KR101119026B1 - Intelligent mobile restaurant robot for serving custom and counting money - Google Patents

Abstract

The present invention relates to an intelligent service robot that assists or replaces a clerk in a food court, restaurant or chain store, providing convenience and customized service to customers and making restaurant management more convenient for owners and clerks. To this end, in particular, the image processing means 400 for receiving the customer image information generated by the imaging of the image sensor 10 for a predetermined customer and outputs the customer information of the customer; Voice processing means 450 for receiving voice information generated by the voice recognizer 30 from the voice of the customer and outputting a robot voice corresponding to the voice information through the speaker 20; First display means (50) for visually displaying menu information based on customer information or voice information, visually displaying selected menu information based on a customer input, and visually displaying payment information for the selected menu information; A payment means 500 having a card reader 90, a deposit and withdrawal unit 70 for performing checks and cash deposits and withdrawals, and a printing unit 80 for printing a transaction history and outputting a receipt; Wireless communication means 550 having an RF antenna for transmitting and receiving payment information between the external terminal and the payment means 500; Input means 600 for receiving an input signal from a customer; Receiving table information by imaging of the image sensing sensor 10 or by imaging of an external imaging device and wireless communication with an RF antenna, retrieves remaining table information, and retrieves detailed customer information that matches the customer information from a predetermined customer database. Searching means 650 for searching; A driving means (100) having a driving motor connected to the driving motor and a driving motor for driving the driving wheel; And a controller 110 for controlling image processing and audio processing, controlling image display of a selection menu and payment with an external server, and controlling driving to avoid obstacles and driving to a customer and a residual table. The customer service of the restaurant and the intelligent driving robot that can be calculated is disclosed.

Intelligent Robot, Mobile Robot, Service Robot, Video Sensor, Sound Recognizer

Description

INTELLIGENT MOBILE RESTAURANT ROBOT FOR SERVING CUSTOM AND COUNTING MONEY}

The present invention relates to a robot that takes an order, calculates and guides a table in place of a restaurant clerk. More specifically, it relates to customer service and intelligent driving robots that recognize and greet customers, accept orders, make card or cash payments, and guide customers to the remaining tables.

Intelligent robots, which are currently being actively developed, are human-friendly robots that can co-exist and help humans effectively. Such an intelligent robot is used in a broad sense to refer to an advanced robot with a high level of intelligence among the currently developed robots. And in a narrow sense, intelligent robots are used as opposed to industrial robots. Such intelligent robots are simply used for home use, education and research, and are also used for providing professional services such as extreme work and medical welfare. In addition, there are many examples of intelligent robots used throughout the industry.

One of the most popular robots sold in the intelligent service robot market is the cleaning robot, which can be seen as the point of contact between the consumer's needs and robot technology. Intelligent robots that provide services to humans are expected to have high utilization in spaces such as restaurants as well as homes, and research on suitable robots is underway.

In particular, the way of using a ticket vending machine or ordering a cashier at a food court, a hotel, a public facility, a restaurant, etc., does not satisfy various needs of customers by merely selecting a menu and making a payment according to a simple order. In addition, it can be difficult to provide customized services to customers, as well as a large amount of labor costs.

The checkout counter at the entrance of the restaurant, on the other hand, is where the staff should reside for the reception and checkout, and uses a number of automated devices such as card readers, telephones, monitors and computers. In other words, it is a place where formalized and repeated interactions are performed in the relationship with the guests. In addition, the checkout counter is also the place for hall management, revenue management and customer management.

Therefore, in view of the disadvantages of the order method through a ticket vending machine or a human clerk and various functions of the cashier as described above, an intelligent service robot that can operate a restaurant more cheaply and effectively by replacing some or all of the functions performed by the human clerk This is necessary. In addition, there is a need for intelligent service robots that satisfy customer needs in various ways in ordering, guiding, and recommending food, and at the same time, facilitating customer guidance, diet calculation, settlement, and restaurant hall management.

