CN112237359B - Automated restaurant - Google Patents

Automated restaurant Download PDF

Info

Publication number
CN112237359B
CN112237359B CN202010375887.8A CN202010375887A CN112237359B CN 112237359 B CN112237359 B CN 112237359B CN 202010375887 A CN202010375887 A CN 202010375887A CN 112237359 B CN112237359 B CN 112237359B
Authority
CN
China
Prior art keywords
computer system
computer
support member
customer
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010375887.8A
Other languages
Chinese (zh)
Other versions
CN112237359A (en
Inventor
请求不公布姓名
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Jiana Robot Res Inc
Original Assignee
Beijing Jiana Robot Res Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US16/515,050 external-priority patent/US11579621B2/en
Priority claimed from US16/718,483 external-priority patent/US11410250B2/en
Application filed by Beijing Jiana Robot Res Inc filed Critical Beijing Jiana Robot Res Inc
Publication of CN112237359A publication Critical patent/CN112237359A/en
Application granted granted Critical
Publication of CN112237359B publication Critical patent/CN112237359B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47F—SPECIAL FURNITURE, FITTINGS, OR ACCESSORIES FOR SHOPS, STOREHOUSES, BARS, RESTAURANTS OR THE LIKE; PAYING COUNTERS
    • A47F10/00—Furniture or installations specially adapted to particular types of service systems, not otherwise provided for
    • A47F10/06—Furniture or installations specially adapted to particular types of service systems, not otherwise provided for for restaurant service systems

Landscapes

  • Handcart (AREA)

Abstract

The application discloses an automated restaurant, comprising: a kitchen; a customer area, the customer area comprising a dining area; and a plurality of carts. The kitchen includes: a storage mechanism for storing the cartridge; a transfer mechanism for transferring the cartridge; and one or more cooking stations. Each cart may transport one or more deli containers from the cooking station to the dining table. The automated restaurant comprises a tracking system comprising: cameras, lidar, etc., which are fixedly mounted. The tracking system may dynamically map fixtures, people, and vehicles in a restaurant. The information of the tracking system can be used to control the movement of the trolley. The tracking system may dynamically track the location of customers in the customer area such that food ordered by a particular customer may be automatically transported by the cart to the location of the particular customer.

