TWI672663B - Sensing and delivering meals system - Google Patents

Abstract

An inductive food delivery system comprises a plurality of wireless positioning signal transmitting modules, a sensing positioning module and a feeding robot. Each wireless positioning signal transmitting module is correspondingly disposed on a dining table. The inductive positioning module is configured to be carried by a diners to an occupied dining table, and is disposed on the wireless positioning signal transmitting module occupying the dining table, so that the wireless positioning signal transmitting module generates a signal for occupying the table position. The food delivery robot is located in a standby area and includes a sensing tray, a control module and a driving component. The induction tray is used to carry a meal. The control module is configured to receive the occupancy table position signal, control the meal delivery robot to move to occupy the dining table, and generate a meal delivery drive signal control drive component to drive the induction meal tray to move toward the meal boundary of the occupied table.

Description

Inductive meal delivery system

The invention relates to a food delivery system, in particular to an inductive food delivery system using a wireless positioning signal transmitting module, a sensing positioning module and a food delivery robot.

With the rise of fast-food restaurants, fast meal making, satiety after meals, and conveniences for three meals, fast food restaurants have become the first choice for many modern people, especially for children. The meals in the restaurant are not resistant.

Generally speaking, there are two ways to take a meal at a fast food restaurant. One is that the orderer waits at the ordering counter and waits at the pick-up counter next to the meal. The meal is finished and the clerk puts it on the plate. After that, the diners will take the plate to the dining area to enjoy the meal.

The other is that the orderer will get a number plate corresponding to his meal after the meal is finished. The diners will carry the number plate to the dining seating area, and the clerk will take the prepared meal to the dining seating area. Look for the number plate corresponding to the meal. After the number plate is found, you can send the meal to the orderer's hand for the orderer to eat.

However, in the above-mentioned first way of taking a meal, when the ordering person takes the plate to the dining seating area, there may be a situation in which the dining seating area is used, which results in the situation that the ordering person does not have a dining seating area, and the ordering person cannot The problem of eating freshly prepared meals immediately.

Another way to take a meal, the clerk needs to shuttle between all the dining seating areas, looking for the number plate corresponding to the meal, which is quite labor intensive, and if it takes some time to find the number plate of a meal, it will be delayed. The meal that continues to be served will also affect the freshness of the meal that the diners will eat.

In view of the prior art, the eater may have a meal but no dining area is available, resulting in the inability to eat freshly prepared meals immediately, and the clerk needs to shuttle between all dining areas to find meals. The corresponding number plate, which consumes human resources and delays the problem of subsequent meals to be eaten. One of the main objects of the present invention is to provide an inductive meal delivery system that utilizes a wireless positioning signal transmitting module, a sensing positioning module, and a meal delivery robot to solve the problems derived from the prior art.

The present invention solves the problems of the prior art, and the necessary technical means for providing an inductive food delivery system includes a plurality of wireless positioning signal transmitting modules, a sensing positioning module and a food feeding robot. Each wireless positioning signal transmitting module is correspondingly disposed in one of a plurality of dining tables. The inductive positioning module is used for one of the diners to carry to one of the dining table, and is disposed in one of the wireless positioning signal transmitting modules corresponding to the occupied dining table. When an effective sensing area is used, the corresponding wireless positioning signal transmitting module generates an occupancy table position signal. The food delivery robot is located in a standby area and includes a sensing tray, a control module and a driving component. The induction tray is connected to the corresponding wireless positioning signal sending module for receiving the occupancy table position signal at least one meal selected by the ordering party. The control module is connected to the induction plate for receiving the signal of occupying the table position, thereby parsing out a dining table outside the table and controlling the feeding robot to move to the table feeding area, and generating A meal delivery drive signal. The driving component is electrically connected to the control module, and is configured to drive the sensing tray to move from the tableside dining area toward the dining table boundary of the occupied table after receiving the meal feeding driving signal.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is that the induction tray in the inductive food delivery system comprises a tray body and a receiving unit. The tray body is used to carry at least one meal selected by the diners. The receiving unit is disposed on the tray body for receiving the occupancy table position signal.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is that the induction tray in the inductive food delivery system further comprises a tray sensing unit, and the tray sensing unit is disposed on the tray body. The utility model is configured to generate a meal retraction signal by using the control module when sensing at least one meal is taken from the main body of the dinner plate, and control the driving component to drive the induction plate to move from the meal boundary to the table feeding area.