Accordingly, the present invention has been devised by such a need, and the first object of the present invention is to provide customized meal menu information or a robot that is difficult for a clerk to provide from customer information such as video / audio or regular customer data of the customer. It is to provide customer service and intelligent driving robot that can satisfy customers' tastes and preferences by receiving various customized orders from customers through voice and screen display.

In addition, the second object of the present invention is to provide a payment method, the payment of the order directly through the guidance and confirmation of the menu selected by the customer, customer service and intelligent that can be directly accessed by the robot having the payment method directly To provide a driving robot.

In addition, the third object of the present invention is to assist or replace human clerks to provide customer service and intelligent driving robot that can manage restaurant hall, sales management and customer management.

In addition, the fourth object of the present invention is to display a robot face or a character with various emotions, and to enable voice, display, and gestures of the head and body, so that the customer can easily adapt to the guidance of the robot and feel pleasure. And to provide an intelligent driving robot that can be calculated.

An object of the present invention as described above is an image processing means for receiving customer image information generated by the imaging of the image sensor 10 for a predetermined customer and outputs the customer information of the customer; Voice processing means 450 for receiving voice information generated by the voice recognizer 30 from the voice of the customer and outputting a robot voice corresponding to the voice information through the speaker 20; First display means (50) for visually displaying menu information based on customer information or voice information, visually displaying selected menu information based on a customer input, and visually displaying payment information for the selected menu information; A payment means 500 having a card reader 90, a deposit and withdrawal unit 70 for performing checks and cash deposits and withdrawals, and a printing unit 80 for printing a transaction history and outputting a receipt; Wireless communication means 550 having an RF antenna for transmitting and receiving payment information between the external terminal and the payment means 500; Input means 600 for receiving an input signal from a customer; Receiving table information by imaging of the image sensing sensor 10 or by imaging of an external imaging device and wireless communication with an RF antenna, retrieves remaining table information, and retrieves detailed customer information that matches the customer information from a predetermined customer database. Searching means 650 for searching; A driving means (100) having a driving motor connected to the driving motor and a driving motor for driving the driving wheel; And a controller 110 for controlling image processing and audio processing, controlling image display of a selection menu and payment with an external server, and controlling driving to avoid obstacles and driving to a customer and a residual table. Can be achieved by the customer service of the restaurant and the intelligent driving robot that can be calculated.

Here, the first display means 50 displays the recommended menu information based on the customer information, and displays a screen for guiding the course or set menu based on the sequential menu input signal of the customer.

In addition, the customer information is preferably estimated age information and estimated gender information analyzed based on the customer image information.

The first display means 50 preferably displays advertisement information until the start of a new customer's order at the end of the customer's order and the end of the customer's guide.

The input means 600 is preferably at least one of a microphone, a touch screen 65 and a keypad 60.

The card reader 90 may recognize a credit card, a discount card and a membership card, and the intelligent driving robot capable of customer service and calculation may further include a coupon recognition means for coupon recognition.

The customer service and the calculable intelligent running robot preferably further comprises a second display means 255.

The second display means 255 preferably displays an image of various robot faces on which emotions are expressed.

The controller 110 may determine the robot face information of the robot face to be displayed on the second display means 255 based on the menu input signal of the customer.

At least one of the first display means 50 and the second display means 255 is preferably a flat panel display having a touch screen.

The remaining table information is preferably updated at regular intervals or before the customer is guided to the remaining table.

The customer service and the intelligent driving robot that can be calculated may further include a rotating means 102 for rotating left and right on the upper and lower portions of the deposit and withdrawal unit 70 or the speaker. In addition, the customer service and the intelligent driving robot that can be calculated may further include a rotating means 104 for rotating back and forth above or below the deposit and withdrawal unit 70, or below the speaker. In addition, the customer service and the intelligent driving robot that can be calculated may further include vertical lifting means 106 for adjusting the height based on the customer image information on the upper and lower portions of the deposit and withdrawal unit 70.