Description

Automated restaurant
The present application claims priority from the following U.S. patent applications:
U.S. application serial No. 16515050, date of filing 2019, 7 month 18, inventor: new year's front need (Zhengxu He)
U.S. application serial No. 16718483, 12 months 18 days 2020, date of filing, inventor: new year's front need (Zhengxu He)
Background
The present application relates to automated restaurants that include a kitchen and a customer area. The kitchen includes an automated cooking mechanism for cooking food. The customer area includes a customer dining area. The present application also relates to a controlled trolley for transporting delicatessen containers from a cooking station in a kitchen to a customer area. The location of the customer in the customer area may be calculated by a dynamic tracking system. The dynamic tracking system includes radar, lidar, video camera, computer, etc. The location information of the customer may be used to help control the vehicle to transport the cooked food aside the customer. Our restaurant can be fully automated to save labor costs.
Disclosure of Invention
The automated restaurant of the present invention includes a kitchen and a customer area, both of which are located in a building or other structure. The customer area includes a customer dining area. The automated restaurant includes a plurality of carts for transporting cooked food from the kitchen to the customer area.
The kitchen includes one or more cooking stations, each of which may include one or more of: a cooking mechanism including a cooking vessel and a stirring motion mechanism for driving the cooking vessel to move to stir and mix foodstuff in the cooking vessel during cooking; a pouring mechanism for pouring foodstuff into the cooking vessel; a pouring mechanism for pouring the cooked food in the cooking container into the cooked food container; a receiving mechanism which can receive the cooked food in the cooking container through the vegetable pouring mechanism; the dish loading mechanism is used for moving the cooked food container on the dish receiving mechanism to the trolley.
A trolley may include one or more of the following: a pair of universal wheels; a pair of drive wheels; a pair of motors, each motor for driving one of the driving wheels to rotate; one or more container holders, each for holding a cooked food container; a direction sensor; a proximity sensor. The cart also includes a marked (flat or curved) surface, wherein the marking of the surface can be used to identify the cart. The cart is used to transport one or more food containers from the kitchen to the customer area, wherein the food containers are used to store cooked food.
The automated restaurant may further include a tracking system including one or more of: lidar to dynamically scan the customer area so as to delineate the location and shape of equipment, personnel and carts; a lidar for scanning an outside area of the restaurant to track customers who have ordered but walked out of the restaurant; radar, which is also used to scan the customer area so as to mark devices, personnel and carts on the map; a plurality of cameras fixedly mounted on the restaurant building. Each camera is used to capture a digital image of an object within its range.
Each establishment or device of the automated restaurant comprises: (1) electrical or electronic devices include, but are not limited to: motors, refrigeration devices, circuit breakers, electromagnetic or other types of heaters and vacuum pumps, and the like; (2) the sensor includes, but is not limited to: an encoder, pressure sensor, position sensor, infrared sensor, ultrasonic sensor, temperature sensor, or other sensor. The automated restaurant further comprises a computer system comprising a first computer (e.g., a server or workstation) and a plurality of second computers (e.g., a single-chip or PLC), wherein the second computers are all connected to the first computer such that the first computer can communicate with a lower computer. Each second computer may include a plurality of input/output ports for connecting electrical or electronic devices to the sensors such that the second computer may send electrical or electronic signals to the electrical or electronic devices and may also receive electrical or electronic signals from the sensors. The invention also relates to an algorithm which can control an electrical or electronic device by means of a computer. The embodiments and features of the foregoing are described in detail in the drawings, specification and claims.
Drawings
Fig. 1A is an isometric view of a first computer including a plurality of input/output ports and a wireless communication device. Fig. 1B is an isometric view of a second computer including a plurality of input/output ports and a wireless communication device.
Fig. 2A is an isometric view of a universal wheel. Fig. 2B is an isometric view of a movement mechanism. Fig. 2C is a cross-sectional view of the movement mechanism.
Fig. 3A is an isometric view of a body part component. Fig. 3B is an isometric view of a vehicle body. Fig. 3C is an isometric view of a cart including a body. Fig. 3D is a schematic diagram of the electrical or electronic equipment connection on the vehicle body.
Fig. 4A is an isometric view of a marked dolly. Fig. 4B is an isometric view of a different labeled cart.
Fig. 5A is an isometric view of a part of the clamping mechanism. Fig. 5B is an isometric view of a pair of clamping devices. Fig. 5C is an isometric view of the clamping mechanism including a pair of clamping devices.
Fig. 6 is an isometric view of a transfer subassembly.
Fig. 7A-7B are isometric views of a rotary motion mechanism.
Fig. 8 is an isometric view of a dish loading mechanism including the clamping mechanism, the transfer sub-assembly and the rotational movement mechanism.
Fig. 9A is an isometric view of a cooking mechanism portion component. Fig. 9B is an isometric view of the cooking mechanism. Fig. 9C is a partial cross-sectional view of the cooking mechanism.
Fig. 10A-10B are isometric views of a portion of a serving mechanism. Fig. 10C is an isometric view of the pouring mechanism.
Fig. 11 is an isometric view of a cooking subsystem.
Fig. 12A is an isometric view of a cooked food container. Fig. 12B is an isometric view of a serving mechanism.
Fig. 13A-13C are isometric views of a clamp mechanism portion component. Fig. 13D is an isometric view of the clamping mechanism. Fig. 13E is an isometric view of a pouring mechanism including the clamping mechanism.
Fig. 14 is an isometric view of a cooking station.
Fig. 15A is an isometric view of a capped cartridge. Fig. 15B is an isometric view of a storage mechanism portion component. Fig. 15C is an isometric view of the storage mechanism. Figures 15D-15E are isometric views of a cartridge cover clamping mechanism. Fig. 15F-15G are isometric views of a cartridge clamping mechanism. Fig. 15H is an isometric view of an uncapping mechanism.
Fig. 16A is a plan view of an automated kitchen including the storage mechanism shown in fig. 15C and one or more cooking stations. Fig. 16B is a flow chart of the automated kitchen preparation work of the present invention. Fig. 16C is a flow chart of an automated kitchen cooking pre-prepared food.
Fig. 17A is an isometric view of a radar. Fig. 17B is an isometric view of a lidar.
Fig. 18A is an isometric view of a camera. Fig. 18B is an isometric view of another camera.
Fig. 19A is an isometric view of a building. Fig. 19B is an isometric view of a portion of the building. Fig. 19C is a side view of an automated restaurant. Fig. 19D is a side view of a portion of an automated restaurant. Fig. 19E-19F are cross-sectional views of an automated restaurant. Fig. 19G is a plan view of an automated restaurant.
Fig. 20-22 are isometric views of a portion of the components of the automated restaurant.
Fig. 23A-23D are various isometric views of a person walking through the door of the automated restaurant.
FIG. 24A is a schematic diagram of a computer network of the automated restaurant. FIG. 24B is a schematic diagram of a computer system of the automated restaurant. Fig. 24C is a schematic diagram of a smart phone.
Fig. 25 is a flow chart of the preparation work before the automated restaurant begins to open.
Fig. 26, 27A and 27B are flowcharts of tracking customer locations in the customer area of the automated restaurant.
Fig. 28 is a flow chart of the preparation before the movement of a marked trolley.
Fig. 29 is a flow chart of a process of transporting cooked food from a cooking station to a table by a labeled cart, where a customer orders the food.
FIG. 30 is a flow chart of the automated restaurant operation process after a customer places an order.
FIG. 31 is a flow chart of an automated restaurant integrated operation.
FIG. 32 is a flow chart of an automated restaurant integrated operation.
Detailed Description
In this application, a motor includes a drive mechanism that imparts relative motion to two members. The type of motor varies depending on the driving mode (e.g., electric, hydraulic, pneumatic, etc.). A computer may be used to control the time, direction and speed of movement of the motor.
Any device or mechanism including a computer is referred to as a computer system in this patent application. A computer system may include multiple computers. The computer system may or may not include a database. The computer system may or may not include a network. The computer system may or may not include a shared memory. The computer system may include software. A single computer may also be considered a computer system.
The position of a wheel includes positional information on the axis of the wheel and spatial positional information occupied by the wheel. If the wheel rotates about its own axis, the position of the wheel is considered unchanged.
In the present invention, a motor includes a base member (e.g., a frame) as a fixed member and a shaft as a moving member, and a driving mechanism of the motor can drive the shaft to rotate about an axis of the shaft with respect to the base member. It is not required that the motor necessarily include a shaft.
Similarly, the encoder also includes a base member and a shaft that is rotatable relative to the base member. The encoder is capable of detecting the angle of rotation of the shaft relative to the base member and transmitting it in the form of a signal to a computer.
In the present invention, the position information of one rigid body includes position information of all points on the rigid body. If any point on the rigid body is moved, the position of the rigid body is considered to have changed.
The automated restaurant comprises: a computer system comprising a first computer and a plurality of second computers; a kitchen comprising one or more cooking stations, each cooking station comprising a cooking mechanism, a pouring mechanism, a receiving mechanism and a dish loading mechanism; a dish transportation system comprising a plurality of carts; a tracking system comprising one or more lidars, one or more radars, multiple cameras, and the like. These devices and mechanisms will be described in detail in fig. 1A-24.
As shown in fig. 1A, one first computer 901 includes a plurality of input/output ports 901A. The input/output port 901A may be connected by cable or wireless communication with various electronic or electrical devices such as radar, lidar, cameras, encoders, proximity sensors, direction sensors, infrared sensors, and other types of sensors, etc. The input/output port 901A may also be connected to electrical or electronic devices such as motors, ovens, refrigeration mechanisms, and the like. The first computer 901 further comprises a wireless communication device 921 for transmitting and receiving wireless signals. The first computer 901 can control the actions of the electric or electronic device by transmitting a wired or wireless signal to the electric or electronic device. The first computer 901 also includes hardware and software, so the first computer 901 can communicate wirelessly with various electrical or electronic devices through a wireless communication device 921. In fact, the first computer 901 may include one server and a plurality of PLCs connected to the server such that the server and the PLCs can communicate with each other. The first computer 901 also includes a memory for storing data or information.
In this patent application, the wireless signal may be an electromagnetic signal, an optical signal, an ultrasonic signal, or other type of wireless signal.
As shown in fig. 1B, the second computer 902 includes a plurality of input/output ports 902A. The input/output port 902A may be connected to electronic or electrical devices, such as radar, lidar, cameras, proximity sensors, orientation sensors, infrared sensors, and other sensors, etc., through a cable or wireless connection. The input/output port 902A may also be connected to an electrical or electronic device, such as a motor. The second computer 902 may control the actions of the electrical or electronic device by sending to the electrical or electronic device. The second computer 902 also includes a wireless communication device 922 that is configured to receive wireless signals from the first computer 901 and may also transmit wireless signals to the first computer 901. The second computer 902 also includes hardware and software so that the second computer 902 can communicate wirelessly with various electrical or electronic devices via a wireless communication device 922. The second computer 902 also includes a memory for storing data and information.
The second computer 902 also includes a programmable controller, PLC for short. Or the second computer 902 may also comprise a single-chip microcomputer, a computer with an embedded system, or a circuit board comprising a single-chip microcomputer and a plurality of electronic or electrical components.
As shown in fig. 2A, one universal wheel 106 includes: two shafts 146 and 147, wherein the axis of shaft 146 is perpendicular to the axis of shaft 147, and the axes of shafts 146 and 147 are not coplanar (or the axes of shafts 146 and 147 do not intersect at a point); a supporting member 141; a support member 144; a wheel 151. The support member 144 is rigidly connected to the shaft 147. The relative movement between the shaft 147 and the support member 141 is limited to a rotational movement centered on the axis of the shaft 147. Accordingly, the relative movement between the support member 144 and the support member 141 is limited to the rotational movement centered on the axis of the shaft 147. The wheel 151 is fixedly connected to and concentric with the shaft 146. The relative movement between the wheel 151 and the support member 144 is limited to a rotational movement centered on the axis of the shaft 146.
As shown in fig. 2B-2C, one movement mechanism 101 includes: a first universal wheel 106 and a second universal wheel 106a; a first support member 152 including a bearing housing 152a; a second support member 252 including a bearing housing 252a. The second universal wheel 106a is identical in structure to the first universal wheel 106, and the second universal wheel 106a includes identical components as the first universal wheel 106. The support member 141 of the first universal wheel 106 is rigidly connected to the first support member 152 such that relative movement between the support member 144 of the first universal wheel 106 and the first support member 152 is limited to rotational movement about the axis of the shaft 147. Similarly, the support member 141 of the second universal wheel 106a is rigidly connected to the second support member 252 such that relative movement between the support member 144 of the second universal wheel 106a and the second support member 252 is limited to rotational movement centered on the axis of the shaft 147.
The first support member 152 further includes a shaft 199 and the second support member 252 further includes a bearing block 299. The shaft 199 is connected to the bearing housing 299 by bearings (not shown) such that relative movement between the first support member 152 and the second support member 252 is limited to rotational movement centered on the axis of the shaft 199.
The movement mechanism 101 further includes: a first drive wheel 153a and a second drive wheel 153b; two shafts 158a and 158b; two connectors 154a and 154b; two couplings 155a and 155b; a first motor 81A and a second motor 81B, wherein each motor comprises a base member and a shaft. The first driving wheel 153a and the second driving wheel 153b have the same structure. In particular, the radius of the first drive wheel 153a is equal to the radius of the second drive wheel 153 b. The first drive wheel 153a is rigidly connected to the shaft 158a, and the axis of the first drive wheel 153 coincides with the axis of the shaft 158 a. The shaft 158a is connected to the bearing housing 152a of the first support member 152 by a bearing 157 such that relative movement between the shaft 158a and the first support member 152 is limited to rotational movement centered on the axis of the shaft 158 a. Accordingly, the first driving wheel 153a can rotate about the axis of the shaft 158a with respect to the first supporting member 152. Similarly, the second drive wheel 153b is rigidly connected to the shaft 158b, and the axis of the second drive wheel 153b coincides with the axis of the shaft 158 b. The shaft 158b is connected to a bearing housing 252a of the second support member 252 through another bearing 157 such that the relative movement between the shaft 158b and the second support member 252 is limited to rotational movement centered on the axis of the shaft 158 b. Accordingly, the second driving wheel 153b can rotate about the axis of the shaft 158b with respect to the second supporting member 252. The base member of the first motor 81A is fixedly connected to the first support member 152 by a connector 154a, and the shaft of the first motor 81A is fixedly connected to the shaft 158a by a coupling 155 a. Accordingly, the first motor 81A may drive the shaft 158a and the first driving wheel 153a to rotate about the axis of the shaft 158a with respect to the first support member 152. The base member of the second motor 81B is fixedly connected to the second support member 252 by a connector 154B, and the shaft of the second motor 81B is connected to the shaft 158B by a coupling 155B. Accordingly, the second motor 81B may drive the shaft 158B and the second driving wheel 153B to rotate about the axis of the shaft 158B with respect to the second support member 252. The movement mechanism 101 further includes a first encoder 91M and a second encoder 91P, each of which includes a base member. The base member of the first encoder 91M is fixedly connected to the base member of the first motor 81A, and the first encoder 91M can be used to detect an angular change in rotational movement driven by the first motor 81A. The base member of the second encoder 91P is fixedly connected to the base member of the second motor 81B, and the second encoder 91P can be used to detect an angular change in the rotational movement driven by the second motor 81B.
When the movement mechanism 101 is placed on a horizontal floor, its four wheels 153a, 153b, 151 are in contact with the floor, at which point: the axis of the first drive wheel 153a and the axis of the second drive wheel 153b coincide; the axis of shaft 199 is horizontal; the axes of the wheels 153a, 153b, 151 are horizontal; the axis of the axle 147 of the first universal wheel 106 and the axis of the axle 147 of the second universal wheel 106a are both vertical; the angle between the axis of the shaft 199 and the axis of the first driving wheel 153a is 45 degrees; the angle between the vertical plane in which the axis of the shaft 147 of the first universal wheel device 106 and the axis of the shaft 147 of the second universal wheel device 106a lie and the axis of the shaft 199 is 45 degrees; the axis of the shaft 147 of the first universal wheel device 106 and the axis of the shaft 147 of the second universal wheel device 106a are both on the center plane of symmetry of the first drive wheel 153a and the second drive wheel 153 b; and a center line of symmetry between the axis of the shaft 147 of the first universal wheel 106 and the axis of the shaft 147 of the second universal mechanism 106a intersects the axis of the first drive wheel 153 a.
The movement mechanism 101 further includes a wire 350, as shown in fig. 2B, the wire 350 has the following characteristics: (1) line 350 intersects the axis of shaft 199 at 90 degrees; (2) line 350 is perpendicular to the axis of first drive wheel 153 a; (3) The line 350 passes through the intersection of the axis of the shaft 199 and a plane in which the axis of the first drive wheel 153a is in a plane parallel to the axis of the shaft 147 of the first universal wheel 106. The line 350 is regarded as the central axis of the movement mechanism 101, the central axis 350 of the movement mechanism 101 moving with the rigid movement of the first support member 152. When the movement mechanism 101 is placed on a horizontal floor, the central axis 350 is a perpendicular intermediate between the axis of the shaft 147 of the first universal wheel 106 and the axis of the shaft 147 of the second universal wheel 106 a; the central axis 350 intersects the axis of the first drive wheel 153 a; and the central axis 350 is equidistant from the first drive wheel 153a and the second drive wheel 153 b.
The movement mechanism 101 further includes a line 351 intersecting the central axis 350 at 90 degrees, intersecting the axis of the shaft 199 at 45 degrees, and perpendicular to the axis of the first drive wheel 153 a. Line 351 is considered to be the axis of motion mechanism 101.
When the first motor 81A and the second motor 81B drive the first driving wheel 153a and the second driving wheel 153B, respectively, to rotate at the same rotational speed and direction, the movement mechanism 101 moves on the horizontal floor along the movement axis 351 (if slip is not considered). When the first motor 81A and the second motor 81B drive the first driving wheel 153a and the second driving wheel 153B to rotate at different rotational speeds and in the same direction, the movement mechanism 101 can move along a curved path on the floor (if slip is not considered). When the first motor 81A and the second motor 81B drive the first drive wheel 153a and the second drive wheel 153B, respectively, to rotate in opposite directions and at the same rotational speed, the movement mechanism 101 can perform a rotational movement (if slip is not considered) on the floor about the central axis 350.
The movement mechanism 101 can also move over uneven floors. At this point the first support member 152 will rotate relative to the second support member 252 to ensure that more than four wheels of the cart are in contact with the floor. At this point the weight of the movement mechanism 101 will be shared on each wheel.
It should be noted that the first motor 81A and the second motor 81B may be stepping motors or servo motors, but this is not a hard requirement. The rotation angle of each motor is monitored by a sensor connected to a computer.
As shown in fig. 3A-3B, one vehicle body 102 includes: a supporting member 137 which is a circular flat plate; a rigid member 132; a circular plate 136; a direction sensor 91A; a second computer 902; a proximity sensor 91K; an infrared sensor 91X; an ultrasonic sensor 91Y; a camera 91Z; a rechargeable battery 164; a top plate 131; a display 163 mounted on the top plate 131. The top plate 131 includes a non-reflective (or matte) surface 130; which includes non-reflective or matte materials. The proximity sensor 91K is used to detect an obstacle around the vehicle body 102. The infrared sensor 91X is used to detect the distance of an object near the sensor to the vehicle body 102, and the infrared sensor may be used to detect surrounding obstacles as well as the proximity sensor. The ultrasonic sensor 91Y is used to detect the distance of an object in the vicinity of the sensor to the vehicle body 102; the ultrasonic sensor may also be used to detect surrounding obstacles as well as proximity sensing. The support member 137, the flat plate 136 and the top plate 131 are all rigidly connected to one rigid member 132. A plurality of container holders 159 are mounted to each plate 136, wherein each container holder 159 may be adapted to hold a cooked food container 182. The second computer 902 includes a wireless communication device 922 that can be used to communicate with the first computer 901. The second computer 902, the sensors 91A, 91K, 91X and 91Y, the camera 91Z, the display 163 and the rechargeable battery 164 are fixedly mounted on the member 131, 136 or 137. The second computer 902, the sensors 91A, 91K, 91X and 91Y, the camera 91Z and the display 163 all have an electrical input which is connected to the electrical output of the rechargeable battery 164. The direction sensor 91A, the proximity sensor 91K, the infrared sensor 91X, the ultrasonic sensor 91Y, the camera 91Z, and the display 163 are connected to the second computer 902 through cables 93A, 93K, 93X, 93Y, 93Z, and 94Z, respectively, to communicate with the second computer 902 (as shown in fig. 3C).
The vehicle body 102 also includes an electric light source 165 that is connected to the rechargeable battery 164 through switches 166, wherein each switch 166 is connected to a second computer 902 such that the second computer 902 can control the switch 166 to turn the electric light source 165 on or off. The electric light source 165 may emit a light beam along the axis of motion of the motion mechanism 101 toward the surrounding area of the cart 103.
It should be noted that the signals from the various sensors received by the second computer 902 are transmitted to the first computer 901.
It should be noted that the deli container 182 is not part of the body 102.
As shown in fig. 3C-3D, the cart 103 includes a vehicle body 102 and a movement mechanism 101. The support member 137 of the vehicle body 102 is rigidly connected to the first support member 152 of the movement mechanism 101. The first motor 81A and the second motor 81B are connected to the second computer 902 through cables 83A and 83B, respectively. The second computer 902 may send signals to the first motor 81A and the second motor 81B to control the rotational time and rotational speed of the shafts of the first motor 81A and the second motor 81B. The first encoder 91M and the second encoder 91P of the movement mechanism 101 are connected to the second computer 902 through cables 93M and 93P, respectively. The encoders 91M and 91P may send signals to the second computer 902, so that the second computer 902 may obtain the angular changes of the rotational motion driven by the first motor 81A and the second motor 81B through the first encoder 91M and the second encoder 91P, respectively.
The movement mechanism 101 may be moved over the floor of a building or structure and the body 102 may be moved with the movement mechanism 101. The second computer 902 may acquire the angular variation of the rotational movement driven by the first motor 81A and the second motor 81B through the first encoder 91M and the second encoder 91P, respectively. The proximity sensor 91K may detect an obstacle on the next movement path of the cart 103 and then send an electrical and electronic signal to the second computer 902. The infrared sensor 91X may detect infrared radiation of surrounding objects of the cart 103 and then send electrical and electronic signals to the second computer 902. The direction sensor 91A may detect the direction of the support member 137 (rigid body) with respect to some reference frame (e.g., the ground, or a reference frame using earth poles) and send the direction information to the second computer 902. The second computer 902 may calculate the direction of the support member 137 by a program. The direction of the central axis of the movement mechanism 101 can be determined by the signal of the direction sensor 91A.
When the proximity sensor 91K detects objects within its range, the proximity sensor 91K may send a signal to the second computer 902. The camera 91Z may be used to capture digital images of objects around the cart 103 to detect if there are obstacles around. The camera 91Z will send the captured digital image to the second computer 902. The second computer 902 includes an image analysis program that may be configured to analyze the digital image to determine whether an obstacle is present in the path of movement of the cart 103.
The first support member 152 of the movement mechanism 101 may be regarded as a support member of the trolley 103. The central axis of the movement mechanism 101 can be regarded as the central axis of the trolley 103. The advance axis of the movement mechanism 101 can be regarded as the advance axis of the dolly 103. When the trolley 103 is placed on a horizontal floor, the central axis of the trolley is always vertical and the advancing axis of the trolley is always horizontal.