On the basis of the above-mentioned necessary technical means, one of the auxiliary technical means derived from the present invention is one of a dish sensing unit, a light sensing unit and a gravity sensing unit in the inductive food delivery system.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is that the sensing tray in the inductive food delivery system further comprises a positioning module sensing unit, and the positioning module sensing unit is arranged on the serving tray. The main body is configured to control the feeding robot to move back to the standby area from the table feeding area by using the control module when the sensing positioning module is placed on the serving tray body.

Based on the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is that the control module in the inductive food delivery system comprises a picture storage unit and a control unit. The image storage unit stores a map data corresponding to the table, the table feeding area, the food delivery boundary and the standby area, and the path of the standby area to one of the table feeding areas. The control unit is a communication connection map storage unit, configured to parse out the table-side dining area occupying the table by using the map data when receiving the occupancy table position signal, and control the meal delivery robot to move to the table-side meal according to the path data. Area.

Based on the above-mentioned necessary technical means, one of the auxiliary technical means derived from the present invention is to make the driving component in the inductive food delivery system an electric cylinder.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is that the feeding robot in the inductive food feeding system further comprises a playing module, and the playing module is used for playing a sensing positioning module. Recycling information to prompt the diners to place the sensor positioning module on the induction tray.

On the basis of the above-mentioned necessary technical means, one of the subsidiary technical means derived from the present invention is to enable the play mode in the inductive meal delivery system. The group is a speaker and at least one of the display screens.

As described above, the inductive food delivery system provided by the present invention utilizes a corresponding wireless positioning signal transmitting module and a sensing positioning module in the wireless positioning signal transmitting module to generate a occupancy table position signal, and utilizes a feeding robot to carry a point. The diners select the meal points and receive the occupancy table position signals, move from the standby area to the tableside dining area occupying the table, and move the meal toward the meal boundary of the occupied table.

100‧‧‧Inductive food delivery system

1‧‧‧Wireless Positioning Signal Transmitter Module

1a‧‧‧ corresponding wireless positioning signal transmission module

2‧‧‧Induction positioning module

3‧‧‧Food delivery robot

31‧‧‧Induction plate

311‧‧‧ receiving unit

312‧‧‧ dinner plate body

313‧‧‧Dish sensor unit

314‧‧‧ Positioning module sensing unit

32‧‧‧Control Module

321‧‧‧ Picture Storage Unit

322‧‧‧Control unit

33‧‧‧Drive components

34‧‧‧Playing module

4‧‧‧Table

4a‧‧‧ Occupy table

41a‧‧‧ Chair

AS‧‧‧Food delivery drive signal

EA‧‧ dining area

DA‧‧‧ tableside dining area

DB‧‧‧Food Delivery Boundary

H‧‧‧ diners

M‧‧ meals

OS‧‧‧ occupied table position signal

P‧‧‧Tray

PS‧‧‧Play signal

RA‧‧‧ Standby area

The first figure shows a block diagram of the inductive food delivery system provided by the preferred embodiment of the present invention; the second figure shows the storage data of the image storage unit of the inductive food delivery system provided by the preferred embodiment of the present invention. FIG. 3 is a perspective view showing the feeding robot of the preferred embodiment of the present invention in the standby area; FIG. 4 is a view showing the feeding robot of the preferred embodiment of the present invention moving from the standby area 3 is a schematic perspective view of a meal delivery area provided by a preferred embodiment of the present invention; FIG. 6 is a perspective view showing a preferred embodiment of the present invention. Stereoscopic diagram of the feeding tray of the feeding robot from the table feeding area toward the feeding boundary; the seventh figure shows the feeding tray of the feeding robot provided by the preferred embodiment of the present invention from the feeding boundary toward the table Stereoscopic indication of the movement of the dining area FIG. 8 is a perspective view showing the induction tray of the food delivery robot provided by the preferred embodiment of the present invention, after the induction positioning module is placed on the induction tray, and returned from the tableside feeding area to the standby area. .