And it is preferable to further include an obstacle detecting sensor 110 for detecting an obstacle on the driving path.

In addition, it is preferable to further include a temperature and humidity sensor 120 for sensing the temperature and humidity inside the dining hall.

Therefore, according to an embodiment of the present invention, by subsidizing or replacing a human clerk, the customer's order or widen the menu selection of the customer has the effect of satisfying the taste and taste of the customer.

In addition, a card or a cash payment means is provided to guide and confirm the menu selected by the customer, so that the payment can be made directly with the customer and the payment is effective as a mobile payment means.

In addition, by assisting or substituting human clerks, table management, sales management, and customer management of a restaurant hall are easily performed.

It has the effect of implementing human-friendly service robots that display images of robot faces or characters with various emotions, and allow customers to adapt well and feel new pleasure through voice, display, and gestures of head and body.

< Example >

1 is a configuration diagram schematically showing the configuration of the present invention. Referring to FIG. 1, the image processing means 400 is a means for recognizing a customer by receiving image information of a customer generated by imaging of the image detection sensor 10. The number of customers is determined and the gender and age range of the customer are determined. Body size, face, and the like are captured in order to use the estimated image processing technique.

The voice processing means 450 receives the voice information of the customer generated by sound analysis of the sound recognizer 30 and outputs a robot voice corresponding to the voice information through the speaker 20. Specifically, the robot voices such as greetings, order guides, remaining table guides, and payment guides are output. Here, the sound recognizer 30 is configured to include a microphone, which minimizes speech recognition errors based on statistical speech recognition technology and enables speech recognition to background noise, voice characteristics of individual speakers, microphones, transmission channels, and echoes. Use speech processing techniques.

The first display means 50 receives the recognition information of the customer of the image processing means 400 and displays the menu information. At this time, the recommended menu (eg, taste, health) is based on the estimated age information and the estimated gender information. , Recommendation menu according to price, etc.) is presented as an image display. When a plurality of menus are ordered or a set menu is ordered based on a customer's input, the menus selected by the customer are displayed as an image on a table to confirm the customer's selection. Similarly, in the case of course dishes, the menus of the customers are displayed as images on the table, and the next menu images that match the menus selected by the customers are sequentially displayed.

In addition, the first display means 50 serves to help the customer's payment by presenting the payment information and the order of payment as an image by displaying the payment information on the selected menu.

The payment means 500 includes a card reader 90, a deposit and withdrawal unit 70 for depositing and withdrawing checks or cash, and a printing unit 80 for printing a transaction history and outputting a receipt. The card reader 90 reads information such as a credit card, the deposit and withdrawal unit 70 is responsible for deposit and withdrawal at check or cash payment, and the printing unit 80 outputs the payment details as a receipt when the payment is completed. The payment means 500 may wirelessly communicate with an external terminal (eg, a mobile terminal possessed by a kitchen and an employee) through a wireless communication means 550, and may be connected to a server of a financial institution to transmit and receive payment information. In addition, a coupon recognizer (not shown) that can recognize the coupon may be further provided.

The wireless communication means 550 transmits the selection menu information of the customer to the terminal of the kitchen or transmits and receives payment information between the external terminal and the payment means 500 for payment. RF antenna 40 is provided for this purpose. In addition, the remaining table information may be received from the external imaging apparatus through the RF antenna 40.

In addition, there is a change in position according to the driving characteristics due to the nature of the robot, and landmarks (eg, naturally existing building walls, corners, etc.) are used to estimate the position of the robot itself and drive to a destination (for example, a customer or a residual table). Can be used. In this case, the location information of the robot itself may be received in relation to various signal generators that may be installed in the dining room (eg, hall ceiling, floor) by using a wireless communication means.

The input unit 600 may not only receive an input signal for a selection menu of a customer, but also receive an input signal of card password information for payment. In the embodiment of the present invention, a microphone, a keypad 60, and a touch screen 65 connected to the sound recognizer 30 are used. In this case, the touch screen 65 uses an integral part of the first display means 50. do.