The central axis and the advance axis of the trolley 103 are referred to as the central axis and the advance axis of the marked trolley. The forward axis has two directions, one of which is selected as the positive direction of movement of the trolley 103 and the other is the negative direction of movement of the trolley 103. As previously explained, when the trolley 103 is placed on a horizontal floor, the first and second drive wheels have one and the same axis, which is perpendicular to the axis of advance of the trolley 103. If the dolly 103 moves in the positive direction of movement of the dolly 103 under the following assumption: (1) the cart 103 is placed on a horizontal floor; (2) The first driving wheel and the second driving wheel rotate in the positive direction at the same speed; (3) The slip between the wheels and the floor is negligible, the direction of rotation of the first driving wheel of the trolley 103 is called positive direction of rotation
The wired connection between the electrical or electronic equipment of the cart 103 and the second computer 902 is shown in fig. 3D. It should be noted that the orientation sensor 91A of the cart 103 may comprise a fusion sensor comprising an accelerometer, a gyroscope and a magnetometer. The direction sensor 91A may also include a tilt sensor that may be used to measure the direction of the earth's gravity in a three-dimensional coordinate system where the central axis and the advance axis of the cart 103 are the coordinate axes of the three-dimensional coordinate system. The direction sensor 91A may further include a geomagnetic direction sensor. The direction sensor 91A or the second computer 902 may include a program for calculating a direction from the signal of the direction sensor 91A.
As shown in fig. 4A, one marked trolley 103X includes trolley 103 and logo 131X, wherein logo 131X is located on surface 130 of body 102 of trolley 103. In this patent application, the plate 131 is perpendicular to the central axis of the trolley 103. The identifier 131X includes: five squares 133a, 133b, 133c, 133d and 133e do not overlap each other (except for the vertices) and do not overlap other portions of the logo (except for the background), with the interior of each square being coated with a single color or white color, respectively. Squares 133a and 133b have a common vertex P 1 Squares 133c and 133d have a common vertex P 2 Squares 133d and 133e have a common vertex P 3 . Vertex P 1 、P 2 And P 3 On the same line; but this is not a hard requirement. Vertex P 2 At the apex P 1 And P 3 Between them. Vertex P 2 And P 3 Distance between the two points is greater than the vertex P 1 And P 2 The distance between them is several times smaller. The background of the marking surface may be other single color or blackColor. The surface of the plate 131 may be matte to limit light reflection. The identifier 131X further includes a two-dimensional code 134X. When the trolley 103 is placed on a horizontal plane, the line P 1 P 2 Just on one vertical plane passing just through the axes of the shafts 147 of the two universal wheels.
As shown in fig. 4B, the marked trolley 103Y includes the trolley 103 and a logo 131Y, wherein the logo 131Y is printed on the surface 130 of the trolley 103. Similar to the logo 131X, the logo 131Y includes five squares 135a, 135b, 135c, 135d and 135e and a different two-dimensional code 134Y.
The logo 131X (or 131Y) may also include an image, picture or character printed on the surface. The person's eyes may or may not see the logo. The identification is not rotationally symmetrical. In other words, the image of the logo is rotated by any angle between 0 and 360 degrees and is dissimilar to the original logo.
It should be noted that the surface 130 of the marked trolley may be curved. The logo 131X or 131Y may be printed on the curved surface 130.
The kitchen system in a restaurant of the present invention will be described in fig. 5A-16. We will see that the first computer 901 is part of the kitchen system; the device, mechanism or system of the kitchen system is connected to a first computer 901.
As shown in fig. 5A-5C, one clamping mechanism 403 includes: a rigid member 464; two shafts 462a and 462b, both of which are rigidly connected to a rigid member 464; two shafts 463a and 463b; a plate-like rigid member 471; a shaft 489 rigidly connected to the rigid member 471 and located in the middle of the rigid member 471; a motor 81N including a shaft and a base member; and a connecting member 468. The rigid member 464 may be considered a support member for the clamping mechanism 403. Two shafts 463a and 463b are rigidly connected to the rigid member 471 and are located at opposite ends of the rigid member 471, respectively. A wheel 469 is mounted on shaft 463a and coaxial with shaft 463a such that the wheel is free to rotate relative to shaft 463a about the axis of shaft 463 a. Another wheel 469 is mounted on shaft 463b and is coaxial with shaft 463b such that it is free to rotate relative to shaft 463b about the axis of shaft 463 b. The base member of motor 81N is fixedly coupled to rigid member 464 by a connecting member 468, and the shaft of motor 81N is fixedly coupled to shaft 489 by a coupling 472. Thus, the motor 81N may drive the rigid member 471 in a rotational movement about the axis of the shaft 489 relative to the rigid member 464. The clamping mechanism 403 further comprises a lead screw nut 465 and a linear slide 466, wherein the lead screw nut 465 is rigidly connected to the rigid member 464 and the linear slide 466 is fixedly mounted to the rigid member 464. The axes of the shafts 462a, 462b, 489, 463a and 463b, the axis of the lead screw nut 465 and the linear direction of the linear slider 466 are all vertical.
As shown in fig. 5B, the clamping mechanism 403 further includes clamping devices 479a and 479B, wherein the clamping device 479a (or 479B) is a rigid member that includes a slot 475a (or 475B), a bearing block 474a (or 474B), and a jaw 473a (or 473B). The surface of one side of the jaw 473a or 473b matches with a part of the surface of the cooked food container 182. As shown in fig. 5C, the bearing mount 474a of the clamp 479a is connected to the shaft 462a by two bearings 461 and fittings such that relative movement between the bearing mount 474a (or the clamp 479 a) and the shaft 462a (or the rigid member 464) is limited to rotational movement centered on the axis of the shaft 462 a. Similarly, the bearing mount 474b of the clamp 479b is connected to the shaft 462b by two other bearings 461 and accessories such that relative movement between the bearing mount 474b (or the clamp 479 b) and the shaft 462b (or the rigid member 464) is limited to rotational movement centered on the axis of the shaft 462 b. In addition, the wheels 469 mounted on the shafts 463a (or 463 b) are respectively inserted into the slots 475a (or 475 b) of the holding device 479a (or 479 b), so that the movement of one shaft 463a (or 463 b) can rotate the holding device 479a (or 479 b) about the axis of the shaft 462a (or 462 b). When the motor 81N drives the rigid member 471 to rotate about the axis of the shaft 489, the clamping devices 479a and 479b can simultaneously rotate about the corresponding shafts to clamp or unclamp one of the deli containers 182. As shown in fig. 5C, when the cooked food container 182 is clamped by the clamping devices 479a and 479b of the clamping mechanism 403, the cooked food container 182 is vertically placed to store the cooked food. It should be noted that the rotation directions of the clamping devices 479a and 479b are opposite. It should also be noted that the jaws 473a and 473b of the clamping devices 479a and 479b may be coated with a layer of rubber, silicone or other resilient material.
The gripper mechanism 403 also includes proximity sensors 91Q and 91R and targets 455a and 455b. Targets 455a and 455b are rigidly connected to rigid member 471. The proximity sensor 91Q is fixedly mounted on the connection member 468, and the proximity sensor 91R is fixedly connected to the rigid member 464 by a connection. As shown in fig. 5A, the motor 81N is connected to the first computer 901 via a cable 83N. The first computer 901 may dynamically control the rotation time and rotation speed of the shaft of the motor 81N. The proximity sensor 91Q is connected to the first computer 901 via the cable 93Q, and thus the first computer 901 can receive a signal from the proximity sensor 91Q. As the target rotates with the rigid member 471. The proximity sensor 91Q may detect targets 455a and 455b. When the motor 81N drives the rigid member 471 to rotate to the first position where the proximity sensor 91Q just detects the target 455a, the holding devices 479a and 479b hold the deli container 182. Similarly, when motor 81N drives rigid member 471 to rotate to the second position where proximity sensor 91Q just detects target 455b, clamping devices 479a and 479b unclamp the delicatessen container. Each time the rigid member 471 is rotated to the first or second position, the first computer 901 may calculate the position of the target 455a (or 455 b) and then send a signal to the motor 81N to control the rotation of the motor 81N.
As shown in fig. 6, the transfer sub-device 404 includes: a plate 481 including a bearing housing; an L-shaped rigid member 486 comprising a horizontal plate 486a and a vertical plate 486b, wherein the horizontal plate 486a comprises a bearing housing; a rigid member 484 for rigidly connecting the horizontal plate 481 and the horizontal plate 486a of the L-shaped rigid member 486; a screw 482 having an axis thereof vertical; and a linear slide 483. The bearing seats of horizontal plate 481 and horizontal plate 486a are coincident in axis. The bearing housing of the horizontal plate 481 is connected to one cylindrical portion of the screw 482 by one bearing and an attachment (not shown), and the bearing housing of the horizontal plate 486a is connected to the other cylindrical portion of the screw 482 by another bearing and an attachment (not shown), so that the relative movement between the screw 482 and the horizontal plate 481 and the L-shaped rigid member 486 (or the rigid member 484) is limited to a rotational movement centered on the axis of the screw 482. The linear slide 483 is fixed to one side of the rigid member 484. The axis of the screw 482 and the sliding direction of the linear slide 483 are both vertical.
The transfer sub-device 404 further includes: a connecting member 478; a motor 81P including a shaft and a base member; and a coupling 477. The connecting member 478 connects the base member of the motor 81P to the horizontal plate 481, and the coupling 477 serves to connect the shaft of the motor 81P to the screw 482. Thus, the motor 81P may drive the screw 482 in rotational motion about the axis of the screw 482 relative to the rigid member 484. The transfer sub-device 404 further includes: a motor 81S including a base member and a shaft; a gear 487 which is rotatable relative to the vertical plate 486b. The base member of motor 81S is fixedly connected to vertical plate 486b of L-shaped rigid member 486, and the shaft of motor 81S is fixedly connected to gear 487. Thus, the motor 81S may drive the gear 487 to rotate relative to the L-shaped rigid member 486. The transfer subassembly 404 also includes a linear slide 485 that is fixedly coupled to the horizontal plate 486 a. The axis of gear 487 and the direction of linear slide 485 are both horizontal and perpendicular to each other. The transfer sub-device 404 also includes two targets 457a and 457b and a proximity sensor 91U. Targets 457a and 457b are fixed to one side of a rigid member 484. The proximity sensor 91U is fixedly connected to the vertical plate 486b of the L-shaped rigid member 486.
It should be noted that the plate 486b may include a bearing seat. Gear 487 may be rigidly connected to a shaft; wherein the shaft is connected to the bearing seat of vertical plate 486b by one or more bearings and fittings such that relative movement between the shaft and vertical plate 486b is limited to rotational movement centered on the axis of the shaft coincident with the axis of gear 487. The shaft is connected to the shaft of the motor 81S by a coupling so that the motor 81S can drive the shaft to rotate.
As shown in fig. 7A-7B, the rotary motion mechanism 405 includes: two bearing blocks 492 and 495, each bearing block having an axis that is vertical; a support member 494 for rigidly connecting the two bearing seats 492 and 495; a rigid member 490; a rack 498; a linear slide 488; and two vertical plates 491; wherein the rack 498 and linear slide 488 are rigidly connected to the rigid member 490. The rack 498 and the linear slide rail 488 are oriented horizontally and parallel to each other. Two vertical plates 491 are rigidly connected to each of the ends of the rack 498, the ends of the rigid member 490, and the ends of the linear slide 488.
The rotary motion mechanism 405 further includes: a geneva mechanism 493 comprising: an input shaft 499a rotatable about the axis of the input shaft 499a relative to the support member 494; an output shaft 499b rotatable about the axis of the output shaft 499b with respect to the support member 494; a motor 81Q including a shaft and a base member; a coupling 496; a connecting member 497; wherein continued rotational movement of the input shaft 499a relative to the support member 494 may drive intermittent rotational movement of the output shaft 499b relative to the support member 494.
It should be noted that input shaft 499a may be coupled to a bearing mount 495 by one or more bearings such that relative movement between input shaft 499a and bearing mount 495 (or support member 494) is limited to rotational movement centered on the axis of input shaft 499 a. Similarly, the output shaft 499b may be coupled to the bearing housing 492 via one or more bearings such that relative movement between the output shaft 499b and the bearing housing 492 (or support member 494) is limited to rotational movement centered on the axis of the output shaft 499 b. The shaft of motor 81Q is fixedly coupled to input shaft 499a, and the base member of motor 81Q is fixedly coupled to housing 495 (or support member 494) via coupling member 497. Thus, the motor 81Q can drive the input shaft 499a of the geneva gear 493 to rotate relative to the support member 494, thereby driving the output shaft 499b to perform intermittent rotational movement relative to the support member 494. Because the rigid member 490 is rigidly connected to the output shaft 499b, the rigid member 490 may be intermittently rotated along with the output shaft 499 b.
The rotary motion mechanism 405 further includes: a proximity sensor 91S fixedly coupled to the housing 495 by a coupling; a target 459 rigidly connected to a crank of the geneva mechanism 493; two targets 458a and 458b, both of which are mounted on the rigid member 490. As shown in fig. 7A, a motor 81Q is connected to a first computer 901 via a cable 83Q. The first computer 901 may dynamically control the rotation time and rotation speed of the shaft of the motor 81Q. The proximity sensor 91S is connected to the first computer 901 via the cable 93S, and thus the first computer 901 can receive the signal of the proximity sensor 91S. Each time the crank of the geneva mechanism 493 rotates to the point where the proximity sensor 91S just detects the position of the target 459, the proximity sensor 91S will send a signal to the first computer 901 and the first computer 901 can calculate the position of the target 459. The first computer 901 then sends a signal to the motor 81Q to stop the rotation of the motor 81Q, during which a dish loading mechanism 420 (described below) may complete a corresponding process. The first computer 901 may then control the motor 81Q to restart and rotate.
As shown in fig. 8, one dish loading mechanism 420 includes a holding mechanism 403, a transfer sub-device 404, and a rotary motion mechanism 405. The screw 482 of the transfer sub-device 404 is screwed with the screw nut 465 of the holding mechanism 403, the linear slider 466 of the holding mechanism 403 is fitted with the linear slide 483 of the transfer sub-device 404, and when the motor 81P of the transfer sub-device 404 drives the screw 482 to rotate, the rigid member 464 of the holding mechanism 403 can slide vertically along the linear slide 483 with respect to the rigid member 484 of the transfer sub-device 404. The gear 487 of the transfer subassembly 404 is engaged with the rack 498 of the rotary motion mechanism 405, and the linear slide 485 of the transfer subassembly 404 is engaged with the linear slide 488 of the rotary motion mechanism 405, such that the rigid member 484 can slide horizontally along the linear slide 488 relative to the rigid member 490 of the rotary motion mechanism 405 when the motor 81S of the transfer subassembly 404 drives the gear 487 to rotate.
As shown in fig. 6, motors 81P and 81S are connected to a first computer 901 via cables 83P and 83S, respectively. The first computer 901 may dynamically control the rotation time and rotation speed of the shafts of the motors 81P and 81S. As shown in fig. 5A to 8, the proximity sensors 91R and 91U are connected to the first computer 901 via cables 93R and 93U, respectively, so that the first computer 901 can receive signals from the proximity sensors 91R and 91U. The proximity sensor 91R of the clamping mechanism 403 can detect the targets 457a and 457b when the motor 81P drives the clamping mechanism 403 to slide along the axis of the screw 482. Each time the proximity sensor 91R detects the target 457a or 457b, the first computer 901 may send a signal to the motor 81P to stop the motor 81P for a period of time. During this time, the holding mechanism 403 of the dish loading mechanism 420 may complete a process of holding or releasing the deli container 182. Similarly, when the motor 81S drives the transfer sub-device 404 to slide together with the proximity sensor 91U, the proximity sensor 91U of the transfer sub-device 404 can detect the targets 458a and 458b. Each time the proximity sensor 91U detects the target 458a or 458b, the first computer 901 may calculate the position of the proximity sensor 91U and then send a signal to the motor 81S to stop the motor 81S for a while. During this time, the clamping mechanism 403 and/or the transfer sub-device 404 may complete a corresponding progression. As described earlier, the first computer 901 may control the rotation of the motor 81Q according to the signal of the proximity sensor 91S. Accordingly, the first computer 901 may control the dish loading mechanism 420 to grip the cooked food container 182 and move linearly vertically along the axis of the screw 482, or move linearly in a horizontal direction, or make a horizontal intermittent rotation about the axis of the output shaft 499b, or a combination thereof, and then release the cooked food container 182 at a position different from the previous position. The rigid member 464 of the clamping mechanism 403 is referred to as the first support member of the dish loading mechanism 420. The rigid member 484 of the transfer subassembly 404 is referred to as a second support member of the dish loading mechanism 420. The rigid member 490 of the rotary motion mechanism 405 is referred to as a third support member of the dish loading mechanism 420. The support member 494 is referred to as a fourth support member of the dish loading mechanism 420.
It should be noted that dish loading mechanism 420 includes the following components: (1) A clamping mechanism 403 for clamping or unclamping the deli container 182, wherein the clamping mechanism 403 comprises a first support member 464 (of the dish loading mechanism 420); (2) A vertical movement mechanism, referred to as a first movement mechanism, for driving the first support member 464 in a vertical linear movement relative to the second support member 484, wherein the first movement mechanism includes: the second support member 484, motor 81P, coupling 477, screw 482, linear slide 483, linear slider 466, horizontal plate 481, L-shaped rigid member 486, screw nut 465, connections between them (if any) and connections between them and other components of the dish loading mechanism 420 (if any), etc.; (3) A horizontal movement mechanism, referred to as a second movement mechanism, for driving the second support member 484 in horizontal linear movement with respect to the third support part 490, wherein the second movement mechanism includes the third support member 490, the motor 81S, the gear 487, the linear slide 485, the rack 498, the linear slide 488, their connection (if any) to each other, their connection (if any) to other parts of the dish loading mechanism 420, and the like; (4) A rotary motion mechanism, referred to as a third motion mechanism, for driving the third support member 490 in intermittent rotary motion relative to the fourth support member 494, wherein the third motion mechanism comprises the fourth support member 494, the motor 81Q, the coupling 496, the connecting member 497, the geneva mechanism 493, the bearing blocks 492 and 495, their connections to each other (if any), their connections to other components of the dish loading mechanism 420, and the like. It should be noted that the intermittent rotation center axis of the third support member 490 with respect to the fourth support member 494 is vertical. The dish loading mechanism 420 is used to hold the vertically placed cooked food container 182 and linearly move in a vertical direction, or linearly move in a horizontal direction, or make a horizontal intermittent rotation about the axis of the output shaft 499b, or a combination thereof, and then release the cooked food container 182 at a position different from the previous position.
It should be noted that the first computer 901 may dynamically control the rotation time and rotation speed of the motor of the dish loading mechanism 420 according to the signals of the proximity sensors 91Q, 91R, 91U and 91S of the dish loading mechanism 420.
As shown in fig. 9A-9C, the cooking mechanism 501 includes a stirring motion mechanism 502 and a cooking container 100, wherein the cooking container 100 is used to store foodstuff. The agitation movement mechanism 502 includes: a plate 516; two bearing blocks 513 and 521; the connection member 511, which is a piece of profiled metal plate, includes a flat portion 511a and a curved portion 511b. The curved portion 511b has some elliptical holes. The flat portion 511a and the curved portion 511b may both be annular, but this is not required. The flat portion 511a of the connection member 511 is rigidly connected to the annular region of the plate 516, and the curved portion 511b of the connection member 511 is rigidly connected to the cooking container 100. Thus, cooking vessel 100 is rigidly connected to plate 516 of agitation mechanism 502. The bearing housings 513 and 521 are rigidly connected to the plate 516, wherein the axes of the bearing housings 513 and 521 are parallel to the axis of the cooking vessel 100.
The stirring motion mechanism 502 of the cooking mechanism 501 further includes: a plate-shaped support member 512; two shafts 522 and 517, both of which are rigidly connected to a connecting member (not shown); a bearing housing 518 comprising a semicircular plate 518c, the semicircular plate 518c being rigidly connected to the support member 512. The shaft 517 is coupled to the bearing housing 518 through a pair of bearings 526 such that relative movement between the shaft 517 and the bearing housing 518 (or support member 512) is limited to rotational movement centered on the axis of the shaft 517. Thus, the shaft 522 is rotatable relative to the support member 512 about the axis of the shaft 517.
The stirring motion mechanism 502 of the cooking mechanism 501 further includes: a bearing seat 525; two flanges 525a and 525b, which are both rigid extensions of the bearing mount 525; a shaft 515, which is referred to as a main shaft; one shaft 514, which is referred to as an eccentric shaft (as shown in fig. 9C). The main shaft 515 and the eccentric shaft 514 are rigidly connected to each other. The flange 525a is rigidly connected to the support member 512, so the bearing mount 525 is rigidly connected to the support member 512. The shaft 515 is coupled to the bearing mount 525 by a pair of bearings 528 and accessories such that relative movement between the shaft 515 and the bearing mount 525 is limited to rotational movement about the axis of the shaft 515. Accordingly, the relative movement between the eccentric shaft 514 and the bearing mount 525 and the support member 512 is limited to a rotational movement centered on the axis of the shaft 515. In other words, the eccentric shaft 514 may perform an eccentric rotational movement whose center of rotation is not the axis of the eccentric shaft 514.
The axes of the shafts 517, 522, 515 and 514 are parallel to each other, and the distance between the axes of the main shaft 515 and the eccentric shaft 514 is smaller than the distance between the shaft 522 and the axis of the shaft 517. The distance between the axes of the shafts 515 and 514 is relatively small, typically not exceeding a few tens of millimeters, although this is not a strict requirement.
The stirring motion mechanism 502 of the cooking mechanism 501 further includes: a motor 81E including a shaft and a base member; a connection member 523; coupling 524. The base member of 81E of the motor is fixedly connected with the support member 512 through the connection member 523. The motor 81E is fixedly connected to the shaft 515 through a coupling 524. The motor 81E can thus drive the main shaft 515 and the eccentric shaft 514 to rotate about the axis of the main shaft 515. The agitation movement mechanism 502 further includes: a pair of bearings 531 (and accessories) for connecting the shaft 514 and the bearing housing 513 such that the relative movement between the shaft 514 and the bearing housing 513 is limited to a rotational movement centered on the axis of the shaft 514; another pair of bearings 527 (and accessories) is used to connect the shaft 522 and the bearing mount 521 such that relative movement between the shaft 522 and the bearing mount 521 is limited to rotational movement centered on the axis of the shaft 522 (as shown in fig. 9B). When the motor 81E drives the shaft 515 to rotate about the axis of the shaft 515, the shaft 514 is caused to perform an eccentric rotational movement about the axis of the shaft 515. If the elasticity and other deformations are ignored, the plate 516 and cooking vessel 100 can move together in a planar cycle. Movement of the cooking vessel 100 may agitate and mix foodstuff within the cooking vessel 100.
Cooking mechanism 501 further comprises: two proximity sensors 91F and 91G, both of which are fixedly connected to the connection member 523; a target 532a comprising a rectangular cross section; target 532b, which is in the shape of a half-disk. Both targets 532a and 532b are fixedly attached to shaft 515. As the target 532a rotates with the shaft 515, the proximity sensor 91F can detect the target 532a; the proximity sensor 91G can detect the target 532b as the target 532b rotates with the shaft 515. As shown in fig. 9B-9C, the motor 81E is connected to the first computer 901 via the cable 83E, and the first computer 901 can send a signal to the motor 81E to dynamically control the rotational time and rotational speed of the shaft of the motor 81E; the rotational speed of the shaft of the motor 81E is different at different times in each recipe program. The proximity sensors 91F and 91G are connected to the first computer 901 via cables 93F and 93G, respectively, so that the first computer 901 can receive signals of the proximity sensors 91F and 91G.
It should be noted that the cooking mechanism 501 may include a heating device for heating the cooking vessel 100 to cook food.
As shown in fig. 10A-10C, a serving mechanism 505 includes a movement mechanism 503, wherein the movement mechanism 503 includes: bearing block 542 (with flange and base rigidly attached thereto); a cam 541; a shaft 546; a connecting member 544; a coupling 543; a motor 81F including a shaft and a base member. Cam 541 is rigidly coupled to shaft 546. The shaft 546 is connected to the bearing mount 542 by a pair of bearings and accessories (not shown) such that relative movement between the shaft 546 and the bearing mount 542 is limited to rotational movement centered on the axis of the shaft 546. The connection member 544 is used to fixedly connect the bearing housing 542 and the base member of the motor 81F, and the shaft of the motor 81F is connected to the shaft 546 through the coupling 543. Accordingly, the motor 81F can drive the shaft 546 and the cam 541 to rotate about the axis of the shaft 546. The center curve of the curved slot of the cam 541 includes a segment of circular arc at each end thereof, wherein the centers of the two segments of circular arc are on the axis of the shaft 546, and the curves of the two side edges of the curved slot of the cam 541 are equidistant curves of the center curve.
The movement mechanism 503 further includes: a proximity sensor 91H; a connecting member 549 that fixedly connects the proximity sensor 91H to the bearing housing 542; two targets 541a and 541b, both of which are fixedly mounted on the cam 541. As shown in fig. 10A, a motor 81F is connected to a first computer 901 via a cable 83F. The first computer 901 may dynamically control the rotation time and rotation speed of the shaft of the motor 81F. The proximity sensor 91H is connected to the first computer 901 via a cable 93H, so the first computer 901 can receive a signal of the proximity sensor 91H. When the targets rotate together with the cam 541, the proximity sensor 91H can detect the targets 541a and 541b. When the cam 541 is rotated to a first position (or a second position) where the proximity sensor 91H just detects the target 541a (or 541 b), the proximity sensor 91H sends a signal to the first computer 901. The first computer 901 may calculate the position of the target and the cam 541. The first computer 901 may then send a signal to the motor 81F to control the motor 81F to stop for a period of time. During this time, the pouring mechanism 505 may complete a corresponding process. Thereafter, the first computer 901 may control the motor 81F to restart and reverse-rotate to rotate the cam 541 to the second position (or the first position).
