the controller 16 of the user device 10 is based on the color data transmitted by the command from the user device control unit 446. Controls the color of the display image of the shaped food, but the display controls based on the color data output from the data output unit so that the three-dimensional image of the shaped food is displayed in the same color as the ordered food. If so, the configuration of the display control unit is not limited to that described above.

In the above embodiment, the humanoid robot 30 capable of bipedal walking is used, but if it operates in response to a command from the user via wireless communication and has a photographing unit such as a visual sensor 311, the robot configuration. Is not limited to the above. In the above embodiment, the food data including the shape data, the color data, and the taste data of a plurality of foods is stored in the food database 447 of the management server 40, but the configuration of the storage unit is not limited to this.

In the above embodiment, signals are transmitted and received between the management server 40, the user equipment 10, the 3D printer 20, and the robot 30. That is, the user equipment 10, the 3D printer 20, and the robot 30 communicate with each other via the management server 40, but they may communicate directly without going through the management server 40. In this case, the functions of the management server 40 may be provided by the user equipment 10, the 3D printer 20, the controllers 16, 26, 36, etc. of the robot 30.

In the above embodiment, the robot 30 is rented at the store 3, but the present invention can be similarly configured by using, for example, a robot owned by the user at home. The robot 30 may be acted alone instead of acting with the family. The management server 40 and the terminal of the store 3 may be configured to be able to communicate with each other, and the application for rental reservation of the robot 30 and the payment of the rental fee may be performed via the management server 40.

The above description is merely an example, and the present invention is not limited to the above-described embodiments and modifications as long as the features of the present invention are not impaired. It is also possible to arbitrarily combine one or a plurality of the above-described embodiments and the modified examples, and it is also possible to combine the modified examples.

10 user equipment, 12 displays, 16 controllers, 20 3D printers, 30 robots, 100 food delivery systems, 311 visual sensors, 443 data output units, 446 user equipment control units, 447 food databases

Claims (6)

A data output unit that outputs food shape data, color data, and taste data,
A three-dimensional modeling apparatus that manufactures a shaped food having a shape and taste corresponding to the food by laminating foodstuffs based on the shape data and taste data output from the data output unit.
A user device that is attached to the user and has a display unit that displays a three-dimensional image that matches the real space.
A display control unit that controls the display unit based on the color data output from the data output unit so that the three-dimensional image of the shaped food produced by the three-dimensional modeling apparatus is displayed in the same color as the food product. A food delivery system characterized by being equipped with. In the food provision system according to claim 1,
It is equipped with a mobile robot that operates in response to commands from the user via wireless communication and has a shooting unit.
The display control unit further controls the display unit so that the three-dimensional image captured by the photographing unit is displayed in place of the three-dimensional image matching the real space. In the food provision system according to claim 2.
Further provided with a storage unit for storing food data including shape data, color data, and taste data of a plurality of foods.
The food providing system is characterized in that when a food is ordered via the robot, the data output unit extracts shape data, color data, and taste data corresponding to the food from the storage unit and outputs the data. .. In the food provision system according to claim 2.
Further provided with a storage unit for storing food data including shape data, color data, and taste data of a plurality of foods.
The data output unit outputs the shape data and the color data of the food photographed by the photographing unit, and extracts and outputs the taste data corresponding to the food from the storage unit. system. Outputs food shape data, color data, and taste data,
Based on the output shape data and taste data, ingredients are laminated to produce a shaped food having a shape and taste corresponding to the food.
The display unit is based on the output color data so that a three-dimensional image matching the real space of the manufactured shaped food is displayed in the same color as the food on the display unit of the user device attached to the user. A method of providing a food product, which comprises controlling the food. A signal input unit that receives data transmitted from user equipment and robots,
A data output unit that identifies and outputs food shape data, color data, and taste data based on data received via the signal input unit.
A printer control unit that outputs the shape data and taste data output from the data output unit to an external three-dimensional modeling device, and
A user device control unit that outputs color data output from the data output unit to an external user device so that a three-dimensional image of the shaped food produced by the three-dimensional modeling device is displayed in the same color as the food. A management device for a food delivery system, which comprises.

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