The retrieving means 650 retrieves the table information by receiving the table information by imaging of the image sensing sensor 10 or by imaging of an external imaging device and wireless communication with the RF antenna 40, and retrieves the remaining table information from the customer database. Retrieve customer details that match

The search means 650 may include a central processing unit, a memory, and a recording device (eg, a hard disk) that records a customer database. The remaining table information stored in the memory may be updated at regular intervals or before the customer is guided to the remaining table. The remaining table is updated in real time. In addition, the database that records customer detailed information of existing customers includes not only customer information based on image information but also information recorded through payment.

The driving means 100 is composed of a driving motor for driving and a driving wheel connected to the driving motor and driven, and the number of the driving wheels is three or more to balance the robot. The driving means 100 is a configuration necessary to approach the customer to guide the customer or to guide the customer to the remaining table.

Rotating means 102 is formed with a drive motor (not shown) and a central axis that is connected to it to perform a rotational movement and is installed on the upper or lower portion of the deposit and withdrawal unit 70, or the lower part of the speaker to analyze voice information of the sound recognizer. It can rotate in the sound source direction based on.

Rotating means 104 is a configuration for performing a gesture, such as a greeting of the robot, is formed of a drive motor (not shown) and a link shaft connected thereto and is installed on the upper or lower portion of the deposit and withdrawal unit 70, or installed in the lower part of the speaker. It rotates at a predetermined angle based on the information analysis.

In addition, the vertical lifting means 106 adjusts the height of the robot to facilitate menu selection and payment, etc., corresponding to the height of the customer analyzed based on the customer image information on the upper or lower portion of the deposit and withdrawal unit 70.

The obstacle detecting sensor 110 detects an obstacle located in a residual table path or a driving path with a customer and transmits the obstacle detection information to the controller 130 for avoiding driving. The obstacle sensor 110 may be an infrared sensor or an ultrasonic sensor.

Temperature and humidity sensor 120 senses the temperature and humidity inside the restaurant hall to provide an optimal dining environment and thereby controls the operation of the external air conditioner.

The control unit 110 is configured to include a central processing unit. It controls image processing and audio processing, controls image display of a selection menu and payment with an external server, and controls the avoidance driving of obstacles and driving to the customer and the remaining table. In addition, environmental management such as temperature / humidity control of the restaurant hall can be performed, and when the work is finished, sales can be settled and customer management can be performed through the database. In addition, while driving, it is possible to control the determination and correction of the robot's own position and target position, and to control the retrieval of the remaining table.

<J Example 1 >

Figure 2 is a front view showing the front of the first embodiment according to the present invention. As shown in FIG. 2, the image sensor 10 is located in the robot face of the first embodiment, and the sound recognizer 30 is mounted at both sides of the robot face, and the speaker 20 for outputting the robot voice includes the image sensor. 10) Located below. And an RF antenna 40 for wireless communication is mounted on the robot head.

On the other hand, the first display means 50 is mounted on the robot chest, the keypad 60, the cash in and out 70 and the printing unit 80 is provided below the card reader 90 to read the card by wire or wireless Is equipped.

In addition, a driving motor and a driving wheel are provided as the driving means 100 for driving, and an auxiliary wheel is mounted on the rear of the robot to maintain balance. The central processing unit that is one component of the control unit 110 or the searching unit 650 may be disposed below the payment unit. The driving means 100 may be a driving means of a humanoid robot capable of biped walking.

And rotating means (102a, 102b) are installed under the deposit and withdrawal unit 70, respectively, under the speaker can rotate left and right in response to the voice information of the customer, the rotating means (104a, 104b) are rotating means (102a, 102b) It is installed at each upper part and rotates back and forth to take gestures such as greetings in response to customer voice information.

In addition, the vertical lifting means 106 is installed between the deposit and withdrawal unit 70 and the rotation means (104a) for height adjustment of the robot to move vertically in response to the height of the customer.