The pouring mechanism 505 further includes: a plate-shaped support member 536; axle seats 537 and 534; shafts 535 and 545; bearing housings 538, 533a and 533b, wherein bearing housings 534 and 537 rigidly connect shaft 535 to support member 536. The shaft 545 is connected to the bearing block 538 by a pair of bearings (and accessories), and thus, the relative movement between the shaft 545 and the bearing block 538 is limited to a rotational movement about the axis of the shaft 545 (as shown in fig. 10A). The axes of bearing housings 533a and 533b coincide, and the axes of bearing housings 538, 533a and 533b are parallel to each other. The shaft 535 is connected to the bearing housings 533a and 533b, respectively, by bearings and accessories (not shown) such that the relative movement between the shaft 535 and the bearing housings 533a and 533b is limited to rotational movement about the axis of the shaft 535. The base of the bearing block 542 of the movement mechanism 503 is rigidly connected to the support member 536 (this connection is not shown in the figures), wherein the shaft 545 is parallel to but not coincident with the axis of the shaft 535; wherein the axis of shaft 546 is parallel to but not coincident with the axis of shaft 535. The axes of shafts 545, 535 and 546 are not coplanar. In fact, the distance between the axes of the shafts 535 and 545 is smaller than the distance between the axes of the shafts 535 and 546, and the distance between the axes of the shafts 545 and 546 is variable. The shaft 545 is inserted into a curved slot of the cam 541 of the movement mechanism 503. The motor 81F of the movement mechanism 503 may drive the cam 541 to rotate about the axis of the shaft 546, thereby driving the axis of the shaft 545 to move, and thus, the bearing housing 533a to rotate relative to the support member 536. The pouring mechanism 505 further comprises a cleaning mechanism 504, a funnel 561 and a connecting member 562. The connecting member 562 is used to strengthen the rigidity of the funnel 561. The connecting member 562 rigidly connects the funnel 561 to the support member 536 such that the relative positions of the funnel 561 and the support member 536 are fixed. Cleaning mechanism 504 includes water lines 551, 552, 555, 556, 557, and 558. The water pipes 555, 556, 557 and 558 are fixedly mounted on the inner surface of the funnel 561. All water pipes are connected to each other by a plurality of connection pieces 553 and 554 so that water can flow from one water pipe to another. The cleaning mechanism 504 also includes a water source 519 for flowing water into the water tube 551. Each of the water lines 555, 556, 558 and 557 includes a plurality of small holes or spray devices (not shown) to allow water to be sprayed from the small holes or spray mechanisms to clean the inner surface of the funnel 561.
As shown in fig. 11, one cooking subsystem 510 includes a cooking mechanism 501 and a serving mechanism 505. The support member 512 of the cooking mechanism 501 is rigidly connected to the bearing blocks 533a and 533b of the pouring mechanism 505. Accordingly, when the motor 81F drives the cam 541 to rotate, the support member 512 of the cooking mechanism 501 rotates about the axis of the shaft 535 with respect to the support member 536. When the first computer 901 controls the pouring mechanism 505 to drive the support member 512 of the cooking mechanism 501 to rotate about the axis of the shaft 535 to the first position where the proximity sensor 91H just detects the target 541a, the cooking container 100 is vertically placed, and the stirring motion mechanism 502 drives the cooking container 100 in a planar circulation motion with respect to the support member 512 to stir and mix foodstuff of the cooking container 100. When the first computer 901 controls the pouring mechanism 505 to drive the support member 512 of the cooking mechanism 501 to rotate about the axis of the shaft 535 to the second position where the proximity sensor 91H just detects the target 541b, the cooking container 100 is rotated to the second limit position to pour the cooked food or waste water in the cooking container 100 into the hopper 561.
As shown in fig. 12A-12B, the serving mechanism 507 includes a conveyor 506, wherein the conveyor 506 includes: a dial 566; a support member 563; a motor 81G including a shaft and a base member; the geneva mechanism 564 comprises a sheave 564a wherein the sheave 564a is rigidly connected to the turntable 566 and is rotatable about a vertical axis relative to the support member 563. The base member of motor 81G is fixedly connected to support member 563 and the shaft of motor 81G is fixedly connected to the input shaft of geneva gear 564. When the motor 81G drives the input shaft of the geneva gear 564 one revolution (360 degrees), the geneva gear 564a and the dial 566 are simultaneously rotated by a fixed angle, which is referred to as an index of intermittent motion.
The dish receiving mechanism 507 further includes: a waste water passage 567 through which waste water can pass; a plurality of deli containers 182; a plurality of container carriers 568. The waste channel 567 is rigidly connected to the turntable 566. The container carrier 568 includes: a circular horizontal plate; a circular ring with its axis vertical; and a plurality of connecting members for rigidly connecting the circular ring and the horizontal plate. The container carrier 568 is rigidly attached to the top of the carousel 566. When the cooked food container 182 is vertically placed on one of the container carriers 568, the bottom surface of the cooked food container 182 is in contact with the horizontal plate of the container carrier 568 and the outer surface of the cooked food container 182 is in contact with the annular ring of the container carrier 568. The conveyor 506 is capable of driving the turntable 566 in a cyclic intermittent rotational motion with the waste water channel 567, the container carrier 568 and the cooked food containers 182 held by the container carrier 568. The receiving mechanism 507 further includes a proximity sensor 91J and a target 565, the proximity sensor 91J being fixedly coupled to the support member 563 by a connector, the target 565 being rigidly coupled to a crank of the geneva mechanism 564 in the conveyor 506. As shown in fig. 12B, a motor 81G of the transfer device 506 is connected to a first computer 901 via a cable 83G. The first computer 901 may dynamically control the rotation time and rotation speed of the shaft of the motor 81G. The proximity sensor 91J is connected to the first computer 901 via a cable 93J, so the first computer 901 can receive a signal of the proximity sensor 91J. When the target 565 rotates with the crank of the pulley device 564, the proximity sensor 91J can sense the target 565 and send a signal to the first computer 901, the first computer 901 calculating the positions of the target 565 and the support member 563. The first computer 901 then sends a signal to the motor 81G to control the motor 81G to stop for a period of time, during which the deli container 182 or the waste water passage 567 is rotated to a certain position (which is located just under the hopper 561 of the pouring mechanism 505) during the stop of the intermittent rotary motion.
As shown in fig. 13A to 13D, one clamping mechanism 401 includes: a pair of clamping means 411a and 411b; a support member 418, which is considered to be a support member of the clamping mechanism 401; a pair of shafts 417a and 417b; two rigid members 416a and 416B, each comprising a bearing housing (represented by a corresponding circular hole in fig. 13B); two shafts 421 and 422. As shown in fig. 13A, the clamping device 411a (or 411 b) includes a bearing seat 415a (or 415 b); a jaw 412a (or 412 b) comprising a part cylindrical surface; a connecting arm 413a (or 413 b); a shaft 414a (or 414 b); wherein the axis of bearing housing 415a (or 415 b) and the axis of shaft 414a (or 414 b) are parallel to each other. The connection arm 413a (or 413 b) may include a reinforcing rib. As shown in fig. 13B, both shafts 421 and 422 are rigidly connected to the support member 418, wherein the axes of the two shafts are concentric. Shafts 417a and 417B are both rigidly connected to support member 418, wherein the axes of shafts 417a and 417B are parallel to each other and perpendicular to the axes of shafts 421 and 422. Both rigid members 416a and 416b are rigidly connected to a support member 418. The axes of the bearing blocks of the rigid members 416a and 416b coincide and are parallel to the axes of the shafts 421 and 422. The shaft 417a is connected to the bearing housing 415a of the clamping device 411a by a pair of bearings 424a (and accessories) such that relative movement between the clamping device 411a and the shaft 417a (or support member 418) is limited to rotational movement about the axis of the shaft 417 a. Similarly, shaft 417b is coupled to bearing housing 415b of clamping device 411b by another pair of bearings 424b (and accessories) such that relative movement between clamping device 411b and shaft 417b (or support member 418) is limited to rotational movement centered about the axis of shaft 417 b.
As shown in fig. 13C-13D, the clamping mechanism 401 further includes: a pair of nuts 427a and 427b; a pair of shafts 429a and 429b; a pair of connectors 428a and 428b; a screw shaft 426; motor 81J, which includes a shaft and a base member. The shaft 429a (or 429 b) is rigidly connected to the nut 427a (or 427 b), and the axis of the shaft 429a (or 429 b) is perpendicular to the axis of the nut 427a (or 427 b). The relative movement between the shaft 429a (or 429 b) and the connection 428a (or 428 b) is limited to a rotational movement centered on the axis of the shaft 429a (or 429 b). The relative movement between the shaft 414a (or 414 b) and the link 428a (or 428 b) is limited to rotational movement centered on the axis of the shaft 414a (or 414 b). The axis of the shaft 414a (or 414 b) is parallel to the axis of the shaft 429a (or 429 b). Screw shaft 426 is screwed with nuts 427a and 427 b. When the screw shaft 426 rotates, the nuts 427a and 427b move simultaneously in opposite directions at the same speed. The bearing housing of the rigid member 416a is coupled to the shaft end of the screw shaft 426 by a bearing 431 and an accessory, and the bearing housing of the rigid member 416b is coupled to the other shaft end of the screw shaft 426 by another bearing 431 and an accessory, such that the relative movement between the screw shaft 426 and the rigid members 416a and 416b (or the support member 418) is limited to a rotational movement centered on the axis of the screw shaft 426. Rotational movement of screw shaft 426 will drive nuts 427a and 427b to translate relative to screw shaft 426 such that shafts 429a, 429b, 414a and 414b can move relative to support member 418. Movement of the shaft 414a (or 414 b) may drive rotation of the clamping device 411a (or 411 b) relative to the support member 418 about the axis of the shaft 417a (or 417 b). It should be noted that the clamping devices 411a and 411b will rotate simultaneously in opposite directions. When the clamping means 411a and 411b are rotated, the jaws of the clamping means 411a and 411b can clamp or unclamp the cartridge 107, which may hold foodstuff. The base member of motor 81J is rigidly or fixedly connected to rigid member 416b, and the shaft of motor 81J is fixedly connected to screw shaft 426 and coaxial with screw shaft 426 such that motor 81J can drive screw shaft 426 to rotate about the axis of screw shaft 426. Accordingly, the motor 81J drives the screw shaft 426 to rotate, which can drive the clamping devices 411a and 411b to rotate synchronously in opposite directions to clamp or unclamp the cartridge 107.
The clamping mechanism 401 further includes: a proximity sensor 91V; a connector 438 for fixedly connecting the proximity sensor 91V to the rigid member 416 a; targets 439a and 439b; targets 449a and 449b. Both targets 439a and 439b are fixedly connected to the connecting arm 413a of the clamping device 411 a. The target 449a is fixedly connected to the bearing housing 415a of the clamping device 411a, and the target 449b is fixedly connected to the support member 418. As shown in fig. 13C, the motor 81J is connected to the first computer 901 via a cable 83J. The first computer 901 may dynamically control the rotation time and rotation speed of the shaft of the motor 81J. The proximity sensor 91V is connected to the first computer 901 via a cable 93V, so the first computer 901 can receive a signal of the proximity sensor 91V. The proximity sensor 91V can detect the targets 439a and 439b as the targets 439a and 439b are rotated together with the gripping devices 411a and 411 b. When the proximity sensor 91V detects the target 439a, the motor 81J drives the gripping devices 411a and 411b to rotate to the first position to grip the cartridge 107. When the proximity sensor 91V detects the target 439b, the motor 81J drives the gripping devices 411a and 411b to rotate to the second position to unclamp the cartridge 107. It should be noted that the threads of the nuts 427a and 427b are of opposite hand and the screw shaft 426 includes two segments of threads of opposite hand.
As shown in fig. 13E, a pouring mechanism 410 includes a holding mechanism 401 and a moving mechanism 402, wherein the moving mechanism 402 includes: a support member 434; a motor 81K including a shaft and a base member; a connection member 451; coupling 477. The support member 434 includes two bearing seats, wherein the axes of the two bearing seats are coincident. The shafts 421 and 422 are connected to the two bearing blocks by bearings and accessories such that the relative movement between the support members 418 and 434 of the clamping mechanism 401 is limited to rotational movement centered on the axis of the shaft 422 (or 421). The base member of the motor 81K is fixedly connected to the supporting member 434 via the connector 451, and the shaft of the motor 81K is connected to the shaft 422 of the gripping mechanism 401 via the coupling 447. Thus, the motor 81K may drive the support member 418 and the gripped cartridge (if any) to rotate about the axis of the shaft 422 relative to the support member 434. The movement mechanism 402 of the pouring mechanism 410 further includes a proximity sensor 91W fixedly connected to the supporting member 434, and as shown in fig. 13E, the motor 81K of the movement mechanism 402 is connected to the first computer 901 via the cable 83K. The first computer 901 may dynamically control the rotation time and rotation speed of the shaft of the motor 81K. The proximity sensor 91W is connected to the first computer 901 via a cable 93W, so the first computer 901 can receive a signal of the proximity sensor 91W. The proximity sensor 91W can detect 449a and 449b when the motor 81K drives the gripper mechanism 401 and the targets 449a and 449b to rotate together. When the proximity sensor 91W detects the target 449a, the motor 81K drives the support member 418 of the gripping mechanism 401 to rotate to the first position, at which time the axis of the gripped cartridge 107 is vertical. When the proximity sensor 91W detects the target 449b, the motor 81K drives the support member 418 of the gripping mechanism 401 to rotate to the second position. When the support member 418 of the clamping mechanism 401 is rotated from the first position to the second position, the clamped cartridge 107 is rotated by an angle to pour foodstuff of the cartridge 107 into the cooking container 100, as shown in fig. 13E (when the bottom of the cartridge 107 is facing upwards). It should be noted that the range of rotation angle of the support member 418 between the two positions may be selected between 120 degrees and 180 degrees, more preferably between 135 degrees and 170 degrees. Each time the support member 418 of the clamping mechanism 401 is rotated to the first position or the second position, the first computer 901 can calculate the position of the target and the support member 418. The pouring mechanism 410 may clamp the cartridge 107 and rotate it through an angle to pour foodstuff from the cartridge 107 into the cooking container 100.
As shown in fig. 14, one cooking station 150 includes: dish loading mechanism 420; a dish receiving mechanism 507; a cooking subsystem 510 and a pouring mechanism 410. The support member 434 of the pouring mechanism 410, the support member 536 of the cooking subsystem 510 and the support member 563 of the serving mechanism 507 are all fixed in a relatively suitable position such that the pouring mechanism 410 can grip the cartridge 107 and rotate from the first extreme position to the second extreme position to pour foodstuff in the cartridge 107 into the cooking container 100 of the cooking subsystem 510; so that the motor 81G of the serving mechanism 507 can rotate the turntable 566 to rotate the deli container 182 or the waste water channel 567 of the serving mechanism 507 to just below the funnel 561 of the cooking subsystem 510. The cooking station 150 further includes a support bracket 237. The support member 494 of the dish loading mechanism 420 is fixedly coupled to the support bracket 237. The relative positions of the support frame 237 and the support member 563 of the receiving mechanism 507 are fixed so that the cooked food container 182 containing cooked food can be gripped by the dish loading mechanism 420 and transferred to a container bracket 159 of a labeled cart (with respect to the support member 494 of the dish loading mechanism, the labeled cart is moved into a proper position as shown in fig. 20 below).
As shown in fig. 15A, a capped cartridge 109 includes a cap 108 and a cartridge 107. Both the cap 108 and the cartridge 107 are a body of revolution about a central axis. The lid 108 may be opened from the cartridge 107 by applying a force to the lid 108 along the central axis of the lid (away from the cartridge 107); conversely, if the cartridge 107 does not have a cap 108, the cap 108 may be placed on the cartridge 107 by applying a force to the cap 108 in the opposite direction.
As shown in fig. 15B-15C, one storage mechanism 192 includes a plurality of sealing caps 661 and a storage box 211, the storage box 211 including a plurality of rectangular or square compartments, wherein each compartment can store a plurality of capped cartridges 109, wherein the capped cartridges 109 are stacked vertically in the compartment. Each sealing cap 661 is used to cover or seal the compartment opening (at the top) of the storage box 211 and to limit the heat exchange between the inside and outside of the corresponding compartment. It should be noted that each lidded cartridge 109 includes: a magazine 107 for storing foodstuff; a cover 108 for covering and sealing the cartridge 107.
The storage mechanism 192 also includes a refrigeration mechanism comprising: a coil 665; pipe connections 666a and 666b; and sub-device 81H. The coil 665 is fixedly mounted to the surface of the storage tank 211 by a plurality of attachments (not shown). The sub-unit 81H comprises two tubes 667a and 667b, namely an outlet and an inlet. A tube connector 666a connects one end of coil 665 to tube 667 a; a tube connector 666b connects the other end of the coil 665 to the tube 667b. Sub-unit 81H may pass the refrigerant fluid through tubing connector 666a and tubing 667a into coil 665 via a hydraulic pump, and then the refrigerant fluid may flow from coil tubing 665 to tubing connector 666b and tubing 667b. The refrigerant fluid flows in this circulation closed system, thereby cooling the surrounding area of the storage tank 211. The sub-unit 81H may cool the liquid flowing into the sub-unit 81H. The sub-unit 81H may be water-cooled or air-cooled. The sub-unit 81H may include a compressor, piping, motor, cooling plate or fan, etc., similar to a domestic or commercial refrigerator.
The storage mechanism 192 further includes a plurality of temperature sensors 91L fixedly mounted to the outer surface and bottom of the storage box 221 to detect temperatures at a plurality of locations of the storage mechanism 192. As shown in fig. 15C, the sub-device 81H is connected to the first computer 901 via the cable 83H, and the first computer 901 can dynamically control the operation time and power of the sub-device 81H. The temperature sensor 91L is connected to the first computer 901 via a cable 93L so that the first computer 901 can receive a signal of the temperature sensor 91L. When the first computer 901 receives the signal of the temperature sensor 91L and they display that the temperature of the storage tank 211 is out of (or below) the design temperature range, the first computer 901 may control the sub-device 81H to increase (or decrease) the power (or the operating time) to keep the temperature within the design range. Thus, under the control of the first computer 901, the temperature of the storage box 211 and the capped magazine 109 stored therein can be kept within a certain range to keep the foodstuff stored in the magazine 107 of the storage mechanism 192 fresh.
The sub-assembly 81H of the refrigeration mechanism further includes one or more temperature sensors 91N and an insulation assembly 668, wherein the temperature sensors 91N are used to detect the temperature of the refrigerant fluid in the sub-assembly 81H. The temperature sensor 91N is connected to the first computer 901 via a cable 93N and an insulating assembly 668 is used to limit the heat exchange between the sub-device 81H and the outside.
The storage mechanism 192 also includes an insulating assembly 672, which is configured in a box shape and is used to limit the transfer of heat between the storage tank 211 and the outside.
The storage mechanism 192 also includes two scanners 92A and 92B, each secured to either side of the insulation assembly 672 via an accessory. As shown in fig. 15C, scanners 92A and 92B are connected to a first computer 901 via cables 94A and 94B, respectively, so that the first computer 901 can receive signals of scanners 92A and 92B. When the lidded cartridge 109 is moved to the storage box 211 of the storage mechanism 192, the lidded cartridge 109 passes directly over the scanner 92B so that the scanner 92B can read a two-dimensional code or a bar code (not shown) on the bottom surface of the lidded cartridge 109 and then send the two-dimensional code or bar code in the form of a signal to the first computer 901, which first computer 901 records. When the lidded cartridge 109 is removed from the storage bin 211, the lidded cartridge 109 passes directly over the scanner 92A so that the scanner 92A can read the two-dimensional code or bar code of the lidded cartridge 109 and then send the two-dimensional code or bar code in the form of a signal to the first computer 901, which first computer 901 will record. The first computer 901 records two-dimensional code or bar code information of the capped magazine 109 put in the storage mechanism 192 and taken out from the storage mechanism 192. The bar code or two-dimensional code on each cartridge is unique. Thus, the first computer 901 can identify the characteristics of the cartridge.
As shown in fig. 15D-15E, one cassette cover clamping mechanism 302 includes: a support member 366; clamping devices 369a and 369b; shafts 361a and 361b each have an axis which is horizontal. Clamping device 369a (or 369 b) includes a curved slot 358a (or 358 b), bearing seat 359a (or 359 b), and clamping jaw 258a (or 258 b). A portion of the surface of jaw 258a (or 258 b) is a portion of a cylindrical surface. The clamping device 369a (or 369 b) also includes rubber (or silicone, or other similar resilient material) 362a (or 362 b) that is applied to the clamping jaw 258a (or 258 b). The two shafts 361a and 361b are rigidly connected to a support member 366. The relative movement between the bearing seat 359a of the clamping device 369a and the shaft 361a (or the support member 366) is limited to a rotational movement centered on the axis of the shaft 361 a. Similarly, the relative movement between the bearing seat 359b of the clamping device 369b and the shaft 361b (or the support member 366) is limited to a rotational movement centered on the axis of the shaft 361 b. The clamping device 369a (or 369 b) is a rigid member.
The cassette cover clamping mechanism 302 further includes: shafts 357a, 357b and 364; bearing block 365; a connector 363 rigidly connected to the shafts 357a, 357b and 364, wherein the axes of the shafts 357a, 357b and 364 are horizontal and parallel to each other; wherein bearing housing 365 is rigidly connected to support member 366. The shaft 364 is connected to the bearing housing 365 through a pair of bearings and accessories such that relative movement between the shaft 364 and the bearing housing 365 (or support member 366) is limited to rotational movement centered on the axis of the shaft 364, and thus relative movement between the connector 363 and the shafts 357a and 357b and the bearing housing 365 (or support member 366) is limited to rotational movement centered on the axis of the shaft 364. The shaft 357a is inserted into the curved slot 358a of the clamp 369a such that movement of the shaft 357a drives rotation of the clamp 369a about the axis of the shaft 361 a. Similarly, shaft 357b is inserted into curved slot 358b of clamp 369b such that movement of shaft 357b may drive rotation of clamp 369b about the axis of shaft 361 b.
The cartridge cover clamping mechanism 302 also includes a motor 80G, targets 368a and 368b, and a proximity sensor 90J, where the motor 80G includes a shaft and a base member. The base member of motor 80G is fixedly coupled to support member 366, and the shaft of motor 80G is fixedly coupled to shaft 364. When the motor 80G drives the shaft 364 to rotate, the shafts 357a and 357b rotate around the axis of the shaft 364. Movement of the shafts 357a and 357b will drive the clamping devices 369a and 369b to simultaneously rotate toward and away from a vertical axis (referred to as the central axis of the lid clamping mechanism 302) to clamp or unclamp the lid of a capped cartridge 109. Targets 368a and 368b are rigidly connected to connector 363. The proximity sensor 90J is fixedly connected to the support member 366. As targets 368a and 368b rotate with connector 363, proximity sensor 90J may detect targets 368a and 368b. The motor 80G is connected to the first computer 901 via a cable 82G. The first computer 901 may dynamically control the rotation time and rotation speed of the shaft of the motor 80G. The proximity sensor 90J is connected to the first computer 901 via a cable 92J, so that the first computer 901 can receive a signal from the proximity sensor 90J. The first computer 901 may also send a signal to the motor 80G to control the rotation angle of the motor 80G. When the holding devices 369a and 369b are rotated in a direction in which the central axis approaches to a first position in which the proximity sensor 90J just detects the target 368a, the holding devices 369a and 369b hold the cover 108. At this time, a signal of the proximity sensor 90J is sent to the first computer 901, and the first computer 901 can calculate the positions of the target 368a and the holding devices 369a and 369 b. Similarly, when the clamping devices 369 and 369b are rotated in a direction away from the central axis to a second position in which the proximity sensor 90J just detects the target 368b, the clamping devices 369a and 369b release the cover 108. At this time, a signal of the proximity sensor 90J is sent to the first computer 901, and the first computer 901 can calculate the positions of the target 368b and the holding devices 369a and 369 b. Each time the clamping devices 369a and 369b are moved to the first or second position, the first computer 901 will control the motor 80G to stop for a period of time during which the lid clamping mechanism 302 completes a corresponding process. Thereafter, the first computer 901 controls the motor 80G to restart and reversely rotate to rotate the clamping devices 369a and 369b to the second position or the first position. By means of the information sent by the proximity sensor 90J, the first computer 901 can precisely control the movement of the gripping means 369a and 369b to grip or release the lid 108 of the lidded cartridge 109.