Please refer to the first and second figures, wherein the first figure shows a block diagram of the inductive food delivery system provided by the preferred embodiment of the present invention; and the second figure shows the preferred embodiment of the present invention. Schematic diagram of the storage data of the image storage unit of the inductive food delivery system. As shown in the figure, an inductive food delivery system 100 includes a plurality of wireless positioning signal transmitting modules 1 (only one of which is shown), a sensing positioning module 2 and a food feeding robot 3.

Each of the wireless positioning signal transmitting modules 1 is correspondingly disposed in one of the plurality of dining tables 4, that is, each of the dining tables 4 has a wireless positioning signal transmitting module 1. The inductive positioning module 2 is configured to be carried by one of the diners H (indicated in the third to eighth figures) to one of the dining tables 4 to occupy the dining table 4a, and is disposed in the wireless corresponding to the occupied dining table 4a. When one of the positioning signal transmitting modules 1 corresponds to one of the effective sensing areas of the wireless positioning signal transmitting module 1a, the corresponding wireless positioning signal transmitting module 1a generates an occupied table position signal OS. The inductive positioning module 2 uses the radio frequency identification (RFID) method to transmit the occupancy table position signal OS, but not limited thereto, and can also be generated and transmitted by using Wi-Fi, Zigbee and other communication methods.

It should be noted here that the dining table 4 and the occupied dining table 4a are For the same item, just for convenience of explanation, the table 4 where the orderer H is located is defined as occupying the table 4a; similarly, the wireless positioning signal transmitting module 1 and the corresponding wireless positioning signal transmitting module 1a are the same object. For convenience of explanation, the wireless positioning signal transmitting module 1 on the occupied dining table 4a where the orderer H is located is defined as the corresponding wireless positioning signal transmitting module 1a.

The food delivery robot 3 is located in a standby area RA and includes an induction tray 31, a control module 32 and a driving assembly 33. The sensing tray 31 is communicatively coupled to the corresponding wireless positioning signal transmitting module 1a, and includes a receiving unit 311 and a tray body 312. The tray body 312 is used to carry at least one meal M selected by the orderer H, and the receiving unit 311 is disposed on the tray body 312 for receiving the occupancy table position signal OS.

The control module 32 is communicatively coupled to the induction tray 31 and includes a map storage unit 321 and a control unit 322. The asset storage unit 321 stores a stored data. The control unit 322 is communicatively coupled to the image storage unit 321 for receiving the occupancy table position signal OS, thereby parsing a tableside dining area DA outside the occupied table 4a, and controlling the meal delivery robot 3 to move to the table. In the dining area DA, a meal driving drive signal AS is generated. The driving component 33 is electrically connected to the control module 32 for driving the induction tray 31 to move from the tableside food delivery area DA toward the meal delivery boundary DB of the occupied dining table 4a after receiving the meal delivery driving signal AS. The image storage unit 321 can be a memory chip or a memory. The control unit 322 can be a microcontroller (MCU) or other control chip with arithmetic processing capability. Preferably, the image storage unit 321 and the control list Element 322 can be modularized.

The stored data includes a map data and a path data. The map data corresponds to the dining table 4, the occupied dining table 4a, the chair 41a, the chair 41a and the dining area EA where the eating table 4a is located, the tableside dining area DA, the meal border DB and the standby area RA, the path data is the standby area RA and the table The path between the dining area DA is forwarded, because the orderer H will select one of the dining table 4 as the occupied dining table 4a, so there will be a plurality of occupied dining table 4a, and also corresponding to a plurality of tableside dining area DA (here) Only the third to eighth pictures of the food delivery robot will move past and stay one), so the path data is a set of paths. The control module 32 controls the movement of the food delivery robot 3 in accordance with the map data and the route data.

In this embodiment, the induction tray 31 further includes a tray sensing unit 313 and a positioning module sensing unit 314 disposed on the tray body 312. The tray sensing unit 313 is configured to generate a tray retraction signal by using the control module 32 when the meal M is taken out from the tray body 312, and control the driving component 33 to drive the induction tray 31 from the meal boundary DB. Move towards the dining area DA at the table. The positioning module sensing unit 314 is configured to control the food feeding robot 3 to move back to the standby area RA from the tableside feeding area DA by the control module 32 when the sensing positioning module 2 is sensed and placed on the tray body 312.

Preferably, the serving robot 3 further includes: a playing module 34, wherein the playing module 34 is configured to play a sensing positioning module to recover information when the receiving control module 32 generates a playback signal PS, to prompt the point. The eater H places the sensor positioning module 2 on the induction tray 31. The play module 34 is at least one of a speaker and a display screen.

Next, please refer to the first to eighth figures, wherein the third figure shows a schematic diagram of the food feeding robot provided by the preferred embodiment of the present invention in the standby area, and the fourth figure shows the present invention. The schematic diagram of the feeding robot provided by the preferred embodiment is moved from the standby area to the tableside dining area; the fifth figure shows a perspective view of the feeding robot provided by the preferred embodiment of the present invention rotating toward the meal feeding boundary; Figure 6 is a perspective view showing the movement of the induction tray of the food delivery robot according to the preferred embodiment of the present invention from the tableside food delivery area toward the food delivery boundary; the seventh figure shows the preferred embodiment of the present invention. The stereoscopic schematic diagram of the feeding tray of the feeding robot from the feeding boundary toward the table feeding area; and the eighth drawing shows the sensing tray sensing to the sensing positioning mode of the feeding robot provided by the preferred embodiment of the present invention After the group is placed on the induction plate, it returns to the three-dimensional diagram of the standby area from the tableside dining area.

As shown in the figure, the serving robot 3 is in standby position RA when it is not carried to the meal. When the food delivery robot 3 carries the meal M selected by the orderer H, it receives the occupancy table position signal OS, and the occupancy table position signal OS is carried by the orderer H to the induction positioning module 2 to occupy the dining table 4a. Corresponding to the corresponding wireless positioning signal transmitting module 1a. In the present embodiment, the meal M selected by the orderer H is first placed on a tray P and placed on the induction tray 31 without being placed directly on the induction tray 31.

After the serving robot 3 receives the occupancy table position signal OS, the control unit 322 compares the map data and the path data stored in the image storage unit 321 to confirm the corresponding wireless positioning signal transmitting module that issues the occupancy table position signal OS. 1a is occupied by the table 4a and The food delivery boundary DB is confirmed, and it is confirmed that the table side food delivery area DA corresponding to the dining table 4a is occupied. Finally, the moving path of the standby area RA to the tableside dining area DA is confirmed according to the path information, as indicated by the arrow in the third figure, and the food feeding robot 3 is controlled to move from the standby area RA to the tableside dining area DA.

When the serving robot 3 moves to the tableside dining area DA, the serving robot 3 does not face the occupied table 4a as shown in the fourth figure. At this time, the control unit 322 controls the serving robot 3 to rotate toward the occupied table 4a, and faces the meal border DB occupying the table 4a as shown in the fifth figure.

When the food feeding robot 3 is to be inspected for the meal border DB occupying the table 4a, the control unit 322 generates a meal driving signal AS, controls the driving component 33 of the food delivery robot 3, and drives the induction plate 31 from the table side dining area. The DA moves toward the meal boundary DB occupying the table 4a as shown in the sixth figure. At this time, the orderer H next to the table 4a can take the tray P carried by the induction tray 31, and place the tray P on the occupied table 4a.

The meal border DB is the boundary of the four table boundaries occupying the table 4a, which is not adjacent to a chair 41a, as shown. The food feeding robot 3 moves to the tableside dining area DA, and rotates to face the occupied table 4a, and drives the induction table 31 to move toward the meal boundary DB, thereby preventing the meal feeding robot 3 from sending the meal M to the ordering party. Good place to take, for example: just behind the orderer M. And the food delivery robot 3 delivers the dining area DA at the table without entering the dining area EA where the dining table 4a and the chair 41a are located, and can completely avoid the driving of the induction table 31 when moving forward, colliding with the occupied dining table 4a, the chair The problem of 41a and the orderer H can ensure the integrity of the meal M while ensuring the safety of the orderer H and the meal delivery robot 3.

When the tray sensing unit 313 of the induction tray 31 senses that the tray P is taken away from the tray body 312, a control panel 32 is used to generate a tray retraction signal, and the driving component 33 is controlled to drive the induction tray 31. The self-delivery border DB moves toward the tableside dining area DA. In this embodiment, the dish sensing unit 313 is a light sensing unit, and the light sensing may be a photoresistor or a photodiode. When the tray P is taken away from the tray body 312, the tray sensing unit 313 receives the light beam, and the light beam affects the current resistance of the tray sensing unit 313, thereby affecting the output voltage, so after comparing the output voltage with a voltage reference value The control module 32 is caused to generate a tray retraction signal. However, not limited thereto, the dish sensing unit 313 can also be a gravity sensing unit or a pressure sensing unit, using the weight or pressure of the tray P and the meal M and the weight reference value of the tray P and the meal M. Or pressure reference values are compared.

Preferably, if the dish sensing unit 313 is a light sensing unit, it may further comprise a light filter mask module (not shown), and the light filter mask module is used to block part of the light beam, similar to filtering removal. The concept of noise prevents the tray sensing unit 313 from misidentifying that the tray P has been removed, and causes the control module 32 to generate an incorrect tray retraction signal. More preferably, the induction plate 31 is electrically connected to a noise filtering unit (not shown), and the noise filtering unit and the optical filter mask module are all set up based on interference considering environmental factors, avoiding environment The cause causes the feeding robot 3 to start up by mistake.

When the driving component 33 drives the induction tray 31 to move back to the tableside feeding area DA from the food feeding boundary DB, the control module 32 generates a playing signal PS, and the playing module 34 plays the playing signal PS and then plays. A sensing positioning module recovers information to prompt the eater H to sense The positioning module 2 is placed on the induction tray 31. In this embodiment, the playing module 34 is a speaker, and uses the audio to prompt the orderer H. However, in other embodiments of the present invention, the playing module 34 can be a marquee or a display screen, using text video prompts. Orderer H.

When the positioning module sensing unit 314 senses that the sensing positioning module 2 is placed on the sensing tray 31, the control module 32 controls the food feeding robot 3 to move back to the standby area RA from the table side feeding area DA, and the moving path is as follows. The arrow in the eighth figure is shown. When the serving robot 3 moves back to the standby area RA, the action is stopped to wait for the next meal to be carried and to wait for the next occupied table position signal.

In addition, in the present invention, the dining table 4 to which the ordering person H carries the inductive positioning module 2 is the occupied dining table 4a, and the wireless positioning signal transmitting module 1 on the occupied dining table 4a is transmitted corresponding to the wireless positioning signal. Module 1a. Therefore, when the inductive positioning module 2 is placed on the inductive plate 31 by the ordering person H, the table 4a becomes the table 4, and the corresponding wireless positioning signal transmitting module 1a is also set because the inductive positioning module 2 is not provided. Wireless positioning signal transmitting module 1. When the next occupant carries the sensing positioning module 2 to the other of the dining tables 4, another occupied dining table 4a and another corresponding wireless positioning signal transmitting module 1a will appear.

If the orderer H does not place the sensing positioning module 2 on the sensing tray 31, the serving robot 3 will continue to be in the dining area DA of the table without moving back to the standby area RA. This will save human resources from recycling the sensory positioning module 2, whether it is a store clerk to take up the table 4a recycling, or the orderer H will take the sensor positioning module 2 back to the ordering counter. In this embodiment, the positioning module sensing unit 314 utilizes radio frequency identification. The Radio Frequency Identification (RFID) method is used to confirm whether the sensing positioning module 2 is located on the sensing tray 31, but not limited thereto. In other embodiments of the present invention, the positioning module sensing unit 314 can sense and confirm the sensing positioning module 2 by other means.

In summary, the inductive food delivery system provided by the present invention utilizes a sensing positioning module and a corresponding wireless positioning signal transmitting module, so that the food feeding robot can be directly moved from the standby area to the tableside dining area occupying the dining table. It solves the problem that arises from the prior art that it is necessary to use manpower to shuttle between all the tables to find the number plate corresponding to the meal. The problem that the ordering person has taken the meal but no table can be used in the prior art is also solved. In the present invention, the inductive positioning module is disposed on the dining table and the wireless positioning signal transmitting module sends the occupied table. The position signal drives the food delivery robot to move to the tableside dining area, that is, if the food delivery robot starts moving, it indicates that the ordering person has sat in the dining table occupied by the table.

In addition, the feeding robot provided by the present invention will stay at the table feeding area, rotate the surface to occupy the dining table boundary, and drive the sensing tray to move to the meal boundary, so that the ordering person can take the meal and The tray with the meal moves from the induction tray to the effect of occupying the table, and does not send the meal to the place where the orderer is not good to take the meal, such as just behind the orderer. And the food delivery robot delivers the meal at the tableside dining area, and can also avoid the problem that the induction plate collides to occupy the dining table, the chair or the diners, causing the knocking down of the meal, the delivery robot to be damaged or even the ordering person to be injured.

The features and spirit of the present invention will be more apparent from the detailed description of the preferred embodiments. phase On the contrary, it is intended to cover various modifications and equivalents within the scope of the invention as claimed.

Claims (7)

An inductive food delivery system comprising: a plurality of wireless positioning signal transmitting modules, each of the wireless positioning signal transmitting modules being correspondingly disposed in one of a plurality of dining tables; and an inductive positioning module The one of the wireless locating signal transmitting modules corresponding to one of the wireless positioning signal transmitting modules corresponding to one of the wireless locating signal transmitting modules of the occupant table The corresponding wireless positioning signal sending module generates an occupancy table position signal; and a food delivery robot is located in a standby area, and includes: a sensing tray, which is communicatively coupled to the corresponding wireless positioning signal sending module, for Receiving at least one meal selected by the diners, receiving the occupancy table position signal, and comprising: a plate body for carrying the at least one meal selected by the diners; a receiving unit is disposed on the tray body for receiving the occupancy table position signal; and a positioning module sensing unit is disposed on the tray body; a control module, The communication is connected to the sensing tray for receiving the occupancy table position signal, thereby parsing a tableside dining area outside the occupied table, and controlling the feeding robot to move to the tableside dining area to generate a meal driving signal; a driving component electrically connected to the control module, configured to drive the sensing plate from the tableside dining area toward the occupied table after receiving the meal driving signal Moving the meal boundary; The boundary between the plurality of dining table boundaries that occupy the dining table and not adjacent to any of the chairs is defined as the food feeding boundary; wherein the positioning module sensing unit is configured to be placed in the meal after sensing the sensing positioning module When the disk body is used, the control module is used to control the food feeding robot to move back to the standby area from the tableside dining area. The inductive food delivery system of claim 1, wherein the induction tray further comprises: a tray sensing unit, the tray sensing unit is disposed on the tray body for sensing the At least one meal is generated by the control panel to generate a meal retraction signal, and the drive component is driven to drive the induction plate to move from the meal boundary to the tableside dining area. . The inductive food delivery system of claim 2, wherein the dish sensing unit is one of a light sensing unit and a gravity sensing unit. The inductive food delivery system of claim 1, wherein the control module comprises: a graphic storage unit, which stores a pair of dining tables, the tableside dining area, the food delivery boundary and The map data of the standby area and the path data of the standby area to the table-side dining area; and a control unit communicatively connecting the image storage unit for receiving the occupied table position signal by using the The map data is parsed out of the tableside dining area occupying the table, and the feeding robot is controlled according to the road The path data is moved to the tableside dining area and the meal driving signal is generated. The inductive food delivery system of claim 1, wherein the drive assembly is an electric cylinder. The inductive food delivery system of claim 1, wherein the food delivery robot further comprises: a playing module, wherein the playing module is configured to play a sensing positioning module to recover information to prompt the point. The occupant places the sensing positioning module on the sensing tray. The inductive food delivery system of claim 6, wherein the playback module is at least one of a speaker and a display screen.