The obstacle sensor 110 is installed at regular intervals by using an ultrasonic or infrared sensor and facing forward for efficient detection of the obstacle. The temperature and humidity sensor 120 is disposed below the obstacle sensor 110.

Description of the above configuration is as described above in FIG.

<J 2 Example >

3 is a front view showing the front of a second embodiment according to the present invention. As shown in FIG. 3, in the second embodiment, unlike the first embodiment, the robot face is mounted with the second display means 255 (for example, a liquid crystal display device), which is not an actual shape. In addition, the second display means 255 displays various robot faces and characters when the customer selects a menu. In addition, the first display means 50 is configured in a large form in the center of the robot in a range that does not affect other configurations in order to maximize the visual effect.

In addition, the image sensor 210, the speaker 220, the sound recognizer 230, and the RF antenna 240 has the same configuration as the first embodiment of FIG. In addition, a first display means 250 having a keypad 260 and a touch screen 265, an input / output unit 270, a printing unit 280, a card reader 290, a driving means 300, and a rotating means 302a. , 302b), the rotation means (304a, 304b), the obstacle sensor 310, the temperature and humidity sensor 320 and the control unit 330 including the central processing unit is the same as the first embodiment of FIG. Do.

In addition, the vertical elevating device 306 may be further provided on the rear surface of the first display means 250 to adjust the height of the first display means 250 having the touch screen in consideration of the height of the customer.

Description of the detailed configuration is as described above with reference to FIG.

< In the present invention  According Example  Customer Service Process>

The service process of the restaurant customer through the first embodiment and the second embodiment according to the present invention will be briefly described.

When the customer enters the restaurant, the robot of the first or second embodiment of the present invention receives the image information through the image sensing of the image sensor 10 and the voice information generated by the sound recognizer 30, respectively. Recognize the customer based on the information and gestures such as greetings.

Next, when receiving the input signal of the customer through the input means 600 in response to the menu information through the first display means 50, and displays a plurality of menus selected by the customer on the table screen . As described above, if the image of the recommendation menu is displayed or an existing customer is searched for information matching the detailed customer information, the customized menu information is presented.

Next, any one of credit card payment, cash card payment, bill and check payment is performed using the payment means 500, and a receipt or waiting table is output. In this case, membership cards, discount cards, coupons, and the like described above may be used.

Next, the kitchen is notified of the selected menu by wireless communication.

Next, the searching means 650 is used to search the residual table and guide the customer to the residual table.

Next, the robot of the first or second embodiment of the present invention is moved to the checkout to greet new customers.

Next, the advertisement display can be displayed by using the first display means (50, 250) until a new customer is welcomed, and a promotion for attracting customers outside the restaurant through the transparent window (e.g., robot gesture, promotional image display) You can do

Lastly, when the customer ends the meal and exits the restaurant through the exit, the customer performs a bowing off and gestures based on the video information.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood that the invention may be practiced. Therefore, the embodiments described above are to be understood as illustrative and not restrictive in all aspects. In addition, the scope of the present invention is indicated by the appended claims rather than the detailed description above. Also, it is to be construed that all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts are included in the scope of the present invention.

1 is a configuration diagram schematically showing the configuration of the present invention,

2 is a front view showing the front of a first embodiment according to the present invention;

3 is a front view showing the front of a second embodiment according to the present invention.

<Explanation of symbols for the main parts of the drawings>

10, 210: Video sensor

20, 220: speaker

30, 230: Sound recognizer

40, 240: RF antenna

50, 250: first display means

255: second display means

60, 260: keypad

65, 265: touch screen

70, 270: deposit and withdrawal

80, 280: printing part

90, 290: Card reader

100, 300: driving means

102, 302: rotating means

104, 304: means of rotation

106, 306: vertical lifting means

110, 310: obstacle detection sensor

120, 320: temperature and humidity sensor

130, 330: control unit

400: image processing means 450: audio processing means

500: payment means 550: wireless communication means

600: input means 650: search means

Claims (16)