As shown in fig. 15F to 15G, one cartridge holding mechanism 307 includes: a supporting member 337 including a slot 337a; two clamping devices 313a and 313b; both shafts 315a and 315b have their axes vertical. The clamping device 313a (or 313 b) includes a curvilinear slot 326a (or 326 b), a bearing seat 325a (or 325 b) and a jaw 324a (or 324 b). A portion of the surface of jaw 324a (or 324 b) is a portion of a cylindrical surface. The clamping device 313a (or 313 b) also includes rubber (or silicone, or other similar resilient material) that is applied to the jaws 324a (or 324 b). The two shafts 315a and 315b are rigidly connected to the support member 337. The relative movement between the bearing housing 325a of the clamping device 313a and the shaft 315 (or the support member 337) is limited to a rotational movement centered on the axis of the shaft 315 a. Similarly, the relative movement between the bearing seat 325a of the clamp device 313b and the shaft 315b (or the support member 337) is limited to a rotational movement centered on the axis of the shaft 315 b. The holding device 313a (or 313 b) is a rigid member.
The cartridge clamping mechanism 307 further comprises: shafts 331a, 331b, and 334; a bearing housing 335; a carrier 336 comprising a flat bottom and a vertical annular wall, wherein the carrier 336 is used to house the cartridge 107 with the lid 109, the axis of the cartridge 107 coinciding with the vertical axis of the annular wall, wherein the axis of the annular wall is referred to as the axis of the carrier 336; a connector 333 for rigidly connecting shafts 331a, 331b, and 334, wherein the axes of shafts 331a, 331b, and 334 are vertical; wherein the bearing housing 335 is rigidly connected to the support member 337. The shaft 334 is connected to the bearing housing 335 through a pair of bearings and accessories such that relative movement between the shaft 334 and the bearing housing 335 (or support member 337) is limited to rotational movement centered on the axis of the shaft 334, and thus, relative movement between the connector 333 and the shafts 331a and 331b and the bearing housing 335 (or support member 337) is limited to rotational movement centered on the axis of the shaft 334. Shaft 331a is inserted into curved slot 326a of clamp 313a such that movement of shaft 331a may drive clamp 313a to rotate about the axis of shaft 315 a. Similarly, shaft 331b is embedded in curved slot 326b of clamp 313b such that movement of shaft 331b may drive clamp 313b to rotate about the axis of shaft 315 b. The bracket 336 is rigidly connected to the support member 337. The cartridge clamping mechanism 307 further comprises: a motor 80J including a shaft and a base member; targets 332a and 332b; and a proximity sensor 90T. The base member of motor 80J is fixedly coupled to support member 337, and the shaft of motor 80J is fixedly coupled to shaft 334. When motor 80J drives shaft 334 to rotate, shafts 331a and 331b rotate about the axis of shaft 334. Movement of shafts 331a and 331b will drive clamping devices 313a and 313b to simultaneously rotate toward and away from the axis of carrier 336 (referred to as the central axis of cartridge clamping mechanism 307) to clamp or unclamp cartridge 109 on carrier 336. Targets 332a and 332b are rigidly mounted to connector 333. The proximity sensor 90T is fixedly coupled to the support member 337. The proximity sensor 90T may detect the targets 332a and 332b as the targets 332a and 332b rotate with the link 333.
As shown in fig. 15H, one door opening mechanism 360 includes: a magazine cover clamping mechanism 302; a cartridge clamping mechanism 307 comprising a support member 337, the cartridge clamping mechanism 307 being capable of clamping a cartridge 107 of a capped cartridge 109; a movement sub-mechanism that can drive movement of the support member 337 of the cartridge holder mechanism 307 relative to the support member 366 of the cartridge holder mechanism 302, wherein the movement sub-mechanism comprises:
(1) A vertical movement mechanism 304 comprising a second support member 395 and a plate 386, the vertical movement mechanism 304 being referred to as a first movement mechanism which can drive the plate 386 in a vertical movement relative to the second support member 395, wherein the plate 386 is fixedly attached to the first support member 366 of the cartridge cover clamp mechanism 302. The vertical movement mechanism 304 includes a pair of slide rails 396 and a rack 397, both of which are rigidly connected to a support member 395. A pair of linear slides 385 are rigidly connected to the support member 366 and are vertically slidable along slide rails 396. A gear (not shown) may rotate relative to the support member 366 and a motor 80K may drive the gear in rotation. The gear is meshed with the rack 397 such that rotation of the gear drives the support member 366 in a linear motion relative to the support member 395;
(2) A horizontal movement mechanism 306, comprising: a third support member 318; a bearing housing 319 rigidly connected to the support member 318; a shaft 322; a connector 312 for rigidly connecting the shaft 322 and the second support member 395. Shaft 322 is coupled to bearing mount 319 by bearings and fittings such that relative movement between shaft 322 and bearing mount 319 is limited to rotational movement centered on a vertical axis. The motor 80L may drive the shaft 322 to rotate relative to the bearing housing 319. The motor 80L is connected to the first computer 901 so that the first computer 901 can control the rotation of the motor 80L. The horizontal movement mechanism 306 is referred to as a second movement mechanism, which can drive the second support member 395 to rotate about a vertical axis relative to the third support member 318;
(3) A rotary motion mechanism 303 comprising a support member 354, the rotary motion mechanism 303 being capable of driving the support member 337 of the cartridge holder mechanism 307 in oscillating rotation relative to the support member 354. The support member 354 is rigidly connected to the third support member 318. Thus, the rotational movement mechanism 303 may generate a relative rotation between the third support member 318 and the support member 337 of the cartridge clamping mechanism 307.
Under the control of the first computer 901, the cap opening mechanism 360 removes the cap on the capped cartridge as follows six steps:
in step one, the connector 312 of the horizontal movement mechanism 306 is rotated and the plate 386 of the vertical movement mechanism 304 is moved downwardly to a position in which the clamping devices 369a and 369b of the lid clamping mechanism 302 can be rotated toward a central axis to clamp the lid 108 of the lidded cartridge 109.
Step two, the clamping devices 369a and 369b of the lid clamping mechanism 302 are rotated toward the central axis and clamp the lid 108.
Step three, the clamping devices 313a and 313b of the cartridge clamping mechanism 307 are rotated to a position towards the central axis of the cartridge clamping mechanism 307 to clamp the cartridge 107 of the capped cartridge 109.
Step four, the motor 80K drives the support member 386 to move upward relative to the support member 395 of the vertical movement mechanism 304. At the same time, motor 80S will drive the clamped cartridge 107 and clamping devices 313a and 313b into vibratory rotation with respect to support member 354 (or with respect to cap 108 fixedly clamped by clamping devices 259a and 259 b) to facilitate opening of cap 108 on cartridge 107.
Step five, the motor 80K will drive the clamped cap 108 and the support member 386 of the vertical movement mechanism 304 to move upwardly together.
Step six, the motor 80L drives the connector 312 of the horizontal movement mechanism 306 to rotate to a certain position. In this position, the clamping devices 369a and 369b can release the clamped cap 108 and be placed in a particular position.
As shown in fig. 16A, an automated kitchen 160 includes: a first computer 901; a storage mechanism 192; a cooking station 150; a plurality of lidded cartridges 109; cartridge transfer mechanism 600, cartridge transfer mechanism 600 may grip and move lidded cartridge 109 of storage mechanism 192. The cartridge transfer mechanism 600 includes a support member 614 and a cover opening mechanism 360 for removing the cover 108 from the capped cartridge 109. The support members 434 of the pouring mechanism 410 and the support members 614 of the respective cartridge transfer mechanisms 600 in each cooking station 150 are fixedly mounted in place so that when the cartridge transfer mechanisms 600 transfer the cartridges 107 to a suitable position adjacent to the pouring mechanism 410, the pouring mechanism 410 can clamp one of the cartridges 107 and rotate it by a determined angle to pour foodstuff within the cartridges 107 into the cooking container 100. As previously explained, the first computer 901 can communicate with the electronic or electrical devices of the storage mechanism 192, the cooking station 150 and the cartridge transfer mechanism 600.
An example of a cartridge transfer mechanism 600 has been disclosed in U.S. patent application Ser. No. 15/921,908, filed on 15/03/2018; the cartridge transfer mechanism 600 of the present invention includes all of the information of the cartridge transfer mechanism 600 disclosed in the U.S. patent application. More specifically, the cartridge transfer mechanism 600 of the present invention includes the transfer mechanism 340, the uncapping mechanism 360, the endless transfer mechanism 800, the endless transfer mechanism 650, and the transfer mechanism 703 disclosed in U.S. patent application No. 15/921,908, filed on 15/03/2018. The sensors and electronics of the cartridge transfer mechanism 600 are connected to the first computer 901 by wired or wireless means. The first computer 901 can thus receive signals from the sensors and then send signals to control the electronics of the automated kitchen 160 to control the mechanisms and devices of the automated kitchen 160 to complete a process.
The automated kitchen 160 performs the cooking of a deli by:
in a first step, the cartridge transfer mechanism 600 may grip and remove a capped cartridge 109 of the storage mechanism 192.
In step two, the cartridge transfer mechanism 600 opens the lid 108 on the capped cartridge 109 and transfers the cartridge 107 to a suitable location of the pouring mechanism 410 adjacent the respective cooking station 150.
Step three, when the cooking container 100 is placed vertically, the pouring mechanism 410 clamps the cartridge 107 and rotates the cartridge 107 by a certain angle to pour foodstuff in the cartridge 107 into the cooking container 100, and then the pouring mechanism 410 rotates the empty cartridge back and places it into the cartridge transfer mechanism 600.
Step four, the cooking mechanism 501 of the cooking station 150 completes the process of cooking the delicatessen.
Step five, the pouring mechanism 505 of the cooking station 150 drives the support member 512 of the cooking mechanism 501 to rotate about the axis of the shaft 535 to pour the cooked food through the funnel 561 of the pouring mechanism 505 into one of the cooked food containers 182 of the serving mechanism 507.
Step six, the transfer mechanism 506 of the receiving mechanism 507 rotates the cooked food container 182 containing the cooked food to a suitable position adjacent to the dish loading mechanism 420.
Step seven, the cooked food container 182 is gripped by the dish loading mechanism 420 and then transferred to a container bracket 159 of the labeled cart (the labeled cart is moved into a proper position relative to the support member 494 of the dish loading mechanism).
As shown in fig. 16B, the preparation of the automated kitchen is performed before the pre-prepared food is ordered as follows:
step 710 of storing a plurality of subroutines in the first computer 901, wherein the first computer 901 can run the subroutines to control one or more electrical or electronic devices connected to the first computer 901 to perform a specific function, and allowing the second computer 902 to read information of a sensor or other electrical or electronic device and then send the information to the first computer 901. The start time of a subroutine may be later than a predetermined time as desired. A database is installed in the first computer 901 and can store a number of data lists, including the list described below, with an ID for each cooking system and each second computer 902. The IDs of all cooking systems and the second computer 902 are stored in the first computer 901.
In step 711, a menu is stored in the first computer 901, which is a list of pre-prepared foods. For each prepared food item, the first computer 901 stores a list of "cartridge foodstuff types, amounts and associated times" and a list of "cooking subroutines and associated times", wherein each cooking subroutine is used to control the functions of the electrical or electronic devices in the cooking station, each cooking subroutine including a start time that is related to the start times of other subroutines in the same list. The list of "cartridge foodstuff type, number and associated time" for each pre-prepared food product refers to a list of cartridge foodstuff types and the number of corresponding foodstuff type cartridges required for cooking the cooked food product and the time each foodstuff is poured into the cooking vessel, wherein a cartridge foodstuff type refers to the type of foodstuff in the cartridge. In the present invention, the foodstuff in a single cartridge can be used for cooking only one kind of cooked food, but cooking one kind of cooked food may require the foodstuff in a plurality of cartridges. The pour time of the foodstuff for each cartridge is related to the start time of the cooking subroutine in the "cook subroutine and related times" list.
At step 712, information of the storage mechanism 192 is stored in the first computer 901, the information including the location of the lidded magazine at the storage mechanism 192.
At step 713, a list of "transfer, uncap and associated times" is made to control the electrical or electronic devices of the cartridge transfer mechanism 600 to remove, uncap and transfer the cartridges in the storage mechanism 192 to the cooking station. The start time of each subroutine is determined or limited by the start times of other subroutines in the same list.
As shown in fig. 16C, the automated kitchen will dynamically perform the following steps when cooking food:
in step 721, a list of "cartridge foodstuff types in the storage mechanism" is created and stored in the first computer 901, wherein the list includes the position information of the cartridges in the storage mechanism and the kind of foodstuff in each cartridge.
In step 722, when the customer uses another computer connected to the first computer 901 to inquire whether the prepared food can be prepared, the first computer 901 may read a "cartridge food type and number and associated time" list of the prepared food, and determine whether there are cartridges of the food type required for cooking the inquired prepared food and the number of corresponding cartridges in the "cartridge food type" list in the storage mechanism. If the condition is met, the ordering of the queried pre-prepared food is allowed. If the condition is not satisfied, the ordering of the queried prepared food is not allowed.
In step 723, if the prepared food has been ordered, the first computer 901 will determine the location in the storage mechanism of the desired cartridge for cooking the prepared food and remove it from the "cartridge foodstuff type in storage mechanism" list.
Step 724, for the food ordered in step 723, the first computer 901 completes the following arrangement: (1) cooking the ordered food item at the next available cooking station; (2) The required cartridge for ordering the food item, the position of the required cartridge in the storage device 192, and the position of the cartridge holder in the cartridge transfer mechanism 600 of the arranged cooking station described in (1) are determined.
Step 725, for the food ordered in step 723, the first computer 901 adds the following list to the "instruction list" of the first computer 901: (1) A list of "cooking subroutine and associated time" for the ordered food, timed according to the schedule of step 724; (2) The "transfer and uncap procedure and associated time" list determines the start time as scheduled in step 724.
In step 726, the first computer 901 runs a "list of instructions" to control the various mechanisms of the automated kitchen.
In the following example description, a cart may be referred to as cart 103 or a labeled cart.
As shown in fig. 17A, one radar 91B includes: a communication device 215; a shaft 212; a sub-device 213. The communication device 215 is rigidly connected to the shaft 212. The shaft 212 and the communication device 215 are rotatable about the axis of the shaft 212 with respect to the sub-assembly 213. The sub-assembly 213 comprises a drive mechanism (not shown) which is rotatable relative to the sub-assembly 213 about the axis of the shaft 212, driving the shaft 212 and the communication device 215. When the driving mechanism of the sub-device 213 drives the communication apparatus 215 to rotate, the radar 91B can measure the distance to the object in the restaurant by emitting electromagnetic waves to the object and measuring the reflected pulse with the sensor. The differences in return time and wavelength of the electromagnetic waves can then be used to make a digital three-dimensional image of the object. By dynamically making a digital three-dimensional image of an object in a restaurant, the radar 91B can obtain position, velocity, and shape information of the object. Such objects may include furniture or fixtures, people, carts, etc. The radar 91B may also be used to track dynamic movements of a movable object, which may be a person who is walking or a dolly in motion. The radar 91B is connected to the first computer 901 via a cable 93B, so that the first computer 901 can receive a signal of the radar 91B to obtain information of objects around the radar 91B.
As shown in fig. 17B, one lidar 91C includes a base member 214, a sub-device 216, and a cable 93C. The lidar 91C may measure its distance to an object in a restaurant by a method of emitting laser light to the object using a pulse emitter and then measuring the reflected pulse with a sensor. The difference in laser return time and wavelength can be used to make a digital three-dimensional image of an object. By dynamically making a digital three-dimensional image of an object in a restaurant, the lidar 91C may obtain position, velocity, and shape information of the object. Such objects may include furniture or fixtures, people, carts, etc. The lidar 91C may also be used to track the dynamic motion of a movable object, which may be a walking person or a moving cart. The laser radar 91C is connected to the first computer 901 via the cable 93C, so that the first computer 901 can receive the signal of the laser radar 91C to obtain information of objects around the laser radar 91C.
As shown in fig. 18A, the camera 91D includes a base member 233, a sub-device 234, and a cable 93D. The camera 91D may capture a two-dimensional digital image of the object. The camera 91D is connected to the first computer 901 via a cable 93D so that the digital image captured by the camera 91D can be transmitted to the first computer 901.
As shown in fig. 18B, the camera 91E includes a base member 235, a sub-unit 236, and a cable 93E. Camera 91E is a range camera that captures a digital range image of an object, where the range image is a two-dimensional image that reveals the distance from a particular point to a point on the scene. Thus, the distance image is essentially a three-dimensional image. The camera 91E is connected to the first computer 901 via a cable 93E so that the digital image captured by the camera 91E can be transmitted to the first computer 901.
As shown in fig. 19A-24, an automated restaurant 170 includes: a customer area 207 that occupies a portion of a building 206; an automated kitchen 160 that occupies a portion of building 206; a first computer 901. The customer area 207 includes: a dining area; a waiting area; and the area next to any entrance in the restaurant. Some tables 204 and chairs 205 are placed in a customer area 207 (shown in fig. 21A-21B). A display (or sign) 219 may comprise a flat surface with numbers and two-dimensional codes printed thereon. The display 219 may be affixed to the table 204 (as shown in fig. 21A) or to a wall. Restaurant 170 includes a plurality of tiles 219 that each include a unique number and a unique two-dimensional code. Each two-dimensional code has unique specific information, and the first computer 901 can determine the position of the two-dimensional code according to the specific information.
Automated restaurant 170 includes floors 206f and 206g and doors 229, 231, and 232. Floor 206f is located in a customer area 207 and floor 206G is located in an automated kitchen 160 (as shown in fig. 19G). Door 232 is used to connect automation kitchen 160 to customer area 207. A person (e.g., a maintenance person or employee) may enter the customer area 207 from the automated kitchen 160 (or vice versa) through the door 232. The door 231 is used to connect the customer area 207 to two toilets (toilets not shown in the figures). Door 229 is used to connect customer area 207 with an automated restaurant external area.
Automated restaurant 170 further includes a dish transport system 208 that includes labeled carts 103X and 103Y, with labeled carts 103X and 103Y being connected to first computer 901. The marked trolley can be moved over the floor of the restaurant. The cart may be moved over the floor 206g of the automated kitchen 160 and the floor 206f of the customer area 207. The second computer 902 on each marked trolley is connected to the first computer 901 via the wireless communication device 922 on the second computer and the wireless communication device 921 of the first computer 901.
The first computer 901 comprises an image analysis program for extracting information from a digital image, which may be a two-dimensional or three-dimensional image. In various tasks, the image analysis program may classify digital images of a face to be able to identify various digital images of the same person. The image analysis program may also analyze images of other objects, such as moving trolley images. The image analysis program may use known techniques such as filtering, clustering, similarity retention and classification. The image analysis program may include a deep neural network component and be capable of deep learning.
As shown in fig. 20, when cart 103X (or 103Y) is moved into position relative to support frame 237 of cooking station 150 of automated kitchen 160, dish loading mechanism 420 of cooking station 150 may transfer cooked food containers 182 loaded with cooked food from container carriers of receiving mechanism 507 of cooking station 150 to container carriers 159 of cart 103X (or 103Y). It should be noted that the dish loading mechanism 420 includes a clamping mechanism 403 which can clamp the deli container 182, wherein the rigid member 464 of the clamping mechanism 403 can perform a combined motion of vertical linear motion, horizontal linear motion and horizontal rotational motion. As described earlier, when the rigid member 464 is moved to an appropriate position, the holding mechanism 403 can clamp the cooked food container 182 on the container bracket of the dish receiving mechanism 507, and then the cooked food container 182 clamped by the clamping means of the holding mechanism 403 can be moved together with the holding mechanism 403 and vertically placed on the container bracket 159 of the dolly 103X (or 103Y); the gripping means of the gripping mechanism 403 is then rotated to release the cooked food container 182 such that the cooked food container 182 is placed on the container holder 159. The time of the above-described program is controlled by the first computer 901 to coordinate the stopping and movement of the dolly 103X (or 103Y).
Automated restaurant 170 further includes: beams 226 and 227, which are placed horizontally; upright 225 for supporting beams 226 and 227 (shown in fig. 22). Beams and struts are also part of building 206.
Automated restaurant 170 further includes a plurality of marked plates 138a, 138B, 138 c, 138d, 138e, 138f, and 138g (as shown in fig. 19A-19B), wherein each marked plate includes a mark and is fixedly mounted at a different location on beams 226 and 227 of building 206 by a connector; wherein the marking of the marked plates is similar to the marking 131X of the marked trolley 103X, the marking on each marked plate being unique. Thus, the second computer 902 may use the digital image of the sign board captured by the camera of the cart to calculate the location of the cart in the automated restaurant 170 and then send a signal to the first computer 901.
Automated restaurant 170 further comprises a plurality of computers 904, wherein each computer 904 is connected to first computer 901 by a cable 94C, as shown in FIG. 21D. The customer's order may be placed and paid using computer 904, and the order information of computer 904, whether paid or unpaid, may be sent to and stored in first computer 901; all order information stored by the first computer 901 is accessed by the computer 904. There are two cameras 91E and 91D on each computer 904, which can take face images of a customer using the computer 904 and then send and store them in the first computer 901. Each computer 904 is connected to the floor of the customer area 207 by a foot 217 and chassis 218.
Automated restaurant 170 further includes a tracking system 209 comprising: a radar 91B; a laser radar 91C; a plurality of cameras 91D; a plurality of cameras 91E, some mounted in the automated kitchen 160 and some mounted in the customer area 207. The radar 91B, the lidar 91C, and the cameras 91D and 91E are all connected to the first computer 901 so that digital images captured by the radar 91B, the lidar 91C, and the cameras 91D and 91E can be continuously transmitted to the first computer 901.
A radar 91B is fixedly mounted to the beam 226 above the automation kitchen 160, which radar can capture digital images of objects in the automation kitchen 160 (as shown in fig. 19C-19D). A radar 91B is fixedly mounted to beam 227 above the customer area 207, which radar can capture digital images of objects in the customer area 207. A lidar 91C is fixedly mounted on the beam 226 above the automated kitchen 160, which lidar may capture digital images of objects in the automated kitchen 160. A lidar 91C is fixedly mounted to beam 227 above the customer area 207, which lidar may capture digital images of objects in the customer area 207.
A lidar 91C is mounted on the outside wall of the restaurant to capture digital images of customers who walk out of the restaurant who have placed orders in the restaurant but have not paid for the order (which belongs to the third list below). These digital images can be used to distinguish the customer from other people entering the restaurant when the customer returns to the restaurant.
Some of the cameras 91E and 91D are fixedly mounted to beams 226 and 227, some of the cameras 91E and 91D are fixedly mounted to upright 255, and some of the cameras 91E and 91D are fixedly mounted to the walls of automated restaurant 170 (as shown in FIGS. 19C-19D). These cameras are used to capture digital images of objects within restaurants.
As part of the tracking system 209, a plurality of cameras 91D and 91E are fixedly mounted outside the door 229, some mounted on the door frame, and some fixedly mounted via connectors 241a and 241B, wherein the cameras 91D and 91E are used to capture front and back digital images of a person walking through the door 229, wherein the front of the person includes the person's face (as shown in fig. 23A-23B). A plurality of cameras 91D and 91E are fixedly mounted within the door 229, some mounted on the door frame, and some fixedly mounted by connectors 241C and 241D, wherein the cameras 91D and 91E are used to capture a front or back digital image of a person walking through the door 229 (as shown in fig. 23C-23D). The digital images captured by these cameras 91D and 91E are transmitted to the first computer 901.
Similarly, a plurality of cameras 91D and 91E are installed around the doors 231 and 232. As explained before, these cameras are connected to the first computer 901 by cables so that the cameras can send the digital images they capture to the first computer 901.
As shown in fig. 24A, a first computer 901, a second computer 902, and a computer 904 together constitute a computer network 903, which can perform various tasks together. The second computer 902 is connected to the first computer 901 and the camera 91E on the cart via the wireless communication device 922. The computer 904 is connected to the first computer 901 via a cable 94C. The first computer 901 and the second computer 902 are connected to an electric or electronic device 91A, 91B, 91C, 91D, or 91E, etc., which may be an encoder, a camera, a lidar, a radar, a proximity sensor, a direction sensor, etc., in the automated restaurant 170, through a cable. The first computer 901 and the second computer 902 are connected to electric or electronic devices, which may be various motors, induction cookers, cooling mechanisms, displays, etc. in the automated restaurant 170, through cables. In other words, the large computer network 903 may control the functions of the facilities of the automated restaurant 170 by receiving or sending signals to electrical or electronic devices.
As shown in fig. 24B, the first computer 901 and the computer 904 may form one computer system 903B, which may perform various tasks together. As previously described, the computer 904 is connected to the first computer 901 via the cable 94C. Computer system 903B is part of computer network 903, computer network 903 has been described in the preceding paragraphs. The first computer 901 may be connected to a local wireless network. As shown in fig. 24C, the smart phone 906 is also connected to the local wireless network. Thus, the smart phone 906 may communicate with the first computer 901 over a wireless network. The smart phone 906 includes a camera 906a that can be used to scan two-dimensional codes. The smart phone may be owned by a customer or an enterprise operating a restaurant. The smart phone comprises a computer. The smart phone may be replaced by a tablet or other type of computer.
As shown in fig. 25, before the restaurant starts to open, the following work is performed in steps, the order of the steps may or may not be strictly followed, and some steps may be repeatedly performed from time to time.
At step 801, a first computer 901 creates and stores (using camera calibration or other methods) a three-dimensional map that includes all fixtures, doors, walls and floors of an automated restaurant. Camera calibration techniques for creating three-dimensional maps are well known. The points in the three-dimensional map are represented by three right-angle coordinate values X, Y, Z; where X and Y are coordinates in the horizontal plane and Z is a coordinate on the vertical axis. The vector or direction of the restaurant in the three-dimensional space may also be represented by coordinate values in the first computer 901. At any time, the location of any object (including a person) may be described in the three-dimensional map stored in the first computer 901.
At step 802, a three-dimensional representation of each movable furniture (or non-human object) in the restaurant may be created and stored in the first computer 901, and its location information relative to the floor, walls, and fixtures may also be stored in the first computer 901. For example, unlike a balloon, the chair will not float in the air due to gravity and this information will also be stored by the first computer 901.
In step 803, each table is assigned a unique ID and table information is stored in the first computer 901. The information includes the ID of the table, geometry and dimensions, the position of the feet relative to the top of the table, an image of the surface or covering, etc. It should be noted that the table may be a fixed unit (not movable) or a piece of furniture (movable).
At step 804, the camera, lidar and all technical information of the radar are stored in the first computer 901. The first computer 901 can measure and store the locations of all cameras, lidars and radars. The location information includes the three-dimensional location of points on the device and all directional information, such as the transmit and receive directions of the device. It should be noted that the captured digital images of the floor, walls, doors and fixtures are matched to the images in the three-dimensional map created using precision measurement techniques, which are created by better measurements, the position of the camera, lidar and radar can be more accurately determined by the first computer 901.
In step 805, each tagged car in the restaurant is assigned a unique ID. The ID of the marked dolly is stored in the first computer 901. The identity of each marked trolley is different so that one identity is not geometrically similar to another. The identification information of the marked dolly of any specific ID is stored in the first computer 901. The positional information of the identity of any of the marked trolleys 103X (or 103Y) relative to the first support member 152 is stored in the first computer 901. Vertex P 1 ,P 2 ,P 3 Known as the differentiation point of the marked trolley. The positions of the three distinguishing points of each marked dolly with respect to the first supporting member 152 of the marked dolly 103X (or 103Y) are stored in the first computer 901. If the marked trolley is placed on a flat (horizontal) floor, the first computer 901 knows the height of each distinguishing point to the floor (when the first drive wheel is in contact with the flat floor).
Thus, the first computer 901 has an algorithm that can calculate the position of the first support member 152 and the position of the first drive wheel of the marked trolley from the identified position of the marked trolley. It is assumed here that the floor is flat (horizontal).
Step 806, first creates a dense grid on the floor of the restaurant, wherein the dense grid may be a rectangular grid or a hexagonal grid or other type of grid. The dense grid is stored in a first computer 901. One marked trolley 103X (or 103Y) is then moved (manually or otherwise) over the floor until the central axis of the trolley passes exactly through any one point of the dense grid. The marked trolley is placed in various directions (by rotating the marked trolley a small incremental angle on the floor) while keeping the central axis right through a point on the dense grid, and then letting the lidar, radar and camera capture digital images of the marked trolley. The digital image is sent to the first computer 901 along with the location of the points on the dense grid. The positions of the three distinguishing points are then measured and sent to the first computer 901. In some cases, for example when the marked trolley is moving on a flat floor, the position of the three distinguishing points can be calculated from the digital images captured by the camera. Because the distance between the second and third distinguishing points is several times smaller than the distance between the second and first distinguishing points, the computer can use this information to determine which distinguishing point is the first distinguishing point.
Each employee is assigned a unique ID and the employee's information and their ID are stored in the first computer 901, step 807. The camera, lidar and radar-captured employee digital images are stored in a computer system along with their IDs. The first computer 901 includes a program for creating a three-dimensional representation of an employee and storing it in a database of the computer.
Step 808, by turning on various lights under different lighting conditions and different times of day and different weather conditions, let the camera, lidar and radar capture images of restaurants where no person or car is present in the capture area and store the images in the first computer 901.
In step 809, the first computer 901 stores a calculation program that calculates coordinates of three distinguishing points in the three-dimensional map based on pixel coordinates of the three distinguishing points of the marked dolly in an image frame of one camera.
The identity of a marked dolly is unique and, assuming that the digital image occupies the smallest area of the image frame, the digital image of an identity captured by the camera is always geometrically dissimilar to the digital image of the identity of a different marked dolly captured by any camera from any direction. The image analysis program of the first computer 901 can identify the differences between the identified digital images as long as the camera has sufficient resolution and the capabilities of the first computer 901 are sufficient. The minimum value of the area can be arbitrarily selected; but the lower the minimum value is set, the higher the resolution of the camera and the performance requirements of the first computer 901 will be.
It should be noted that the digital image captured by the 2D camera may be two-dimensional, and each point in the image frame can be described by two pixel coordinate values. The image frame of the camera may be rectangular, spherical or hemispherical or other shape, depending on the type of camera. Our technique is applicable to all types of cameras. When the digital image of the identification of the marked dolly captured by the camera is sent to the first computer 901, the first computer 901 can calculate the coordinates of the three distinguishing points on the marked dolly using the image analysis program.
It should be noted that the camera of the present patent application may also be a 3D camera with two or more image sensors, the captured digital image of which is three-dimensional.
Assuming that the camera can observe the sign from above such that the direction angle (measured from the horizontal plane) from any point of the sign to the camera sensor is greater than a minimum value (say, at least 30 degrees), using the positional information of the camera relative to the floor of the restaurant, the positions of the three distinguishing points of the marked trolley can be calculated.
The first computer 901 stores a calculation program that determines the positions of three distinguishing points of the marked dolly in the three-position map based on the coordinates of the three distinguishing points on the marked dolly in the image frame of the camera. Further by reading the image identified on the marked surface, the first computer 901 can determine the ID of the marked dolly.
The height of the camera from the floor should be limited to a certain height so that the camera can well capture the logo of the marked trolley below, and the logo should be larger than a certain area. If the ceiling beams are too high, a rigid connection may be used to connect the ceiling beams to the camera to fixedly mount the camera at the desired height. The cameras in the tracking system 209 are densely arranged such that the identity of a marked trolley is always within the scanning range of the camera, and the light direction angle (measured from the horizontal plane) from any point on the identity to the camera sensor is higher than a certain angle; wherein the determined angle is sufficiently close to 90 degrees so that the computing program can use the image captured by the at least one camera to determine the exact location of any marked car on the restaurant floor.
A series of digital images captured by one camera at different times can be used to calculate the direction and speed of movement of three distinct points on the marked trolley.
When the cameras 91D and 91E capture digital images of a table and send them to the first computer 901, the first computer 901 may map the table's location in the three-dimensional map. The table may be movable or stationary. If the table is movable, the first computer 901 may track the movement of the table in two ways. The first way is: some markers may be placed on the table, similar to the markers on the marked trolley, and we can distinguish the table by analyzing the images of the markers captured by the camera. The second way is: the first computer 901 dynamically tracks the movement of each table using an image analysis program.
The cameras 91D and 91E may also capture digital images of other objects in the building 206 and send them to the first computer 901. All larger sized movable objects (e.g., chairs) may be selectively marked with an identification so that the first computer 901 can identify them by using the identification image captured by the camera.
The marked trolley should avoid hitting other objects in the restaurant, whether people or objects, as it moves over the floor of the restaurant.
As shown in fig. 26, the door is opened from the automated restaurant to anyone (whether a customer or an employee) until the automated restaurant is at rest. The next task needs to be performed.
In step 811, the first computer 901 continuously analyzes digital images captured by the lidar, the radar and the camera using a program to distinguish all movable objects, including carts and people. The first computer 901 continuously analyzes the digital images using a program to continuously determine the positions of all the movable objects, and determines whether the movable objects are persons, dollies, or other objects. The first computer 901 uses a program to continuously analyze the digital image to determine whether a person enters the customer area 207 or whether a person leaves the customer area 207.
In step 812A, the first computer 901 determines whether a customer has been ordered, and whether a customer has paid an order by continuously analyzing the digital image using the program in combination with order, payment information. The first computer 901 will store the following list: a "first list" listing customers in customer area 207 but not ordered; a "second list" listing customers who have placed an order but have not yet been placed or paid for the order; a "third list" of customers that are in the "second list" but not in customer area 207; a "fourth list" listing customers who are in customer area 207 and have been on the order and paid for the order. The above tasks will continue to be performed until the restaurant is at rest.
At step 812B, the first computer 901 may dynamically track customers in the first list, the second list, and the third list. When the customer's prior food is cooked, the first computer 901 will arrange for the cart to receive the food from the cooking station in the kitchen and move the food from the kitchen to the vicinity of the customer's location within the meal delivery time.
As shown in fig. 27A, whenever a person enters or re-enters the customer area 207, the first computer 901 analyzes digital images of various camera and lidar-captured persons to determine whether a person is in a "third list" before entering (or re-entering) the customer area 207 (steps 813 and 814). If so, the first computer 901 removes the customer from the "third list" (step 815); if not, the first computer 901 places the customer in a "first list" (step 816). Steps 813 and 814 will continue until the restaurant is at rest. An off-wall mounted lidar 91C (fig. 19E) is used to track movement of the customer from the point of departure from the customer area 207 to the point of reentry into the customer area 207; the lidar-captured information may be used to distinguish the customer from persons entering other access areas 207.
As shown in fig. 27B, whenever a person leaves the customer area 207, the first computer 901 will capture a digital image of the person by each camera to determine whether the person is in the "first list", "second list" or "fourth list". If not, then the person is an employee who entered the customer area prior to the restaurant's business and then nothing needs to be processed (step 819). Otherwise, if the person is in the "first list" or the "fourth list", the person needs to be deleted from the "first list" or the "fourth list". If the person is in the "second list," the person needs to be added to the "third list" (step 820). Steps 817 and 818 will continue to be performed until the restaurant is at rest.
As shown in fig. 28, the next job is performed dynamically before a labeled cart is used to receive containers containing cooked food from a cooking station and to deliver the containers to the vicinity of a table on which a customer ordering the food is sitting.
Step 821, the position of the support members 237 and 494 of each cooking station is stored at the first computer 901 and the second computer 902. The "pick-up location" of each cart is stored in the first computer 901 and the second computer 902, which refers to the location at which the labeled cart can be picked up from the dish loading mechanism 420 of the cooking station to the deli container.
Step 822, dividing the dining area into a device area and an aisle area, wherein the device area is occupied by dining tables and chairs, and the aisle area is used for walking of personnel or for movement of a marked trolley to transport the delicatessen container to the dining table. The first computer 901 and the second computer 902 store the map of the partition. The first computer 901 uses a program to analyze digital images of the dining area captured by the lidar, radar and camera to plan the primary route of the marked trolley from each "pick-up location" to the various areas of the dining area. The planning map of the main route will be stored in the first computer 901 and the second computer 902.
Step 823 stores information of the marked panels 138a, 138b, 138c, 138d, etc. of the building 206 in the second computer 902.
In step 824, the positions of the marked slabs 138a, 138b, 138c, 138d etc. in the three-dimensional map are measured and these position information are stored in the second computer 902.
Step 825, the positions of the sensors 91A, 91K, 91X and 91Y of each trolley are measured and these position information are stored in the second computer 902 of the trolley, respectively.
Step 826 measures the position of the camera 91Z of each trolley and stores these position information in the second computer 902 of the trolley, respectively.
As shown in fig. 29, when a container containing cooked food ordered by a customer needs to be transported by a marking cart, the following tasks are performed in steps.
In step 831, the first computer 901 arranges a marked cart to be received from a specific cooking station into a cooked food container and then transported to the vicinity of the location of a customer (a dining table on which the customer sits) ordering the cooked food. The first computer 901 will assign a container rack of a labeled cart to each cooked food container to be transported.
At step 832, the first computer 901 dynamically analyzes digital images captured by lidar, radar and cameras in an automated restaurant using an image analysis program to determine the route of the marked trolley from the current location to the cooking station to the dining table.
In step 833, the first computer 901 informs the second computer 902 of the marked dolly of the moving route of the marked dolly and the time when the marked dolly is stopped at the cooking station to receive the cooked food container.
Step 834, the sensor of the marked trolley works from this time on until the planned mission is completed. The sensors are all connected to the second computer of the marked trolley so that the sensor of the marked trolley can continuously send a signal to the second computer 902 during operation.
In step 835, the second computer 902 determines the next movement of the marked trolley based on the signals from the sensors of the marked trolley and then sends a signal to the motors 81A and 81B to rotate through an angle out of synchronization so that the movement direction of the trolley coincides with the movement direction at the position in the predetermined route.
In step 836, the first computer 901 determines the length of the "safe distance" on the route of movement of the marked dolly from the current position using the image analysis program, and sends this length information to the second computer 902 of the marked dolly.
At step 837, the second computer 902 sends a signal to control the motors 81A and 81B to rotate synchronously through an angle to ensure that the marked trolley is traveling a distance less than the "safe distance".
Step 838, returning to step 835 and repeating steps 835 through 837 until the task of the marked trolley is completed.
When a customer has placed a order, the next task will be performed in steps, as shown in fig. 30.
In step 841, a customer or group of customers has placed an order on computer 904, and computer 904 can communicate with first computer 901. Any order placed on the computer 904 is sent to the first computer 901.
Step 842, the first computer 901 performs steps 723, 724, 725 and 726 in fig. 16C for any order. The first computer 901 may control various devices, equipment and mechanisms in the automated kitchen to complete a cooking process for ordering food.
In step 843, the first computer 901 may dynamically analyze digital images of customers captured by various lidars, radars, and cameras to determine the ID of the table used by each customer.
Step 844, steps 831-838 (in the flowchart of FIG. 29) are performed. When the first computer 901 schedules a job for a marked dolly, the first computer 901 sends the table information to the second computer 902 of the marked dolly that is scheduled to work.
As shown in FIG. 31, when an automated restaurant is open, automated restaurant 170 performs the following steps.
Step 851, a customer enters a customer area of automated restaurant 170. The customer may place an order using computer 904 in customer area 207. The camera, lidar and radar capture digital images of the customer and send information to the first computer 901. The first computer 901 includes a program for analyzing digital images captured by the tracking system 209 of the automated restaurant 170 to track customers.
In step 852, the first computer 901 can track the dynamic movement of the customer such that the first computer 901 can determine the location of the customer and the ID of the table used by the customer.
In step 853, the first computer 901 schedules a cooking station 150 to cook the individual cooked foods and sends a signal to the electrical or electronic devices of the automated kitchen 160 to cook the foods at the cooking station.
At step 854, the first computer 901 schedules serving, transporting cooked food from the cooking station to the vicinity of the customer or to the vicinity of a table used by the customer. The labeled cart 103X (or 103Y) of the dish transportation system 208 is moved into a suitable position relative to the support frame 237 of the cooking station 150 of the automated kitchen 160 so that the dish loading mechanism 420 can clamp and transfer the deli containers 182 onto a container rack 159 of the labeled cart 103X (or 103Y).
At step 855, the dish loading mechanism 420 of the cooking station 150 clamps the cooked food containers on the turntable 566 of the receiving mechanism 507 and transfers them to one of the container carriers 159 of the labeled cart 103X (or 103Y) of the dish transportation system 208.
In step 856, the labeled cart 103X (or 103Y) of the dish transport system 208 transports the deli container 182 from the kitchen to the vicinity of the dining table used by the customer.
In step 857, a person can end up with the cooked food container on the labeled cart 103X (or 103Y). The marked trolley then moves to a storage area or begins executing the next task.
As shown in FIG. 32, when an automated restaurant is open, the automated restaurant 170 and the customer together perform the following steps.
Step 861, the smart phone 906 used by the customer may automatically connect to the wireless network; computer 901 is also connected to the same wireless network. The smart phone 906 may be owned by the customer.
In step 862, the two-dimensional code of the display board 219 has unique specific information for determining the position of the two-dimensional code, thereby determining the position of the display board 219 containing the two-dimensional code. A customer may scan a two-dimensional code on a display panel 219 using a first program on a smart phone 906, the display panel 219 being affixed to a table (as shown in fig. 21C and 21A) or wall. Scanning the two-dimensional code can automatically guide a customer to install and open a second program on the smart phone; wherein the installation and/or opening of the second program is only performed under the consent of the customer. The second program may record the time of scanning the two-dimensional code and specific information contained in the two-dimensional code. Meanwhile, the digital image around the person and the two-dimensional code captured by the camera of the restaurant is stored in the memory of the computer system 903B. Virtually all digital images captured by the cameras are saved in the memory of computer system 903B. The digital image is indexed by time of capture. It should be noted that the first program may be any third party program (although this is not required); the second program may be a program specific to restaurant operations or may be a subroutine within the first program.
Step 863, the customer may also order food, add food to the existing order, and pay for the order with a second program, although the pay for order may alternatively be made at a later time. The time information of the customer scanning the two-dimensional code and the specific information contained in the two-dimensional code may be transmitted to the first computer 901 when the customer places an order using the second program or adds food or pays an order at the existing order. Details of the order placed are also sent to the first computer 901.
Step 864, when the customer scans the two-dimensional code, the first computer 901 determines the time when the customer scanned the two-dimensional code and the position of the display panel 219 including the two-dimensional code using the information received from the smart phone 906; the approximate position of the customer when scanning the two-dimension code; the characteristics of the video camera that is capable of capturing digital images of the display card 219 and the customer at that time.
At step 865, computer system 903B may analyze the image data to identify customers in various lists of restaurants; transferring the customer from the first list to the second list; if the customer temporarily leaves the customer area 207, the customer is moved from the second list to the third list. If the customer has placed an order before, the two orders may be combined.
At step 866, the camera, lidar and computer may dynamically track the customer as explained previously. When the food ordered by the customer is cooked, the cart will transport the food to the vicinity of the customer within the delivery time.
It should be noted that the motor in the present patent application may be an AC or DC motor, a stepper motor, a servo motor, a variable frequency motor, a pneumatic or hydraulic motor, etc. A motor may also include a speed reducer, encoder, and/or proximity sensor.
It should be noted that electronic or electrical equipment in an automated restaurant, such as radar, lidar, encoders, proximity sensors, infrared sensors, and other types of sensors, may alternatively be connected to the first computer by wireless communication.
This document contains many specifics, however, this is a description of specific embodiments and should not be construed as limiting the scope of the invention that is or may be claimed. Some features described in the various embodiments of the present document may be recombined into a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be provided in multiple embodiments separately or in any suitable subcombination. Furthermore, although the functions described above are described and claimed in the context of a single combination, one or more features of a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.
Depending on the type of electrical or electronic device, the connection between the computer and the electrical or electronic device may include cables, wireless communication devices, controllers, drivers, relays, circuit breakers, contactors, and/or switches, and the like. These connections may be placed in an electrical cabinet. The connection between a computer and a device may be a wired connection or a wireless connection. The apparatus may comprise a motor and the computer may control the movement of the motor.
The support member in this patent application may be any type of rigid member that may be movable or stationary relative to the ground. The rigid member includes a rod, tube, beam, plate, frame, bearing housing, shaft. The rigid member may be made of metal (e.g., steel or aluminum) or other materials or a combination of several types of materials.
The wheel in this patent application always includes an axis. One of the drive wheels may be any wheel. The rotation of the drive wheel is typically driven by a motor.
Only a few examples and implementations have been described herein and appropriate variations, modifications, and enhancements may be made to the described examples and implementations without departing from the spirit of the present invention. For example, the term cooking vessel generally refers to a device that stores foodstuff during cooking. In the present invention, a cooking vessel may be a wok, basin, pan, basket, bowl, container, plate, shelf, net or other object of foodstuff stored during the cooking process. Cooking is also not limited to any particular style, and the cooking modes may include, but are not limited to: frying (including quick frying), steaming, boiling in water, baking, roasting, smoking, microwave, etc.; the cooking mechanism may or may not use a heater.
Similarly, a deli container, pod or container may be a bowl, dish, cup, pot, bottle, plate, basket, net, wok, basin or other object for holding foodstuff. The container may be of any geometric shape.
For the purposes of this patent application, a connection between a computer (or computer system) and an electrical or electronic component may include a wired and/or wireless connection between the computer (or computer system) and the electrical or electronic component to allow the computer to communicate with the electrical or electronic component. The connection between a computer (or computer system) and an organization or apparatus may include the device of some (or all) of the organization or apparatus as a wired and/or wireless connection between electrical or electronic components and allow the computer to communicate with the electrical or electronic components.