Image processing means (400) for receiving customer image information generated by imaging of the image sensor (10) for the customer and estimating and outputting customer information including the number of persons, estimated gender information, and estimated age information for the customer; Receiving voice information generated by the voice recognizer 30 from the voice of the customer and outputting a robot voice including a greeting, order guide, remaining table guide and payment guide corresponding to the voice information through the speaker 20 Sound processing means 450; Image information of the recommendation menu selected based on the estimated gender information and the estimated age information included in the customer information, the order menu included in the voice information, or the menu item corresponding to the order menu selected by the customer's input is displayed. First display means (50) for displaying the menu information or the set menu selected by the customer as an image set on a table, and displaying the payment information for the menu information; A payment means 500 having a card reader 90, a deposit and withdrawal unit 70 for performing checks and cash deposits and withdrawals, and a printing unit 80 for printing a transaction history and outputting a receipt; Wireless communication means (550) provided with an RF antenna for transmitting and receiving with an external terminal or an external imaging device provided in a restaurant, or payment information between a server of a financial institution and the payment means 500; Input means (600) for receiving an input signal from the customer; Receives table image information generated by imaging of the image sensing sensor 10 or table image information generated by imaging of an external imaging device through wireless communication with the RF antenna, and searches for remaining table information. Search means (650) for searching for detailed customer information matching the customer information; A driving means (100) having a driving motor for driving and a driving wheel driven in connection with the driving motor; Temperature and humidity sensor 120 for detecting temperature and humidity inside the restaurant hall: and Controls the image processing means and the audio processing means, controls the image display of the menu information and payment with the server of the financial institution, and controls the driving means to drive the avoidance of the obstacle detected by the obstacle detecting sensor 110. And a controller 130 for controlling driving to the customer and the remaining table, and controlling the operation of the air conditioner provided in the restaurant according to the temperature and humidity inside the restaurant hall detected by the temperature and humidity sensor. ; Intelligent service robot that can calculate and customer service of a restaurant comprising a. delete delete The method of claim 1, The first display means (50), the customer service of the restaurant and the intelligent running robot, characterized in that for displaying the advertisement information until the start of the order of the new customer at the end of the customer's order and the end of the guidance of the customer. The method of claim 1, The input means 600 is at least one of a microphone, a touch screen (65) and a keypad (60) characterized in that the customer service and computing intelligent driving robot of the restaurant. The method of claim 1, The card reader 90 may recognize a credit card, a discount card and a membership card, and further includes a coupon recognition means for coupon recognition. The method of claim 1, And a second display means (255) for displaying the robot face. The method of claim 7, wherein The second display means (255) is a customer service and calculating intelligent driving robot of the restaurant, characterized in that the image display a variety of robot face information expressed emotion. The method of claim 8 The controller 130 determines the robot face information to be displayed on the second display means 255 according to the order menu, the customer service of the restaurant and the intelligent running robot. The method of claim 7, wherein And at least one of the first display means (50) and the second display means (255) is a flat panel display device having a touch screen. The method of claim 1, The remaining table information is updated at regular intervals or before the customer is guided to the remaining table is updated, the customer service and calculating intelligent driving robot of the restaurant. The method according to claim 1 or 7, Intelligent service robot and customer service of the restaurant, characterized in that it further comprises a rotating means 102 to rotate left and right on the upper and lower portions, or the lower portion of the speaker, the deposit and withdrawal unit 70. The method according to claim 1 or 7, Intelligent service robot and customer service of the restaurant, characterized in that it further comprises a rotating means 104 to rotate back and forth on the upper or lower portion, or the lower portion of the speaker, the cashier. The method according to claim 1 or 7, Further including vertical lifting means 106 for adjusting the height above or below the deposit and withdrawal unit 70, the control unit 130 is the vertical lifting means corresponding to the height information of the customer included in the customer image information Intelligent driving robot capable of calculating customer service and calculating the restaurant. delete delete

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