Claims (20)

1. An automated restaurant, comprising:
a computer system comprising a first computer;
a cooking station comprising a cooking container that can hold or otherwise hold food or foodstuff;
a storage mechanism for storing a plurality of cartridges;
a customer area including a dining area;
A plurality of carts for transporting deli containers, each cart comprising:
a first support member;
a first drive wheel rotatable relative to the first support member;
a second computer for receiving wireless signals of the computer system;
a first motor for driving the first driving wheel to move;
a connection part for connecting the second computer and the first motor;
a rechargeable battery;
a plurality of digital cameras fixedly attached to a building structure, wherein each digital camera is operable to capture a digital image of an object in the restaurant, wherein each digital camera is coupled to the computer system to allow the computer system to receive the digital image captured by the digital camera;
wherein the computer system has a program for analyzing the digital image captured by the digital camera to dynamically calculate the position of the trolley;
wherein the computer system includes a program for receiving an order from a customer;
wherein the computer system includes a program for scheduling cooking of cooked food;
the computer system includes a program; which can dynamically analyze the digital image to track the position of the ordering customer, the computer system can send the ordering customer's dining table usage information to the cart;
The computer system includes a program that dynamically analyzes the digital image to classify the customer: in the customer area but without ordering; an order has been placed but not yet served or paid; has been placed but not yet served or paid and is not in the customer area; in the customer area and having been served and paid for the order;
wherein the second computer of the cart may receive the digital signal of the computer system.
2. The automated restaurant according to claim 1, wherein said computer system further comprises a program that tracks customers who have placed orders in said restaurant.
3. The automated restaurant according to claim 1, wherein each cart further comprises:
a second drive wheel;
a second motor for driving the second driving wheel to move;
and a connection part for connecting the second motor with a second computer of the trolley.
4. The automated restaurant according to claim 1, wherein the cooking station comprises a pouring mechanism for pouring out cooked food in a cooking vessel, the pouring mechanism comprising a motor, wherein the motor is coupled to the computer system to allow the computer system to control the motor.
5. The automated restaurant according to claim 1, further comprising a cartridge transfer mechanism for removing a cartridge from the storage mechanism, the cartridge transfer mechanism being coupled to the computer system to allow the computer system to control the cartridge transfer mechanism.
6. The automated restaurant of claim 1, further comprising a dish loading mechanism for transferring a cooked food container containing cooked food from the cooking station to the cart, the dish loading mechanism comprising:
a clamping mechanism including a first support member, the clamping mechanism being capable of clamping a cooked food container;
a connecting member for connecting the clamping mechanism with the computer system to allow the computer system to control the clamping mechanism;
a first movement mechanism comprising a second support member, the first movement mechanism being operable to drive movement of the first support member relative to the second support member;
and the connecting component is used for connecting the first movement mechanism and the computer system so as to allow the computer system to control the first movement mechanism.
7. The automated restaurant of claim 1, further comprising a dish loading mechanism for transferring a cooked food container containing cooked food from the cooking station to the cart, the dish loading mechanism comprising:
A clamping mechanism including a first support member, the clamping mechanism being capable of clamping a cooked food container;
a connecting member for connecting the clamping mechanism with a computer system to allow the computer system to control the clamping mechanism;
a first movement mechanism comprising a second support member, the first movement mechanism being operable to drive movement of the first support member relative to the second support member;
a connecting member for connecting the first movement mechanism with the computer system to allow the computer system to control the first movement mechanism;
a second movement mechanism including a third support member, the second movement mechanism being operable to drive movement of the second support member relative to the third support member;
and the connecting component is used for connecting the second movement mechanism with the computer system so as to allow the computer system to control the second movement mechanism.
8. The automated restaurant of claim 1, wherein each cart further comprises one or more container carriers, each container carrier operable to hold a cooked food container.
9. An automated restaurant according to claim 1, wherein said computer system comprises a third computer located in a customer area, wherein a customer can place and/or pay orders using said third computer.
10. The automated restaurant according to claim 1, wherein said computer system is programmable to:
after the customer orders, arranging the cooking station to cook the ordered food items;
controlling an automated kitchen to cook the food;
a cart is arranged to transport cooked food from the cooking station to the vicinity of the customer or to the vicinity of a table used by the customer.
11. The automated restaurant according to claim 1, wherein the automated restaurant further comprises:
a lidar for dynamically capturing digital images of the customer area;
a method of transmitting a digital image of a lidar capture to a computer system.
12. The automated restaurant according to claim 1, wherein said cooking station further comprises a pouring mechanism for pouring foodstuff in a cartridge into said cooking container, said pouring mechanism comprising a motor connected to said computer system to allow said computer system to control said motor.
13. An automated restaurant, comprising:
a computer system comprising a first computer;
a cooking station comprising a cooking container that can hold or otherwise hold food or foodstuff;
a storage mechanism for storing a plurality of cartridges;
A customer area including a dining area;
a plurality of carts for transporting deli containers, each cart comprising:
a first support member;
a first drive wheel movable relative to the first support member;
a second computer for receiving wireless signals of the computer system;
a first motor for driving the first driving wheel to move;
a connection part for connecting the second computer and the first motor;
a rechargeable battery;
a dish loading mechanism for transferring a cooked food container from the cooking station onto a cart, the dish loading mechanism comprising:
a clamping mechanism including a first support member, the clamping mechanism being capable of clamping a cooked food container;
a connecting member for connecting the clamping mechanism with the computer system;
a first movement mechanism comprising a second support member, the first movement mechanism being operable to drive movement of the first support member relative to the second support member;
a connecting member for connecting the first movement mechanism with the computer system to allow the computer system to control the first movement mechanism;
a lidar fixedly mounted to a building structure, wherein the lidar is capable of capturing a three-dimensional digital image of an object in a restaurant, wherein the lidar is coupled to the computer system to allow the computer system to receive the digital image captured by the lidar; and
A method of transmitting a digital image captured by a lidar to a computer system;
wherein the computer system has a program for analyzing a digital image captured by a lidar to dynamically calculate the position of the cart;
wherein the computer system has a program for analyzing the digital image captured by the lidar to dynamically calculate the position of the person in the customer area;
the computer system includes a program; which can dynamically analyze the digital image to track the position of the ordering customer, the computer system can send the ordering customer's dining table usage information to the cart;
the computer system includes a program that dynamically analyzes the digital image to classify the customer: in the customer area but without ordering; an order has been placed but not yet served or paid; has been placed but not yet served or paid and is not in the customer area; in the customer area and having been served and paid for the order;
wherein the computer system includes a program for receiving an order from a customer;
wherein the computer system includes a program for scheduling cooking of cooked food;
wherein the computer system can control a dish loading mechanism;
Wherein the second computer of the cart may receive the digital signal of the computer system.
14. The automated restaurant according to claim 13, wherein said cooking station further comprises a pouring mechanism for pouring foodstuff from a cartridge into a cooking container; the pouring mechanism includes a motor that is coupled to the computer system to allow the computer system to control the motor.
15. The automated restaurant according to claim 13, further comprising a cartridge transfer mechanism for removing cartridges from said storage mechanism, said cartridge transfer mechanism being coupled to said computer system.
16. An automated restaurant, comprising:
a computer system comprising a first computer, wherein the computer system comprises a device that transmits wireless signals;
a cooking station, comprising:
a cooking vessel for containing or otherwise holding a food or foodstuff;
a pouring mechanism for moving the cooking vessel to pour out the cooked food in the cooking vessel, wherein the pouring mechanism comprises a motor connected to the computer system to allow the computer system to control the motor; and
a pouring mechanism for pouring foodstuff in the cartridge into the cooking vessel, the pouring mechanism comprising a motor connected to the computer system to allow the computer system to control the motor;
A storage mechanism for storing a plurality of cartridges;
a customer area including a dining area;
a plurality of carts for transporting cooked food, wherein each cart comprises:
a first support member;
a first drive wheel rotatable relative to the first support member;
a first motor for driving the first driving wheel to move;
a second computer for receiving wireless signals of the computer system;
a connection part for connecting the second computer and the first motor; and
a battery; and
a plurality of digital cameras fixedly attached to the building structure, wherein each digital camera can capture a digital image of an object in the restaurant, wherein each digital camera is coupled to the computer system to allow the computer system to receive the digital images of the digital cameras; and
wherein the computer system has a program for analyzing the digital image captured by the camera to dynamically calculate the position of the trolley;
wherein the computer system has a program that analyzes the digital image captured by the camera to dynamically calculate the position of the person in the customer area;
the computer system includes a program; which can dynamically analyze the digital image to track the position of the ordering customer, the computer system can send the ordering customer's dining table usage information to the cart;
The computer system includes a program that dynamically analyzes the digital image to classify the customer: in the customer area but without ordering; an order has been placed but not yet served or paid; has been placed but not yet served or paid and is not in the customer area; in the customer area and having been served and paid for the order;
wherein the computer system includes a program for receiving an order from a customer;
wherein the computer system includes a program for scheduling cooking of food;
wherein the second computer of the cart may receive the digital signal of the computer system.
17. The automated restaurant of claim 16, wherein the automated restaurant further comprises a lidar for dynamically capturing digital images of the customer area; a method of transmitting a digital image captured by a lidar to a computer system; wherein the computer system comprises a calculation program for calculating the location of the cart and the person in the customer area.
18. The automated restaurant of claim 16, further comprising a dish loading mechanism for transferring deli containers from the cooking station to a cart, the dish loading mechanism comprising:
A clamping mechanism including a first support member, the clamping mechanism being capable of clamping a cooked food container;
a connecting component for connecting the clamping mechanism with a computer system;
a first movement mechanism comprising a second support member, the first movement mechanism being operable to drive movement of the first support member relative to the second support member; and
and the connecting part is used for connecting the first movement mechanism and the computer system.
19. The automated restaurant of claim 16, further comprising a dish loading mechanism for transferring deli containers from the cooking station to a cart, the dish loading mechanism comprising:
a clamping mechanism comprising a first support member for clamping a cooked food container;
a connecting component for connecting the clamping mechanism with a computer system;
a first movement mechanism comprising a second support member, the first movement mechanism being operable to drive movement of the first support component relative to the second support member;
a connecting member for connecting the first movement mechanism with the computer system to allow the computer system to control the first movement mechanism;
A second movement mechanism including a third support member, the second movement mechanism being operable to drive movement of the second support member relative to the third support member; and
and the connecting component is used for connecting the second movement mechanism with the computer system so as to allow the computer system to control the second movement mechanism.
20. The automated restaurant according to claim 16, further comprising a cartridge transport mechanism comprising a motor, wherein the motor is coupled to the computer system to allow the computer system to control the motor.
CN202010375887.8A 2019-07-18 2020-05-07 Automated restaurant Active CN112237359B (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US16/515050 2019-07-18
US16/515,050 US11579621B2 (en) 2018-11-19 2019-07-18 Automated restaurant
US16/515,050 2019-07-18
US16/718483 2019-12-18
US16/718,483 US11410250B2 (en) 2018-11-19 2019-12-18 Automated restaurant
US16/718,483 2019-12-18

Publications (2)

Publication Number Publication Date
CN112237359A CN112237359A (en) 2021-01-19
CN112237359B true CN112237359B (en) 2023-05-05

Family

ID=74170491

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010375887.8A Active CN112237359B (en) 2019-07-18 2020-05-07 Automated restaurant

Country Status (1)

Country Link
CN (1) CN112237359B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11579621B2 (en) * 2018-11-19 2023-02-14 Zhengxu He Automated restaurant

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101674467A (en) * 2009-10-26 2010-03-17 西安信唯信息科技有限公司 Catering media device and method
CN104217348A (en) * 2013-05-30 2014-12-17 松下电器产业株式会社 Customer category analysis device, customer category analysis system and customer category analysis method
CN105447785A (en) * 2015-12-28 2016-03-30 杭州迪火科技有限公司 Method and system for ordering dishes by scanning code and positioning
CN109003204A (en) * 2018-03-03 2018-12-14 郗瑛琦 A kind of intelligent robot equipment and its control method

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101661098B (en) * 2009-09-10 2011-07-27 上海交通大学 Multi-robot automatic locating system for robot restaurant
US10799064B2 (en) * 2017-03-31 2020-10-13 Zhengxu He Automated cooking system
CN207008404U (en) * 2017-04-07 2018-02-13 东北农业大学 It is a kind of that dining car identification alignment system is walked based on machine vision certainly
CN109634268B (en) * 2017-10-09 2024-05-28 北京瑞悟科技有限公司 Intelligent restaurant service robot
CN109717720B (en) * 2017-10-30 2021-12-07 北京吉家娜机器人研发有限公司 Automatic change culinary art system
CN209037703U (en) * 2018-11-13 2019-06-28 苏州索亚机器人技术有限公司 A kind of transportation robot to be navigated based on laser and visual combination

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101674467A (en) * 2009-10-26 2010-03-17 西安信唯信息科技有限公司 Catering media device and method
CN104217348A (en) * 2013-05-30 2014-12-17 松下电器产业株式会社 Customer category analysis device, customer category analysis system and customer category analysis method
CN105447785A (en) * 2015-12-28 2016-03-30 杭州迪火科技有限公司 Method and system for ordering dishes by scanning code and positioning
CN109003204A (en) * 2018-03-03 2018-12-14 郗瑛琦 A kind of intelligent robot equipment and its control method

Also Published As

Publication number Publication date
CN112237359A (en) 2021-01-19

Similar Documents

Publication Publication Date Title
US11410250B2 (en) Automated restaurant
US11579621B2 (en) Automated restaurant
US11053075B2 (en) Inventory system with efficient operator handling of inventory items
US10272566B2 (en) Robotic grasping of items in inventory system
JP6860714B2 (en) How to automatically generate waypoints to image the shelves in the store
US10450138B1 (en) Exchange of containers
US11263579B1 (en) Autonomous vehicle networks
US9926138B1 (en) Determination of removal strategies
US9475639B2 (en) Inventory system with efficient operator handling of inventory items
US11308444B2 (en) Systems, methods, computing platforms, and storage media for directing and controlling a supply chain control territory in an autonomous inventory management system
US9928698B2 (en) Illuminating containers in an inventory system
US10315231B1 (en) Attribute-based container selection for inventory
CN112237359B (en) Automated restaurant
CN105881522A (en) Material carrying mechanical arm structure and moving type kitchen carrying robot with material carrying mechanical arm structure
US20240148186A1 (en) Automated frying system
CN113031629A (en) Intelligent conveying terminal for catering industry and working method thereof
CN115024624A (en) Automatic takeout delivery system and equipment for unmanned independent restaurant
US11805941B1 (en) Scalable automated cooking system
US20200323382A1 (en) Multi-Stage Cooking System
US20200268210A1 (en) Automatic kitchen system
CN108942975A (en) A kind of supermarket orphan product searching robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant