WO2020166723A2 - 料理自動提供システム、飲食店、飲食店用自動システム、料理自動提供方法、プログラム及び記憶媒体 - Google Patents
料理自動提供システム、飲食店、飲食店用自動システム、料理自動提供方法、プログラム及び記憶媒体 Download PDFInfo
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- WO2020166723A2 WO2020166723A2 PCT/JP2020/005916 JP2020005916W WO2020166723A2 WO 2020166723 A2 WO2020166723 A2 WO 2020166723A2 JP 2020005916 W JP2020005916 W JP 2020005916W WO 2020166723 A2 WO2020166723 A2 WO 2020166723A2
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- container
- noodles
- noodle
- food
- cooking
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J27/00—Cooking-vessels
- A47J27/14—Cooking-vessels for use in hotels, restaurants, or canteens
- A47J27/18—Cooking-vessels for use in hotels, restaurants, or canteens heated by water-bath, e.g. pasta-cookers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J36/00—Parts, details or accessories of cooking-vessels
- A47J36/32—Time-controlled igniting mechanisms or alarm devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J27/00—Cooking-vessels
- A47J27/08—Pressure-cookers; Lids or locking devices specially adapted therefor
- A47J27/086—Pressure-cookers; Lids or locking devices specially adapted therefor with built-in heating means
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J27/00—Cooking-vessels
- A47J27/14—Cooking-vessels for use in hotels, restaurants, or canteens
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J27/00—Cooking-vessels
- A47J2027/006—Cooking-vessels especially adapted for preparing pasta
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J36/00—Parts, details or accessories of cooking-vessels
- A47J36/16—Inserts
- A47J36/165—Stirring devices operatively connected to cooking vessels when being removably inserted inside
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/12—Hotels or restaurants
Definitions
- the present invention relates to a dish automatic provision system, a restaurant, a restaurant automatic system, a dish automatic provision method, a program, and a storage medium that automatically provide dishes including noodle dishes in accordance with an order from a customer.
- buckwheat noodles produced by a buckwheat noodle making machine or a udon noodle making machine are put in a water-permeable storage container and boiled in a boiling water tank while moving in an annular shape.
- the noodles are processed in a cold/hot water noodle processing device while moving in an annular shape in the water receiving groove, then the buckwheat noodles or udon noodles are transferred to the sales container in the next step, and then in the sales container containing the buckwheat noodles or udon noodles in the next step.
- Hot soba, hot udon noodles, cold soba noodles, or cold udon noodles can be obtained by injecting cold juice from the supply device or by injecting hot juice from the hot juice supply device and finally sending the sales container to the outlet.
- a noodle cooking device Disclosed is a noodle cooking device.
- Patent Document 2 in a state where ramen noodles are put in a basket, the noodles are boiled by the basket moving in an annular path in the pot at the boil-up portion, and the next step is an annular path.
- the finishing section supply ramen soup to the container, then put noodles from the basket into the container, then put seeds such as baked pork into the container, then put seasoning into the container, and finally from the finishing section to the automatic delivery conveyor.
- an automatic noodle-cooking device for delivering noodles.
- Patent Document 3 noodles that are supplied from a raw noodle feeder and boiled in a boiler pot are added to a container that linearly moves on a conveyor, and then soup, ingredients, and condiments are added, and finally the container is a receiving tray.
- an automatic cooking machine such as a ramen/champon that is sent out to.
- Patent Document 4 tableware is placed on a conveyor-shaped food conveying box, and soup is placed on the tableware, then a tool placed in a closed container in a refrigerator in advance, and then a container in a cooking and heat retaining device.
- an automatic cooking device for boiled noodles such as Japanese buckwheat noodles, udon noodles, Chinese buckwheat noodles, etc., in which noodles that have been cooked in advance in a heating device are put in ing.
- Patent Document 5 discloses a cooking tank for boiling pasta, a heating means for heating water in the tank, a means for adding water to the tank, a high water level detecting means, and an automatic water filling operation during pasta cooking. Discloses a pasta cooking system comprising control means responsive to high water level detection means for maintaining the water level between the high water level and the maximum overflow water level.
- Patent Document 6 discloses a cooking assistance robot that stirs cooking ingredients in a cooking container by an arm having a height distribution measuring unit.
- the noodle cooking device described in Patent Document 1 is limited to cooking only by injecting cold or hot juice by boiling buckwheat noodles or udon, and there is no device for heating and cooking boiled noodles or ingredients, There is no specific disclosure of cooking noodles other than soba or udon.
- the noodle cooking device described in Patent Document 1 since the buckwheat noodles, the udon, the water-permeable storage container or the sales container are moved along the circular circulation route in each device, each device has a wide installation area. Is required.
- the noodle automatic cooking device described in Patent Document 2 includes a step of boiling ramen, and a step of adding seeds and condiments such as soup and baked pork to the ramen, but an apparatus for heating and cooking boiled noodles and ingredients
- the noodle automatic cooking device described in Patent Document 2 since the ramen is moved along the circular circulation route in each device, each device requires a large installation area. Further, the noodle automatic cooking device described in Patent Document 2 does not disclose how to take an order from a customer.
- the pasta cooking system described in Patent Document 5 described above is a system that saves labor for boiling pasta, but does not have a device for heating and cooking boiled noodles or ingredients. Further, the pasta cooking system described in Patent Document 5 does not disclose how to take an order from a customer.
- the cooking assistance robot described in Patent Document 6 it is not possible to automate the cooking of food because it only mixes the cooking ingredients in the cooking container. Further, the cooking assistance robot described in Patent Document 5 does not disclose how to take an order from a customer.
- an object of the present invention is applicable to various dishes, a food automatic provision system capable of space saving and automation, a restaurant, an automatic restaurant system, a food automatic provision method, a program and a storage medium. To provide.
- the dish automatic provision system of the first aspect of the present invention is a dish automatic provision system capable of cooking a plurality of types of dishes according to a customer's order, A device that can heat noodles according to the order, A heating device for heating the cooking container, A feeder for supplying food to the cooking container, A moving device capable of moving the cooking utensil; Have The moving device moves the cooking container to at least a position where food is supplied from the feeder, a position where the heating device is heated, and a position where the cooked noodle is received from a device capable of heating the noodle.
- Can The heating device is characterized in that the cooking container can heat and cook the food material supplied from the supply device according to at least the order.
- a dish automatic provision system is the dish automatic provision system according to the first aspect, (2-1) A supply container supply device for storing the supply container and supplying it to the serving position, (2-2) Serving device for serving the food on the serving container to the customer, (2-3) Cooking container cleaning device for cleaning the cooking container after use, (2-4) A donation container cleaning device for washing the donation container after use, (2-5) Used provided container transporting device that collects the used provided container from the customer and conveys it to the provided container cleaning device for cleaning, or (2-6) Post-washing service container transporting device for transporting the service container after cleaning from the service container cleaning device for cleaning the service container after use to the service container supplying device for storing the service container and supplying the service container to the serving position , (2-7) Noodle supply device for supplying noodles to a device capable of heating the noodles, (2-8) A noodle feeding device that feeds the noodles according to the order from a plurality of types of noodles to a boiler, (2-9) Non-heated noodle supply device
- the food automatic provision system of the third aspect of the present invention is the food automatic provision system of the second aspect, Means for serving food in the container provided in (2-1) above, A means for transporting the cooking container of (2-3) to the cooking container cleaning device, or At least one of the means for taking out the cooking container of (2-3) from the cooking container cleaning device is the moving device.
- a food automatic provision system is the food automatic provision system according to the second or third aspect, wherein the serving device according to the above (2-2) and the used food providing container according to the above (2-5). At least two of the transfer device and the post-washing container supply device in (2-6) can be shared.
- a food automatic provision system is the food automatic provision system according to any one of the first to fourth aspects, wherein the moving device receives the food from the cooking container at least from the feeder. It is characterized in that it can be moved to a position, a position to be heated by the heating device, a position to receive cooked noodles from the noodle heating device, a position of a serving device, or a position to wash the cooking container.
- a dish automatic provision system is the dish automatic provision system according to any one of the first to fifth aspects,
- the moving device comprises a plurality of movable cooking container holding devices,
- the cooking container gripping device is capable of gripping and moving at least the cooking container, and adjusting the posture of the cooking container,
- the plurality of cooking container holding devices can move the plurality of cooking containers to a desired position in cooperation with each other.
- a food automatic provision system is the food automatic provision system according to any one of the first to sixth aspects, wherein the noodle heating device and/or the heating device can perform a plurality of cookings at the same time. It is characterized by being.
- An automatic food provision system is the automatic food provision system according to any one of the first to seventh aspects,
- a noodle supply device for automatically supplying noodles to the noodle heating means is provided,
- the noodle supply device includes at least noodle storage means for storing the noodles at a desired temperature, and noodle extraction means for extracting a predetermined amount of noodles from the noodle storage means, It is characterized in that it comprises a noodle carrying means for carrying the noodles taken out by the noodle taking-out means to a predetermined position of the noodle heating means.
- a ninth aspect of the present invention is an automatic dish providing system according to any one of the first to eighth aspects, in which the noodle supply device selects from among a plurality of types of noodles according to a customer's order. It is characterized in that a predetermined amount of predetermined noodles is taken out and the noodles are automatically supplied to the noodle heating means.
- a food automatic provision system is the food automatic provision system according to any one of the first to ninth aspects,
- the heating device is Equipped with electromagnetic heating means, While heating the cooking container while rotating it in a predetermined posture, It is characterized in that it is possible to stir the food in the cooking container.
- the food automatic provision system is the food automatic provision system according to any one of the first to tenth aspects,
- the food supply device While storing multiple types of ingredients, It is characterized by automatically supplying a predetermined amount of a predetermined ingredient from a plurality of kinds of ingredients to a cooking container according to a customer's order.
- a food automatic provision system is the food automatic provision system according to any one of the first to eleventh aspects,
- Customer orders are (12-1) Accepting interactive orders, (12-2) Accept orders with customized menus, (12-3) Accepting orders from wireless communication terminals, (12-4) Accepting orders from dedicated terminals, (12-5) Accepting orders by voice recognition, or (12-6) Accepting orders by image recognition, Is possible by at least one of the above.
- a thirteenth aspect of the automatic food provision system of the present invention is characterized in that the dish automatic provision system according to any one of the first to twelfth aspects is capable of cooking other than noodle dishes.
- the fourteenth aspect of the present invention is an automatic food provision system characterized in that the cooking automatic provision system according to any one of the first to thirteenth aspects is further provided with another cooking device.
- a restaurant according to a fifteenth aspect of the present invention is characterized by being provided with the automatic dish providing system according to any one of the first to fourteenth aspects.
- the restaurant of the 16th aspect of the present invention is the restaurant of the 15th aspect, (16-1) Automatically grasp the availability of seats in the store, (16-2) Customers can check vacant seats remotely, (16-3) Allowing customers to reserve seats remotely (16-4) Customers can order menus remotely, (16-5)
- the provision of food to customers is automated, (16-6) It is possible to settle charges from the customer's terminal, (16-7)
- the serving is automated, (16-8) Recovery of the provided container after use is automated, (16-9) Cleaning of the provided container after use is automated, (16-9) Replenishment of the supply container after cleaning is automated, (16-10) Cleaning of the cooking container after use is automated, (16-11)
- Guidance to the customer's seat in the store is automated, (16-12)
- the provision of food to customers is automated, (16-13) Prediction of orders from customers is automated, (16-14)
- the order for purchasing foodstuffs is automated, or (16-15)
- the delivered food materials are automatically replenished in the feeder, At least one of the above can be performed.
- the restaurant automatic system is an automatic restaurant system in which a dish provided according to an order from a customer is automatically cooked.
- (17-1) Automatically grasp the availability of seats in the store, (17-2) Customers can check vacant seats remotely, (17-3) Customers can reserve seats remotely, (17-4) Customers can order menus remotely.
- An automatic dish providing system is the automatic dish providing system according to any one of the first to fourteenth aspects, which includes at least a noodle supply device, a cooking container moving device, and a noodle heating device.
- the noodle supply device automatically supplies the noodles to the noodle heating means, Noodle storage means for storing the noodles at a desired temperature, Noodle extraction means for extracting a predetermined amount of noodles from the noodle storage means, and With a noodle carrying means for carrying the noodles taken out by the noodle taking-out means to a predetermined position of the noodle heating means,
- the noodle supply device takes out a predetermined amount of predetermined noodles from a plurality of types of noodles according to the customer's order, and automatically supplies the noodles to the noodle heating means
- the cooking container moving device is a cooking container moving device that includes at least one movable cooking container gripping device and moves a cooking container provided with a convex portion on an outer periphery, The
- a noodle automatic feeder is A noodle supply device for automatically supplying noodles to the noodle heating means, Noodle storage means for storing the noodles at a desired temperature, Noodle extraction means for extracting a predetermined amount of noodles from the noodle storage means, and It is characterized in that it comprises a noodle carrying means for carrying the noodles taken out by the noodle taking-out means to a predetermined position of the noodle heating means.
- a noodle automatic feeder according to a twentieth aspect of the present invention is the noodle automatic feeder according to the nineteenth aspect, wherein a predetermined amount of a predetermined noodle is taken out from a plurality of types of noodles according to a customer's order,
- the feature is that noodles are automatically supplied to the heating means.
- a cooking container moving device is A cooking container moving device comprising at least one movable cooking container gripping device for moving a cooking container provided with a convex portion on an outer periphery, The cooking container gripping device is capable of gripping and moving the convex portion of the cooking container and adjusting a posture thereof.
- the noodle heating device is A noodle heating device that heats noodles in a basket and takes out the heated noodles into a container, The operation of heating the noodles in the basket, The action of lifting the basket containing the heated noodles, Below the lifted basket, and the operation of placing the container at a predetermined position above the position for heating the noodles, and The operation of moving the noodles in the basket to the container by tilting the lifted basket is characterized.
- the method for automatically providing dishes according to the 23rd aspect of the present invention A cooking method capable of cooking multiple types of dishes according to a customer's order, Heating the noodles according to the order by the noodle heating device, Heating the cooking vessel with a heating device, Supplying food to the cooking container by a food supply device, Moving the cooking container by a moving device, Have The moving device may move the cooking container to at least a position where food is supplied from the food supply device, a position where the food is heated by the heating device, or a position where cooked noodles are received from the noodle heating device.
- the heating device is characterized in that the cooking container can heat and cook the food material supplied from the supply device according to at least the order.
- a program according to a twenty-fourth aspect of the present invention is characterized by causing a computer to execute at least one step or means in the method for automatically providing dishes according to the twenty-third aspect.
- a storage medium according to a 25th aspect of the present invention is characterized by storing the program according to the 23rd aspect.
- FIG. 1 It is a perspective view of the automatic food provision system 1 of 1st Embodiment. It is a perspective view from another angle of FIG. 1. It is a perspective view from another angle of FIG. It is a perspective view of the automatic food provision system 1 of 2nd Embodiment. It is a perspective view from another angle of FIG. It is the perspective view which carried out the transparent processing of the outer frame etc. of the foodstuff feeder of FIG. It is explanatory drawing explaining the washing
- FIG. 16 is an operation explanatory diagram of FIG. 15. It is a perspective view of a foodstuff container removal device.
- FIG. 18 is a plan view of FIG. 17.
- an automatic dish providing system a restaurant, an automatic system for restaurants, an automatic dish providing method, a program, and a storage medium according to the embodiments of the present invention will be described with reference to the drawings.
- the embodiments shown below exemplify a dish automatic provision system, a restaurant, a restaurant automatic system, a dish automatic provision method, a program and a storage medium for embodying the technical idea of the present invention, The invention is not limited to these, but is equally applicable to other embodiments within the scope of the claims.
- FIG. 1 is a perspective view of the first embodiment.
- FIG. 2 is a perspective view from another angle of FIG. 1.
- FIG. 3 is a perspective view from another angle of FIG.
- the dish automatic provision system 1 of the present embodiment supplies ingredients and noodles, cooks the dish, provides the dish arranged in the provision container to the customer, and cleans the provision container or the cooking container. It is a system that can do such things.
- the automatic dish providing system 1 of the present embodiment can also handle a plurality of types of noodle dishes, such as pasta, ramen, champon, soba, udon, somen, new noodles, cold wheat, hoto, kishimen, yakisoba, and the like.
- the automatic dish providing system 1 includes various types of pasta such as spaghetti, linguine, fitcine, lasagna, macaroni, and penne, and sauces, soups, ingredients, recipes, etc. It is also possible to cook multiple types of dishes. In addition, as described later, it is possible to cook dishes other than noodle dishes.
- the dish automatic provision system 1 of the present embodiment is capable of heating and cooking ingredients or noodles by the noodle supply device 10, the boiler 11, the basket 12 for boiling the noodles in the boiler 11, the food supply device 13, and the cooking utensil 14.
- the machine 21 includes a supply container cleaning machine for cleaning used dishes such as the supply container 17 (not shown).
- a providing container capable of providing one boiler 11 having one noodle supplying device 10 and two baskets 12, two electromagnetic cookers 16 and two providing containers.
- a pair of units including the supply device 18 are provided on both left and right sides in FIG. 1 in a symmetrical arrangement. Both units can share one food material supply device 13, but the present embodiment is not limited to this, and one food material supply device 13 may be provided.
- the electromagnetic cooker 16 is described as an example of the heating device in the present embodiment, the present embodiment is not limited to this, and may be, for example, a gas cooker, an electric heat cooker, or the like. ..
- the noodle supply device 10 stores a plurality of meals of at least one kind of noodles 30 from among various kinds of noodles 30 and supplies the noodles 30 to the basket 12.
- Noodles 30 are stored in the noodle supply device 10 in a state in which the noodles 30 are collected for each serving, and the noodles 30 are supplied to the basket 12 for each serving.
- the inside of the noodle supply device 10 is set to a freezing temperature so that the frozen noodles 30 can be stored. In this case, by matching the shape of the frozen noodles 30 with the shape of the basket 12, it becomes easy to put the noodles 30 into the basket 12.
- the noodle supply guide (not shown) provided in the noodle supply device 10 causes the noodles 30 delivered from the noodle delivery part of the noodle supply device 10 to be in the basket. It is put in such a state that it fits properly in 12.
- the noodles 30 may be dry noodles, raw noodles, or the like.
- Means for bundling the noodles 30 one meal at a time, and means for releasing the noodles from the means for bundling the noodles 30 when the noodles 30 are put into the basket 12 may be provided.
- the noodles 30 are grouped into one serving, and the amount of this serving can be a normal serving amount for one person.
- the noodle serving device 10 is provided with a large serving and a small serving. It is possible to separately store the amount of food and to take out a predetermined amount of noodles 30 according to an order from a customer.
- the noodle supply device 10 can store a plurality of types of noodles separately and can take out a predetermined type of noodles 30 according to an order from a customer.
- the basket 12 has water permeability that allows the noodles to come into contact with the hot water in the boiler 11, and the material is not particularly limited, but is, for example, metal, resin, wood, or the like.
- the shape of the car 12 is a bottomed quadrangular prism, but the present embodiment is not limited to this, and may be, for example, a bottomed cylindrical column or a bottomed rectangular column.
- the shape of the basket 12 preferably corresponds to the shape of the frozen noodles.
- the shape of the frozen noodles is, for example, a rectangular parallelepiped shape.
- the basket 12 is configured to be movable up and down between a lowered position where the noodles are boiled in the boiler 11 and a raised position where the noodles 30 are supplied from the noodle supply device 10.
- the raised position may be a height position where the boiled noodles 30 are put in the cooking container 14.
- the basket 12 can move in a substantially horizontal direction in the ascended position, and the noodle supply position from the noodle supply device 10, the position above the boiler 11 and the noodle 30 in the cooking container 14 above the electromagnetic cooker 16. It is possible to move in a substantially horizontal direction between the positions for inserting.
- the noodle supply position from the noodle supply device 10, the position above the boiler 11 and the position where the noodle 30 is put in the cooking container 14 above the electromagnetic cooker 16 are on a straight line.
- the movement of the car 12 at the upper position is substantially parallel movement.
- the description has been given on the assumption that the car 12 can be moved to a position above the cooking container 14 placed on the electromagnetic cooker 16, but the present embodiment is not limited to this.
- the car 12 can be moved.
- the cooking container 14 is moved by the robot arm 15 so that the cooking container 14 is positioned below the basket 12 and the noodles in the basket 12 are placed in the cooking container 14. Can be inserted.
- the moving device is exemplified by the robot arm 15 (for example, an articulated robot arm, refer to FIG. 1), but the present embodiment is not limited to this.
- a moving device that moves, a moving device having an extendable/contractible arm, a moving device that can move up and down, and a moving device that combines a plurality of actuators may be used.
- the noodles in the basket 12 are cooked. It can be poured into 14. Further, for example, when the bottom of the basket 12 is controlled to be openable and closable, the noodles 30 in the basket 12 are controlled so that the bottom of the basket 12 is opened above the cooking container 12. Can be put in. When the basket 12 moves in a substantially horizontal direction to the top of the providing container 17, it is possible to put the noodles 30 in the basket 12 directly into the providing container 17.
- the boiler 11 is described as an example of the device for heating the noodles, but the device for heating the noodles is not limited to the boiler 11 in the present embodiment, and for example, a steamer (not shown) or It may be a stew or the like.
- the boiling device 11 can be used not only for boiling noodles but also for boiling vegetables, boiling gyoza, and various ingredients. If the basket 12 can be moved to the food supply port of the food supply unit 13, the car 12 can receive a predetermined amount of the predetermined food from the food supply unit 13 according to the customer's order. It is possible to cook in the boiler 11 for a predetermined time.
- the electromagnetic cooker 16 can also be used for dishes other than noodle dishes. By placing the cooking container 14 on the electromagnetic cooker 16, it is possible to provide various dishes such as stir-fried dishes, stewed dishes, grilled dishes, and cooked dishes in addition to noodle dishes. is there.
- the boiler 11 can set the boiling time by moving the basket 12 up and down. Boiling time is automatically set according to the type of noodles (pasta, ramen, soba, udon, etc.) and condition (frozen, dried noodles, raw noodles, etc.) and amount (normal serving, large serving, small serving, etc.) To be done.
- the boiler 11 is depicted as accommodating two baskets 12 at the same time, but the number of the baskets 12 is not particularly limited and may be one or three or more. Good.
- the number of baskets 12 that can be put into the cooking device 11 at the same time is two, which is the same as the number of the electromagnetic cooking devices 16.
- the boiler 11 has two car storage spaces, and the two baskets 12 can be stored in either of the two storage spaces of the boiler 11. Further, the two cars 12 can be moved vertically and horizontally independently. Therefore, according to the customer's order, the noodle supply device 10 can supply the noodles 30 to the basket 12 at an appropriate timing, and the noodles 30 supplied to the basket 12 by the boiling device 11 can be boiled for a preset time. it can.
- the boiling time is determined according to the customer's order. For example, in the case of pasta, the boiling time is adjusted according to the menu (recipe or cooking method).
- the boiling water 11 is automatically adjusted in terms of the temperature of hot water, the amount of hot water, and the like, and when the hot water needs to be replaced, the cooking status, the order status, the type of noodles, the type of boiled food, the amount of cooking, etc. It is automatically managed according to the frequency, etc., and the hot water exchange work can be performed automatically.
- the cooking container 14 is, for example, a bottomed cylindrical frying pan.
- the food supplier 13 stores a plurality of kinds of foods, and can supply the foods to the cooking container 14 according to the customer's order. In the food supplier 13, the food is stored under temperature conditions (refrigerating, freezing, normal temperature, heat retention) suitable for the food to be stored.
- the foodstuff supply device 13 stores not only solid foodstuffs but also sauces, soups, various ingredients, seasonings, condiments and the like. 14 are supplied.
- the foodstuffs stored in the foodstuff supply device 13 include foodstuffs that have been cooked for preparation, and these preparations are performed by a separately arranged foodstuff preparation means.
- the cooking of tomato puree, the soup cooking of soup, the preparation of ingredients such as the cooking of scallions can be carried out by an automatic cooking machine, for example, this may be done manually, or, It is also possible to store the food prepared in another place in the food supplier 13.
- the food supply device 13 is provided with a supply port according to the food product. For example, if the food product is a solid ingredient, the measured amount is supplied to the cooking container 14 from the supply port.
- a valve is provided at the supply port, and the measured amount of sauce or soup is supplied to the cooking container 14 from the supply port.
- the shapes and colors of each ingredient are recognized as an image. It is conveyed to the processing means for grasping the type and condition and performing the processing suitable for the food material. At the time of this transportation, it is necessary to pick up by picking up an appropriate place of each foodstuff, for example, according to the kind and state of the foodstuff. For the image recognition of foods, refer to the embodiments described later.
- Control of the robot arm 15 and food supply so that the cooking container 14 is moved to a position corresponding to the supply port of the food supply device 13 by the robot arm 15 and then a predetermined amount of the predetermined food is supplied to the cooking container 14. It is interlocked with the control of the container 13.
- the cooking container 14 supplied with the food from the food supply device 13 is moved to the electromagnetic cooker 16 by the robot arm and heated and cooked. For example, if only the soup is warmed, it is not necessary to stir the food in the cooking container 14 during the cooking by the electromagnetic cooker 16.
- the placing surface of the cooking container 14 of the electromagnetic cooker 16 is shown on a plane, but the present embodiment is not limited to this, and for example, the placing of the cooking container 14 of the electromagnetic cooker 16 is described. It is also possible to make the placing surface a concave portion that matches the shape of the cooking container 14.
- the food container in the cooking container 14 can be agitated by placing the cooking container 14 in the recess with a predetermined angle and rotating the cooking container 14 in the recess by a motor or the like. (In this case, the cooking container 14 performs a rotary motion with the rotation axis tilted in a predetermined direction). Further, for example, by holding a spatula (not shown) with the robot arm 15 and controlling the robot arm, the food in the cooking container 14 on the electromagnetic cooker 16 can be stirred by the spatula.
- a spatula not shown
- a plurality of providing containers 17 are stored in the providing container supply device 18, and in FIG. 1, two providing containers 17 can be provided at a position adjacent to the electromagnetic cooker 16.
- the serving method of the present embodiment is not limited to this, and for example, the robot arm 15 can hold the cooking scooping tool and the dish in the cooking container 14 can be served by the cooking scooping tool. it can.
- the used cooking container 14 is carried to the washing machine 19 by the robot arm 15 and washed. The cooking container 14 after cleaning is taken out by the robot arm 15 and used for the next cooking.
- the food container stored in the food material supply device 13 can be put directly in the food container 17.
- the soup stored in the food material supply device 13 may be poured directly into the providing container 17, or food materials such as ingredients, toppings, condiments and the like may be served.
- the noodles 30 are put into the basket 12 from the noodle supply device 10 and boiled in the boiler 11 for a predetermined time.
- the food container supply device 18 supplies a predetermined amount of food to the cooking container 14, and the food is cooked by the electromagnetic cooker 16.
- the boiling time of the noodles and the time when the cooking of the ingredients by the electromagnetic cooker 16 is completed and ready to receive the noodles are controlled to be related to each other, and the cooking time in the cooking container 14 is controlled.
- the boiled noodles can be put into the cooking container 14 in accordance with the progress of the above.
- each unit has one robot arm 15, one noodle supply device 10, one washing machine 19, and one food supply device 13 common to both units.
- each part is controlled in coordination, the priority order and the control order are adjusted, and the progress of all dishes is controlled appropriately. To be done. For example, in the case of pasta dishes, it is important to boil the noodles to finish with al dente, and the cooking time to cook the noodles and then mix the sauce and pasta in the cooking container 14 by the electromagnetic cooker 16.
- the priority order and the sequence are determined so that these times can be appropriately managed.
- the robot arm 15 selects the pasta cooked.
- control such as shifting the time to start boiling the pasta put in the two baskets 12 is performed.
- increasing the number of robot arms 15, increasing the number of baskets 12 that can be put in the boiler 11 at the same time, providing a moving route that allows multiple baskets 12 to move simultaneously, and increasing the number of washing machines 19 It is possible to increase the number of food supply devices, allow noodles to be fed into the plurality of baskets 12 from the noodle supply device 10 at the same time, and to provide a plurality of automatic catering machines 21. It is necessary to consider issues such as cost.
- the cooking cooked by the electromagnetic cooker 16 is not limited to adding all the ingredients at the same time. Depending on the cooking menu, the food with a long heating time is heated first, and then the food with a short heating time is added. You can also do so.
- the menu is pasta
- the ingredients and pasta sauce supplied from the ingredient supply device 13 to the cooking container 14 are fried by the electromagnetic cooker 16 and then the pasta (noodles) boiled by the boiler 11 is cooked. 30) is put into the cooking container 14, the ingredients and the pasta sauce are mixed with the pasta, and the pasta is mixed with the serving container 17, and if necessary, topping is supplied from the food material supply device 13 to prepare the pasta dish. Complete.
- the boiled noodles 30 are put in the providing container 17, and then the juice heated by the electromagnetic cooker 16 or the warm soup from the food supply device 13 is added to the providing container 17, Then, the ingredients such as ingredients, toppings, condiments, etc. are placed from the ingredient supply device 13 to complete.
- the soup cooked by the electromagnetic cooker 16 or the warm soup supplied from the food supply device 13 is poured into the serving container 17, and the noodles 30 boiled by the boiling device 11 are added thereto, Finally, ingredients such as ingredients, toppings, seasonings, etc. are placed from the ingredient supply device 13 to complete the process.
- the catering conveyor 20 and the automatic catering machine 21 can serve the dishes on the serving container 17 to the customer who received the order.
- the serving conveyor 20 can receive a serving container on which food is provided from a serving container supply device, and can serve the food to a serving canter of a customer who has ordered the food.
- the dish may be handed over to the automatic catering machine (not shown), and the dish may be served to the customer who ordered the dish.
- the automatic catering machine 21 since the automatic catering machine 21 is of a self-propelled type, it can receive a serving container in which food is served from the serving container supply device and serve the food to a customer who ordered the food. ..
- the dish automatic provision system includes means (not shown) for receiving an order from a customer.
- Means for accepting orders from customers include, for example, accepting interactive orders, accepting customized menu orders, accepting orders from wireless communication terminals, accepting orders from dedicated terminals, and voice recognition. It is possible to accept the order by, and accept the order by image recognition. These selections are performed interactively on the mobile terminal, and the help screen can be taken into consideration, so that the customer can easily select or input. For example, it is possible to receive a customized order that the customer likes. By storing the customer's past orders in the system, it is possible to present the customer with a menu unique to the customer or a popular menu at the time of ordering. For example, it is possible to provide a menu customized by a specific customer as a recommended menu or a regular menu.
- customers can order wirelessly from their mobile terminals, they can place orders even from a location away from the system, for example, outside the store.
- the time to actually arrive at the store can be input in advance, and when the customer arrives at the store, a simple operation or, for example, a geofence is performed automatically by the customer. The position is determined and food is provided.
- the system 1 may be provided with a predetermined order reception (not shown), and voice recognition may be used to recognize the customer's voice order.
- a voice guide or text display such as "Customer number XX. We are making it right now, please wait a moment.” will inform the customer of the customer number and cook the food as ordered.
- the food can be provided to the customer who ordered the food in front of the canter where the food is conveyed by the catering conveyor 20.
- the customer can recognize the dish ordered by the customer.
- the providing container 17 may be provided with a device for attaching an identification number. Alternatively, it is possible to serve the ordered food by the automatic catering machine 21 up to the seat where the customer is.
- the customer identification number is added to the provided container 17.
- this identification number also includes a barcode and the like.
- the automatic catering machine 21 is equipped with a bar code reader, and grasps the information of the customer of the catering destination from the bar code attached to the beverage container. Since the customer has a portable terminal, the automatic beverage providing system can grasp the customer's position information in the store. Thereby, the beverage serving device can grasp the position of the table of the customer of the delivery destination from the customer information attached to the beverage container.
- a bar code reader is used here as an example, the present embodiment is not limited to this.
- the system 1 is configured to transmit the data of the food to be served to the automatic catering machine 21. It is also possible.
- the automatic catering machine 21 is, for example, an automatic transporting device that is capable of self-propelled in the store, and is guided by a guide pattern provided on the floor of the store and the position information means of the beverage catering device to the table of the target customer. You can serve food.
- the automatic catering machine 21 can also collect the used container of the customer and convey the used providing container 17 to the providing container washing machine (not shown).
- the automatic catering machine 21 is equipped with an image recognition device and a robot arm, it is possible to recognize the container that the customer has used and collect the container with the robot arm.
- When collecting used containers ask the customer for permission to collect the containers, and if the customer gives permission, notify the customer to collect the containers. It is desirable to collect the container.
- chopsticks, lotus, spoons, forks, knives, towels, napkins, etc. are collected.
- the collected chopsticks, lotus, spoons, forks, knives, etc. are washed and dried by the provided container washing machine or another washing device, and stored in a predetermined storage means until they are provided to the customer.
- the hand towel, napkin, etc. are washed and dried by the washing means, and are stored in a predetermined storage means until they are provided to the customer.
- cooking, provision, collection, washing, washing, etc. of chopsticks, lotus, spoons, forks, knives, towels, etc. can be automated by using the automatic catering machine 21.
- the automatic catering machine 21 can accept orders from customers without using a mobile terminal. For example, it is possible to recognize a customer's voice order by voice recognition by providing a predetermined order receiving means in the automatic catering machine 21. When an order is accepted, a voice guide or text display such as "Customer number XX. We are making it right now, please wait a moment.” is sent to the customer to notify the customer number and the system 1 Send. In the system 1, the food is cooked as ordered, and the automatic catering machine 21 serves the food to the customer's seat.
- the used providing container 17 collected by the automatic catering machine 21 or the providing container 17 collected from the device (not shown) that receives the used providing container 17 from the customer is provided by the providing container cleaning device (not shown).
- the provided container 17 that has been washed, dried, and washed is carried to the provided container supply device 18 by the automatic catering machine 21 and stored therein.
- all the steps of the automatic food provision system 1 are described as being automated, but the present embodiment is not limited to this.
- the work of adjusting the arrangement and adding the topping ingredients is manually performed. It is also possible to carry out in order, to arrange dishes manually, to receive orders manually, and the like.
- FIG. 4 is a perspective view of the automatic dish providing system 1 of the present embodiment.
- FIG. 5 is a perspective view from another angle of FIG. 4.
- the dish automatic provision system 1 of the present embodiment supplies ingredients and noodles according to a customer's order, cooks a dish, and provides the dish prepared in a serving container to the customer. It is a system that can wash the provided container or cooking container, and each device of the system is automatically controlled and adjusted.
- a plurality of types of noodle dishes for example, pasta, ramen, champon, soba, udon, somen, new noodles, cold wheat, hoto, kishimen, yakisoba. Etc.
- the automatic dish providing system 1 includes various types of pasta such as spaghetti, linguine, fitcine, lasagna, macaroni, and penne, and sauces, soups, ingredients, recipes, etc. It is also possible to cook multiple types of dishes. In addition, as described later, it is possible to cook dishes other than noodle dishes.
- the ingredients or noodles can be heated and cooked by the noodle supply device 10, the boiler 11, the washing machine 19 for washing the cooking container 14, and the cooking container 14 in order from the left side of FIG.
- a supply container supply device 18 that stores the supply container 17 and supplies the necessary type of supply container 17 to the mounting position of the mounting device 43 is provided.
- the dish automatic provision system 1 includes the cooking vessel 14 between the noodle feeding device 10, the boiler 11, the washing machine 19, the heating and cooking device 41, the cooking container standby part 42, the food material feeding device 13, and the serving device 43.
- the cooking container gripping device 40 is provided for gripping and moving the cooking utensil and adjusting the posture.
- the noodle supply device 10 is a device that stores noodles and supplies a predetermined amount of noodles of a type according to an order.
- the noodle supply device 10 can store any type of noodles such as raw noodles, dry noodles, frozen noodles, etc., and in order to set conditions such as temperature and humidity according to the type of noodles. , Temperature and humidity adjusting means.
- the noodle supply device 10 is provided with a temperature control means capable of adjusting the temperature to a freezing temperature range.
- the noodle supply device 10 can store a plurality of types of noodles and can adjust the amount to be taken out, and can supply a desired amount of noodles of a desired type according to a customer's order. ..
- the noodle supply device 10 can store various kinds of pasta such as spaghetti, linguine, fitcine, lasagna, macaroni, and penne.
- the quantity it is possible to support multiple types of sizes such as normal, small, large, and special.
- normal-sized noodles and half-sized noodles prepare normal-sized noodles and half-sized noodles, provide one normal-sized noodle in the normal serving, and provide one half-sized noodle in the small serving, It is possible to provide one normal-sized noodle and one half-sized noodle for the large serving, and two normal-sized noodles for the special serving. From the capacity of the boiler 11, if the special amount is too large for one boil, the noodle supply device 10 will provide two regular-sized noodles to the boiler 11 and boil the boiler. Then, normal-sized noodles may be boiled twice, and the noodles boiled twice may be supplied to the cooking container 14 as one serving of special-sized noodles. It is also possible to increase the size of the frozen noodles for one serving, in addition to the normal-sized noodles and the half-sized noodles, the large-sized noodles, the special-sized noodles, and the like, and increase the size of the noodles.
- the noodles are stored in multiple rows in the noodle supply device and in multiple rows in each row.
- the stored noodles are sent to the noodle guide unit 31 one by one for each row in order.
- FIG. 5 exemplifies a noodle supply device having 6 storage spaces. For example, when noodles are supplied in order from the top stage of the 6 storage spaces and the top stage noodles run out. , The second stage, then the third stage, and so on. In each stage, for example, the noodles are sent to the noodle guide unit 31 in the rightmost row of the plurality of rows, or one meal from the front of each row.
- the noodle guide portion 31 sends the noodles down the inclined surface of the noodle guide portion 31 and is placed on the noodle receiving portion 32.
- the noodle receiving portion 32 can move up and down, and picks up the noodles to the position of the noodle guide portion 31 on the stage where the noodles are supplied.
- the noodle receiving section 32 on which the noodles are placed is moved up and down by the elevating mechanism 34, thereby moving the noodle receiving section 32 to the position of the noodle supply section 33.
- the posture of the noodle receiving unit 32 is adjusted so as to send the noodles to the supply unit 33. That is, the noodle receiving part 32 rotates horizontally at a height corresponding to the noodle supplying part 33, and the guide part of the noodle receiving part 32 is aligned with the position of the noodle supplying part that supplies the noodles.
- the guide of the noodle receiving part 32 is aligned with the inclined part provided in the noodle supply part 33, and the noodles are guided along this inclined part. It slides and is put in the basket 12 of the boiler 11.
- two baskets 12 are prepared, and two noodle supply units 33 are also provided at positions corresponding to the baskets.
- the noodles are boiled for the required time according to the customer's order, and the boiled noodles are transferred to the cooking container 14 in which the ingredients and sauce are cooked in advance.
- the basket 12 is lifted up.
- the cooking container 14 is positioned by the cooking container holding device 40 at a position below the lifted basket and above the position at which the noodles are heated, and approximately at the center of the boiler 11.
- the lifted basket 12 is tilted, and the noodles in the basket 12 are transferred to the cooking container 14.
- the position where the cooking container 14 receives the noodles is adjusted according to the position where the basket 12 is lifted.
- the cooking container 14 washed by the washing machine 19 is moved in the food material supply device 13 by the cooking container gripping device 40, and a plurality of kinds of foodstuffs and sauces are supplied from the food material supply device 13 in response to an order from a customer. To be done.
- the food supply device 13 stores a plurality of types of food materials, a plurality of types of sauces, a plurality of types of seasonings, etc. under appropriate temperature and/or humidity conditions.
- the food supply device 13 includes a refrigerating device.
- the cooking container 14 receives the predetermined foodstuff or sauce while being positioned at the supply position of the predetermined foodstuff or sauce in the foodstuff supply device 13 by the cooking container gripping device 40.
- the cooking container 14 that has received the predetermined foodstuff or sauce is carried to the heating container waiting section 42 by the cooking container holding device 40, or the heating and cooking device 41 is empty and it is necessary to boil the noodles and wait for the time. If there is not, it is directly carried to the cooking container receiving position of the heating and cooking device 41.
- two heating material cooking devices 41 are provided. When there is no space in the heating cooker 41, there is time until the heating cooking start time, it is necessary to boil the noodles and wait for the time to boil, and when the cooking containers 14 are transferred between the plurality of cooking container gripping devices 40.
- the cooking container 14 is temporarily held or temporarily placed in the cooking container standby unit 42.
- the two cooking container gripping devices 40 of the present embodiment have their own self-propelled ranges, so depending on the position at which the cooking container 14 is moved, the cooking container gripping devices 40 receive the cooking container 14 between them. May need to be handed over.
- one cooking container holding device 40 can temporarily put the cooking container 14 in the cooking container standby portion 42, and the other cooking container holding device 40 can pick up the cooking container 14 that is temporarily placed.
- the self-propelled range between the cooking container holding devices 40 can be set to overlap. The time to start the heating cooking, the heating time in the heating cooking, the heating intensity of the heating cooking, etc. are automatically adjusted according to the customer's order.
- the cooking container 14 is heated by a heating means, for example, an electromagnetic heating means, while being rotated in a state in which the cooking container 14 is held in a posture inclined at a predetermined angle from the vertically upward direction.
- a heating means for example, an electromagnetic heating means
- the cooking container 14 heated and cooked by the heating and cooking device 41 is carried to the noodle receiving position of the boiler 11 by the cooking container holding device 40, and the boiled noodles are put therein.
- the cooking container 14 into which the noodles have been added is again conveyed to the heating and cooking device 41 by the cooking container holding device 40, and the cooking container 14 is heated while rotating, so that the boiled noodles are heated with respect to the food and sauce. It is mixed while being done.
- the cooking container 14 is carried by the cooking container gripping device 40 to the arranging device 43 located at the end of the food material supplying device 13.
- the provision container 17 is prepared at the arranging position of the arranging device 43 by the provision container supplying device 18 at a predetermined position of the arranging device 43.
- the serving device 43 can serve the cooked food on the provision container 17 by inclining the cooking container 14 at a predetermined angle with respect to the provision container 17.
- the provided container 17 is provided to the customer by, for example, the automatic catering machine 21 or the like (see FIG. 1).
- the operation of the automatic catering machine 21 and the like is the same as that of the first embodiment, and the description thereof is omitted.
- two sets of arranging devices 43 are provided, and the supply container supply device 18 can also supply the supply containers 17 corresponding to the arranging positions of the two sets of arranging devices 43.
- the heating times may differ.
- the ingredients having a long heating time are put into the cooking container 14 first, and the ingredients are heated and cooked for a predetermined time by the heating and cooking device 41.
- the food having a short heating time can be added to the cooking container 14 from the food supply device 13 and further cooked for a predetermined time.
- the food may be supplied from the food supply device 13 after the noodles are added to the cooking container 14.
- the time, order, etc. of heating and cooking are automatically planned according to the customer's order and the required food materials.
- the cooking container 14 cooked in the heating and cooking device 41 is passed through the food material supplying device while being conveyed to the arranging device 43 by the cooking container holding device 40, when the food container is passed through the food material supplying device, It is also possible to add topping ingredients to the dish in the cooking container 14 from the supply device.
- the cooking container gripping device 40 moves the cooking container 14 to the topping foodstuff addition position of the foodstuff supply device 13.
- the cooking container 14 is transported to the cleaning device 19 by the cooking container gripping device 40.
- two cleaning devices 19 are provided.
- the lid of the cleaning device 19 is closed, and the cleaning water ejected from the rotating nozzle in the cleaning device 19 causes the cooking container to be cooked.
- the cooking container 14 is washed, and the cooking container 14 is rinsed with the rinsing water ejected from the rotary nozzle, and further, the cooking container 14 is dried if necessary.
- the drying mode of the cooking container 14 can be variously selected according to the operating mode of the cleaning device 19. For example, in the case of washing with warm water, the cooking container 14 can be naturally dried. In addition, it is also possible to blow away the water by blowing air to remove it. Further, for example, drying using cold air or warm air is also possible.
- a plurality of cooking containers 14 are provided, and for example, four cooking containers 14 can be used at the same time for cooking.
- the cooking container gripping device 40 can grip and release the flange portion 45 provided around the entire circumference of the cooking container 14 by a pair of movable gripping claws 46.
- the cooking container gripping device 40 can be self-propelled along a rail 48 (see FIG. 6), can be rotated in the horizontal direction, and is provided with a position/posture adjusting unit 47. Is provided in the position/orientation adjusting unit 47, the grip claw 46 can adjust the position and attitude of the cooking container 14 while holding the cooking container 14.
- the cooking container gripping device 40 can move the cooking container 14, turn it, move it up and down, or adjust the attitude of the cooking container 14 for placement on the heating and cooking device 41.
- FIG. 6 is a perspective view in which the outer frame and the like of the foodstuff supply device are transparent-processed in order to explain the inside of the foodstuff supply device.
- FIG. 6A is a partial perspective view of the cooking container gripping device 40 transporting the cooking container 14 to the vicinity of the cooking container standby portion 42.
- FIG. 6B is a partial perspective view when the cooking container gripping device 40 conveys the cooking container 14 to the vicinity of the serving device 43. Since the flange portion 45 is provided on the entire circumference of the cooking container 14, the cooking container gripping device 40 can grip any part of the cooking container 14 by the gripping claws 46 over the entire circumference of the flange portion 45. Therefore, the positioning control when the cooking container gripping device 40 grips the cooking container 14 can be simplified.
- the cross section of the flange portion 45 can be, for example, L-shaped, and can be formed into a shape that can be easily gripped by the grip claws 46.
- the outer circumference of the cooking container 14 and the L-shaped flange form a U-shaped space that opens downward inside the flange portion 45 over the entire circumference of the cooking container 14. Further, by providing a plurality of holes in the upper surface portion of the U-shaped space, it is possible to discharge the cleaning water accumulated in the U-shaped space at the time of cleaning by the cleaning device 19.
- the cooking container gripping device 40 is configured to be able to travel along the rail 48 by the traveling means 49.
- the traveling means 49 is an electric drive means that surrounds the rail 48.
- two cooking container gripping devices 40 are provided for one rail 48, and the two cooking container gripping devices 40 cooperate with each other to handle a plurality of cooking containers 14. There is.
- the movable range of each of the two cooking container holding devices 40 is defined, but as described above, the movable ranges may overlap each other.
- each device illustrated in the present embodiment is merely an example and does not limit the present embodiment.
- the number of each device is not limited to, for example, two, and may be one. , May be three or more.
- the number of cooking vessels 14 is not limited to four, but may be one or more and may be five or more.
- the present embodiment has been described as automating all the steps of the dish automatic provision system 1, the present embodiment is not limited to this, and, for example, the serving device 43 and the serving container supply device 18 may be used. It is also possible to perform some or all manually.
- the serving of the dishes served on the serving container 17 by the serving device 43 is manually arranged, or, for example, the serving container 17 is manually placed at a predetermined position, and further, for example, as a finish, It is also possible to manually arrange the arrangement and add toppings, for example, manually serve food to the customer, and manually accept orders from the customer.
- the automatic dish supply system 1 of the present embodiment includes a boiler 11, an electromagnetic cooker 16, and a cooking device. In addition to 41, it is equipped with a grill, a deep-fryer, a steamer, a stew, a pressure cooker, a cooler, an oven, a grill, a microwave oven, a rice cooker, etc. It is possible to provide. Furthermore, by combining with an automatic beverage providing system, it is possible to automatically prepare beverages including alcoholic beverages, hot beverages, cold beverages, etc. and pour them into containers to automatically provide them to customers. Collection and cleaning of tableware such as used containers can also be automated by the same means as the collection of used supply containers 17 described above.
- the automatic restaurant of this embodiment includes at least one food automatic provision system 1 according to any of the first to third embodiments, and accepts food orders in accordance with an order from a customer's mobile terminal, etc. You can cook dishes using recipes and cooking methods that are customarily ordered, and serve dishes to customers.
- the automatic restaurant of the present embodiment automatically grasps the vacant seat status in the store, the vacant seat can be confirmed by the customer from a remote location, the seat can be reserved by the customer from a remote location, and the menu can be set by the customer even remotely Can be ordered, the provision of food to customers is automated, the settlement of charges can be done from the customer's terminal, the serving is automated, the collection of provided containers after use is automated Automatic cleaning of the supply container after use, automatic replenishment of the supply container after cleaning, automatic cleaning of the cooking container after use, customer seat in the store Automated guidance to customers, automated serving of food to customers, automated forecasting of customer orders, automated ordering for food purchases, It is possible that the delivered food materials are automatically replenished in the feeder.
- An example of using an imaging device will be described as an example of a means for automatically grasping the vacant seat status in the store.
- An image pickup device such as a camera is provided in the store to take a picture of the seats in the store. By recognizing the photographed image, the vacant seat situation in the store can be automatically grasped in real time. As a result, it is possible to automatically determine the vacant seats in the store and reflect the vacant seat information in the reservation system.
- the customer can check the vacant seats of the store in real time at any time and reserve the desired seat, and at the same time, the customer can also order the food together with the seat reservation. ..
- the ordered food can be provided to the customer at an appropriate timing after entering the store.
- the image pickup means an appropriate means such as a monochrome camera, a color camera, an infrared camera and a video camera can be used.
- the vacant seat can be determined not only by image recognition using a moving image but also by image recognition of a still image at a predetermined interval. Further, by analyzing the food provided to the customer by image recognition, it is possible to grasp at what pace the customer recommends the meal. Therefore, the automatic food provision system 1 can provide food according to the pace of the customer's meal, and at the same time recommend the order of additional food (including desserts and drinks) via the mobile terminal. it can.
- a customer reserves a seat, by indicating the reservation number, customer code, etc. issued at the time of reservation, for example, the bar code, two-dimensional bar code, etc. registered on the customer's mobile terminal can be entered at the store entrance.
- the system 1 recognizes the customer, for example, by holding it over the reading device in FIG. 1 or authenticating the ID code by communication such as short-distance wireless communication from the customer's mobile terminal.
- the seat reserved by the customer is displayed on the customer's mobile terminal or the display device of the store, the customer can recognize the seat reserved by the customer.
- the customer can also be guided to a reserved seat using the automatic catering machine 21.
- the customer When the customer has not made a reservation, the customer notifies the system 1 by wireless communication at the entrance of the store that the customer has visited the mobile terminal, or by communication such as short-range wireless communication from the customer's mobile terminal.
- the system 1 grasps the ID of the customer, confirms the history of past visits to the customer, and proposes an appropriate vacant seat to the customer using the mobile terminal of the customer or the display device of the shop.
- the customer approves the seat, so that the seat of the customer is determined, and means for guiding the customer by a mobile terminal, display on a display device in the store, guiding the customer to the reserved seat using the automatic catering machine 21, and the like Will guide customers to their seats.
- the food can be ordered using the customer's mobile terminal or the exclusive terminal of the store.
- the system 1 presents the expected waiting time, the waiting number of people, etc. to the customer by displaying the waiting time on the customer's mobile terminal or the display device of the store.
- Ask for an answer as to whether the customer will wait for a seat When a customer selects waiting for a seat, the customer is informed of the waiting status at any time, and information such as recommended menus and stores is provided, and when a seat is available, the order of waiting for a seat is available. When the customer's turn comes, follow the instructions above, and guide them to a vacant seat as described above.
- the system 1 of the embodiment in addition to the order data of all customers, order data of other stores, past order history data, weather data, temperature data, humidity data, calendar information, event information, forecasted attendance information, and imaging.
- We grasp various information such as the congestion situation in the store obtained by recognizing the means, and from this information, predict the number of customers and orders for each menu at the store, and check the stock of ingredients and noodles in advance. It is possible to manage and automate the order for purchasing foodstuffs.
- order data of each customer In order to predict the number of visitors and the order of each menu at the store, order data of each customer, past order history data, information from related systems such as other stores, information of information research institutions, and information of the Internet Etc. are available, and it is possible to analyze such a large amount of information, for example, by machine learning using artificial intelligence.
- the stock of foodstuffs etc. corresponding to the order predicted in advance is managed according to the stock management of the system 1 according to the contents of the order.
- the delivered inventory is managed in a predetermined stock location, and is appropriately supplied to the food material supply device 13, the noodle supply device 10, and the like. Replenishment of the foodstuffs or noodles to the foodstuff supply device 13, the noodle supply device 10 and the like can be automated by using, for example, the automatic catering machine 21.
- an automatic dish providing system 1 according to the fifth embodiment of the present invention will be described.
- the application place of the automatic food provision system 1 described in the first to fourth embodiments is not limited to the restaurant in which seat reservation is possible, and is implemented in various modes such as various forms of restaurants and food retailers.
- the dish automatic provision system 1 of the present embodiment it is possible to use the dish automatic provision system 1 of the present embodiment. It is possible.
- the automatic food provision system 1 of this embodiment can also be used in hotels, inns, guest houses, pensions, accommodation facilities, and the like. Further, for example, it is possible to use the dish automatic provision system 1 of the present embodiment also in a cafeteria of a department store, a food court of a shopping mall, an employee cafeteria and the like. Moreover, the automatic food provision system 1 can be installed in a mobile store, for example, in a vehicle, and automatic cooking can be performed while the vehicle is moving or at a destination. Further, the automatic food provision system 1 of the present embodiment can also be used in a store that manufactures and sells food in a store, a small-scale store, a temporary store, a cooking factory, and the like.
- the dish automatic provision system 1 of the present embodiment it is possible to automate all the steps, but it is also possible to adopt a system in which some steps are manually performed. For example, processes such as serving food to the serving container 17 and serving toppings, serving food to customers, guiding customers to seats, confirming vacant seats, making reservations for customs, and receiving food orders from customers in the system 1 It is also possible to manually carry out some of the operations such as inputting the order, supplementing the ingredients and noodles, ordering the ingredients, ordering the ingredients, managing the inventory, and cleaning the provided container 17.
- FIG. 1 An automatic dish providing system 1 according to the sixth embodiment of the present invention will be described.
- the dish automatic provision system 1 described in the first to fifth embodiments can be further applied to a delivery store, a delivery factory, or the like.
- an example in which the automatic dish providing system 1 of the present embodiment is applied to a delivery store will be described.
- a plurality of dishes handled are disclosed together with information on recommended dishes, popular dishes, recipes of dishes, and the like.
- the customer can specify not only these disclosed dishes but also the recipe of the dish and the cooking method (such as the baking time and the amount of cooking).
- the customer's past order history and customer preference data are registered in the order system on the delivery store side, or when the customer registers, orders from many customers under various past conditions are placed.
- machine learning from big data such as history, order history at related stores, etc., based on customer information and customer's ordering situation such as season, date and time, weather, region, related event information, etc. It is possible to propose recommended dishes, recommended recipes, recommended cooking methods, etc.
- the order system at the delivery store When receiving the food information and the addressee information from the customer, the order system at the delivery store notifies the customer of the information about the scheduled delivery time together with the information confirming the received food.
- the order system of the delivery store is linked with the delivery system of the own store and/or the delivery system operated by another person.
- the order system of the delivery store accepts an order from the customer, the order system arranges the delivery of the food to the destination specified by the customer, and the delivery including the content of the received meal and the scheduled delivery time arranged to the customer.
- the delivery information may include delivery route and delivery person information. It is also possible to notify the customer of the change of the delivery time when the scheduled delivery time is changed by a predetermined time or longer, for example, 5 minutes or longer, depending on the progress of cooking, road conditions and the like.
- the above-described automatic food provision system 1 is based on the customer's order, the season, the date and time, the weather, the purchase situation, the state of the purchased ingredients, and other items. Based on a comprehensive judgment of the order status, etc., the customer's order is also considered, and if customer information is registered, the customer's preference information, etc. are also taken into consideration Cooking is automatically performed according to the recipe and cooking method suitable for the customer. Since the ordering system may receive orders for a plurality of different dishes from a plurality of customers at the same time, it is set so that the waiting time for the customers can be shortened by appropriately determining the order of cooking.
- the food is placed in a designated delivery container and automatically delivered to the reserved delivery person by the ordering system. After that, as instructed by the delivery store by the delivery person, the food contained in the delivery container is delivered to the customer through the delivery route to the location designated by the customer within a time predetermined by the delivery system.
- the order system receives an order from a customer, the fee is electronically settled so that cash exchange at the time of delivery becomes unnecessary.
- the delivery person carries the mobile terminal, it is possible to make an electronic payment by the terminal terminal at the time of delivery.
- the delivery person can use an automatic delivery system such as an automatic driving vehicle or an automatic driving drone, in this case, all steps including order reception, cooking, and delivery can be automated unattended. For food safety and traffic safety, part of this automation can be carried out manually or monitored manually, but when part of it is done manually compared to conventional delivery stores Significant labor saving is possible.
- the delivery store has been described as an example, but the present embodiment is not limited to this.
- a delivery factory having a larger scale than the store a delivery in a restaurant or a cafeteria
- a mobile store for example, It can be applied to various forms of food delivery such as local sales and catering in vehicles equipped with an automatic food provision system.
- an automatic dish providing system 1 according to the seventh embodiment of the present invention will be described.
- an automatic cooker for preparing ingredients such as cooking tomato puree, stewing soup, and chopping leeks is added. It was done.
- the shape and color of each food for example tomato or leeks, is recognized by the image, and the type and state of the food can be grasped and the processing suitable for the food can be performed. It is transported to the processing means. At the time of this conveyance, it is necessary to pick up and convey an appropriate position of each foodstuff in accordance with the type and state of the foodstuff by grasping it with a conveyance means, for example, a robot arm.
- the outer shape of the tomato and the shape of the shaving are image-recognized, and the tomato is robotized from the direction of the shaving.
- An example of picking up with an arm will be described.
- the image acquisition device is not particularly limited, but a camera that can acquire a two-dimensional image, for example, a two-dimensional color image is used.
- a camera capable of acquiring a stereoscopic image such as a stereo camera may be used, but here, as an example of using an inexpensive camera, a case of using a camera capable of acquiring a two-dimensional image will be described.
- a neural network is used to output a plurality of information such as the type of food material, the outline of the food material, and the characteristic region of the food material from the two-dimensional image.
- information such as the outer shape of the tomato and the shape and position of the scabbard as a characteristic region is output.
- label the type of object
- outline of the object contour mask image
- this Mask-RCNN can be further developed to obtain not only the outer shape of the object but also the mask image of the characteristic region of the object. That is, in the case of the tomato, it is possible to output the outline of the tomato, the type of the tomato, and the mask image of the tomato foot. Unlike the case of simply learning the outer shape of the object and the feature points of the object separately, the feature area of the object can be obtained by integrally learning and recognizing the outer shape of the object and the partial area in the outer shape of the object. It is possible to obtain a mask image having clear boundaries and the like.
- the image recognition apparatus is given in advance a plurality of data consisting of the image of the object, the area of the object, and the label, and further, a known shape is given as the shape of the characteristic area.
- a known shape is given as the shape of the characteristic area.
- an image of the tomato, a tomato region (outline), and a type of the tomato are given, and further, the shape of the general tomato shaving is given to the Mask-RCNN in advance.
- the center position of the tomato pad is clear in the general shape of the tomato pad, the center position of the tomato pad can be calculated from the mask image of the tomato pad.
- information about the center position of the heat of the tomato in general may be given to the image recognition device in advance to output the center position of the heat of the tomato.
- Solve PNP Solve Perspective-n-Point
- OpenCV Open Computer Vision Library
- SolvePNP Solve Perspective-n-Point
- the position and orientation of the tomato can be calculated from the contour of the tomato and the mask image or center position of the tomato's foot.
- the tomato When viewed from the direction of the foot (hereinafter referred to as "front"), the tomato has a substantially rotationally symmetrical shape without a substantially circular shape on the two-dimensional image.
- the center position of the heather appears to be deviated from the center of the contour of the tomato on the two-dimensional color image, and the shape is not circular or rotationally symmetric.
- the image recognition device of the present embodiment in such a known feature on a two-dimensional image, by calculating what it looks like, in which direction the object is located when viewed from the image acquisition device (object position), You can get how it leans (posture posture).
- the position of an object output by image processing is not accurate in the optical axis direction of the camera (depth direction), and the distance in the depth direction cannot be estimated unless the size of the object is known in advance from the model data of the object. Since the image recognition apparatus of this embodiment is modelless as described above, it is difficult to accurately calculate the distance from the image acquisition apparatus to the object. Therefore, in the present embodiment, a method for estimating the position and orientation of an object without using a model using an image recognition device and picking up the object will be described below.
- the axis of the robot arm may rotate all the way around, or it may go through a singular posture, making it impossible to move the robot arm on the planned trajectory. Need to avoid. Therefore, it is necessary to secure the operability at a certain value or more at the waypoint to the pickup target end point posture according to the posture of the grip member of the robot arm, and to reduce the rotation amount of each axis of the robot arm. Have control.
- a grip sensor for example, a contact sensor, is provided on the grip member of the robot arm.
- the contact sensor reacts, determines that the pickup is successful, lifts the robot arm, and carries the object to the carrying position.
- the image recognition apparatus recognizes an image in a modelless manner with a two-dimensional image, the distance from the image acquisition apparatus to the object cannot be accurately calculated, and the object is placed. Drive the robot arm to the expected height.
- the gripping member of the robot arm reaches the height of the placement surface on which the object is placed, it is determined that the pick-up has failed and the robot arm is pulled up to the standby position.
- the height of the placement surface on which the object is placed is a parameter that the robot arm driving device grasps in advance.
- the image recognition apparatus of the present embodiment can pick up the object by estimating the position and orientation of the object using the two-dimensional image and without registering the model image (modelless). ..
- a two-dimensional color image is used, and in addition to the color and shape of the tomato as a whole, from the mask image of the portion of the tomato, in addition to the type of tomato, it is also possible to determine the degree of freshness or ripeness of the tomato. It will be possible.
- machine learning for example, image recognition using deep learning can be adopted. From the estimated information on the type, freshness and maturity of the tomato, it is possible to further determine the processing method of the tomato by calculation.
- the image recognition apparatus of the present embodiment similarly uses various two-dimensional images for various objects other than the tomato and registers the model image.
- the position and orientation of the object can be estimated even in a state where the object is not performed (modelless), and the object can be picked up using the robot arm based on this estimation.
- the image recognition apparatus of the present embodiment for example, when the object is long onions, it is possible to output a plurality of information such as the type of long onions, the outer shape of the long onions, and a mask image of the white part of the long onions as a characteristic region of the long onions. This makes it possible to use the information obtained by the image recognition device for processing such as picking up by picking up the center of the white part of long onion with the robot arm, or cutting only the white part of long onion. is there.
- an automatic dish providing system 1 according to the eighth embodiment of the present invention will be described.
- an automatic dishwashing system is added to the automatic dish providing system 1 described in the first to seventh embodiments.
- the image recognition device described in the above-described seventh embodiment can also be used when handling these tableware.
- tableware is handled by the image recognition device described above, particularly a system in which the tableware is loaded into a washing machine, taken out, and stored in a container for each type of tableware will be described.
- the image recognition device recognizes the tomato shavings as a characteristic region.
- the image recognition apparatus of the present embodiment is designed so that, in addition to the outer shape of the tableware, a mask image of the yarn bottom region of the tableware can be simultaneously learned and output as the characteristic region.
- the outer shape of the tableware, multitask learning and recognition of the thread bottom of the tableware which is a characteristic area in the outer shape, makes the mask image of the thread bottom area round cleanly. I am able to draw.
- the image recognition apparatus is given in advance a plurality of data consisting of the image of the object, the area of the object, and the label, and further, a known shape is given as the shape of the characteristic area.
- a known shape is given as the shape of the characteristic area.
- tableware a plurality of sets of tableware images, tableware regions (contours), and tableware types (labels) are given for learning.
- the thread bottom shape of a general thread bottom with a known shape (circle, square, rectangle, etc.)
- its position and orientation can be calculated by the following method. According to the inclination of the thread bottom of the tableware, the shape of a circle or the like appears to be elongated and distorted on a two-dimensional image.
- the image recognition apparatus of the present embodiment is not so-called model data, but since the image recognition apparatus is learned by the data relating to the image of a general tableware, various types, colors, and sizes are acquired. It is possible to recognize tomatoes.
- the image recognition algorithm used in the image recognition apparatus of the present embodiment can be the same as that of the above-described seventh embodiment, so a detailed description of this algorithm will be omitted.
- the position of an object output by image processing is not accurate in the optical axis direction of the camera (depth direction), and the distance in the depth direction cannot be estimated unless the size of the object is known in advance from the model data of the object. Since the image recognition apparatus of this embodiment is modelless as described above, it is difficult to accurately calculate the distance from the image acquisition apparatus to the object. Therefore, in the present embodiment, a method for estimating the position and orientation of an object without using a model using an image recognition device and picking up the object will be described below.
- the robot arm moves along a straight line connecting the origin of the camera coordinate system and the object so that the trajectory of the robot arm approaches the object along the optical axis direction of the image acquisition device, for example, a two-dimensional camera.
- the yarn bottom of the tableware is sucked and picked up by the suction surface provided at the tip of the robot arm will be described.
- the robot arm moves along a straight line connecting the origin of the camera coordinate system and the tableware as a pickup trajectory for the robot arm to approach the tableware along the optical axis of the two-dimensional camera.
- the axis of the robot arm may rotate completely or go through a peculiar posture and follow the planned trajectory. It is necessary to avoid that it becomes impossible to control the robot arm. For this reason, manipulability can be secured at a certain value or more at the waypoint up to the target pickup end-point posture according to the tableware posture and position, and the swing angle around the tableware normal such that the rotation amount of each axis of the robot arm is small And use the suction pad properly. That is, the robot arm can be provided with two suction pads having different directions (for example, 90 degrees different directions).
- the robot arm When the suction sensor provided in the vacuum path that vacuums the suction pad reacts, the robot arm is lifted as a successful pickup, and then the tableware is stored in a predetermined storage container or the like. Even if the depth distance is indefinite, the suction pad of the robot arm approaches the thread bottom of the tableware so that the tableware can be picked up. If the suction pad of the robot arm reaches the height of the tabletop placing surface, it is determined that the pickup has failed and the robot arm is pulled up to the standby position. The height of the placing surface on which the tableware is placed is a parameter grasped by the robot arm driving device in advance. Thereby, the image recognition apparatus of the present embodiment can pick up the object by estimating the position and orientation of the tableware using the two-dimensional image and in the state where the model image is not registered (modelless). ..
- the dishes washed by the dishwasher can be washed from the dishwasher or from the dish rack put in the dishwasher to the bottom of the dish. It is possible to bring a suction pad provided on the robot arm into contact with the center of the table, pick up the tableware, and store the tableware in a container for each type of tableware. ..
- FIG. 7 is an explanatory diagram for explaining the washing of the dishes by the dishwasher
- FIG. 8 is an explanatory diagram for the image recognition in the lower tableware picking of FIG. 7.
- the dishwashing process by the dishwasher in the dishwashing process by the dishwasher, (1) lower-zen tableware picking process, (2) leftover rice processing and pre-roughing process, (3) process of placing dishes in a rack, And (4) including the step of taking out the washed dishes from the rack and storing them.
- the step (4) is the same as the step of picking up the yarn bottom of the tableware by the suction pad provided on the robot arm and storing the tableware in the container for each type of tableware.
- the workers of the above (2) and (3) are the steps after the tableware is picked up by the robot arm in the lower tableware picking step of the above (1), and the tableware is pre-washed in a picked state, and then, This is a step of storing dishes in an initial rack for washing according to a predetermined rule.
- FIG. 8 shows a state in which the type of tableware (plate, cup, bowl, chopsticks, etc.) and dust (paper scraps, etc.) are recognized by the image recognition device in the step (1). As shown in FIG. 8, it is possible to distinguish and recognize the type of tableware and dust by the image recognition device of this embodiment. Therefore, based on the information recognized by this image recognition device, it is possible to control the pickup of the tableware by an appropriate tableware gripping means by the robot arm in the lower tableware picking step (1).
- FIGS. 1 A cooking automatic provision system 1 according to a ninth embodiment of the present invention will be described with reference to FIGS.
- a specific example of the food material supply device in the dish automatic provision system 1 described in the first to eighth embodiments will be described.
- an example of the food material supply device is shown, and the present invention is not limited to this embodiment, and food material supply devices of other aspects can also be adopted.
- FIG. 9 is a schematic diagram of the food material supply device 50.
- the food material supply device 50 includes a food material container stock rack 52 for accommodating food material containers 51, a food material container dropping device 53 for dropping a predetermined food material container 51 from the food material container stock rack 52, and a food material container 51 dropped from the food material container dropping device 53.
- a food material container slide device 54 that slides and conveys the food material container slide device 54
- a food material container take-out device 55 that rotates the food material container 51 that is conveyed by the food material container slide device 54 to take out the contained ingredients.
- a food container storage device 56 for stocking the taken food containers 51 is provided.
- the food product containers 51 are arranged in the length direction and the width direction of the food product container slide device 54, and a plurality of food product container stock racks are stacked in the height direction.
- the whole of the food container stock rack 52 can be slid out of the refrigerator while the whole of the food container stock rack 52 is housed in the refrigerator.
- the food material container stock rack 52 is provided with partition plates in a matrix shape in the length direction and the width direction of the food material container slide device 54, and a plurality of food materials is provided in the height direction for each space partitioned in the matrix shape.
- the container 51 is configured to be accommodated.
- the food material container stock rack 52 accommodates, for example, four food material containers 51 in the length direction of the food material container slide device 54, four in the width direction, and eight in the height direction. be able to.
- the food container dropping device 53 drops a predetermined food container 51 accommodated in the food container sliding device 54 onto the food container sliding device 54.
- the food container dropping device 53 can select only predetermined ones from the plurality of food container 51 stored in a matrix in the food container stock rack 52 and drop them one by one.
- the plurality of food material containers 51 of the food material container stock rack 52 can store different kinds of food materials. It is possible to freely set at which position of the food container stock rack 52 the food container 51 containing the food is supplemented according to the type of the corresponding menu. For example, it is possible to replenish a food material container 51 containing the same kind of food material in one partition partitioned in a matrix. At the time of replenishment, it is determined in the cooking automatic provision system 1 which food is to be stored in which position, and the food container 51 in which each food is stored is the food container stock rack 52 as determined in advance. It is stored in place.
- the food material container slide device 54 slides and conveys the predetermined food material container 51 dropped by the food material container dropping device 53 to the discharge position on the left side of FIG. 9.
- the food material container 51 is rotated to take out the food material contained therein, and the empty food material container 51 is opened at the opening side. It moves to the food container stock device 56 while lying down.
- the empty food material container 51 stocked in the food material container stocking device 56 is collected by a food material container collecting means such as a robot arm.
- the empty food material container 51 stocked in the food material container stocking device 56 may be manually collected.
- FIG. 10 is an explanatory diagram of a slide device for a food container stock rack.
- the food material stock rack 52 is entirely housed in the refrigerator, and the entire food container stock rack 52 can be slid out of the refrigerator by the slide device 57.
- FIG. 11 is an explanatory diagram of a food material container.
- 11A is a plan view
- FIG. 11B is a perspective view
- FIG. 11C is a side view
- FIG. 11D is a rear view.
- the food material container 51 has a food material input unit 60, a fall prevention unit 61, a slide unit 62, a bottom prevention unit 63, a rotation shaft 64, and a pressed portion 65.
- the foodstuff input section 60 may have a partition inside, and in the example of FIG. 11, the foodstuff input section 60 is divided into two spaces by one partition.
- a pair of drop-preventing portions 61 protruding laterally are provided on both sides of the food material container 51.
- the food container stock rack 52 is provided with a rail-shaped member that projects inwardly of each space partitioned in a matrix of the food container stock rack 52 and extends in the height direction. This rail-shaped member is inserted between a pair of fall prevention members 61 provided on both sides of the food material container 51, and when the tableware container 51 is replenished from above the food material container stock rack 52, the tableware container 51. By sliding along the rail-shaped member, the food container 51 does not drop in each space partitioned by the matrix of the food container stock rack 52, and the tableware container 51 replenished from the upper position It is designed to slide down smoothly while maintaining.
- the slide portion 62 is provided on the lower surface of the fall prevention member 61, and is designed to slide on the upper surfaces of both side walls of a slide rail 70 (FIG. 15) described later. Accordingly, the food material container slide device 54 can slide the food material container 51 while maintaining a stable posture.
- the bottom prevention unit 63 is provided, for example, in a pair at the lower portion of the food container 51 (lower right end in FIG. 11C), and when the food container 51 is stacked vertically in the food container stock rack 52, it is stocked.
- the food container 51 can be placed on the upper surface flange portion of another food container 51 that is stored immediately below, while keeping the posture of the food container 51 horizontal. Further, the bottom preventive portion 63 enables the food material container 51 to smoothly slide on the bottom surface of the slide rail 70.
- a pair of rotation shafts 64 are provided at the bottom of the food material container 51 (lower left end in FIG. 11C), for example.
- the rotation shaft 64 engages with the rotation shaft engagement member 73 at the discharge position of the food product container 51 of the food product container slide device 54, the food product container 51 rotates about the rotation shaft 64, and the food product insertion unit 60 receives the food product.
- the stored food material is taken out downward. Further, the rotation shaft 64 can keep its posture horizontal when the food container 51 is placed together with the bottomed prevention member 63.
- the pressed portion 65 provided on the back surface of the food material container 51 is a portion pressed by a pressing member 72 (FIG. 15) described later.
- the pressed portion 65 has a plurality of concave-convex shaped portions extending in the height direction and alternately provided in the width direction of the back surface of the food container 51.
- the pressing member 72 presses the uneven portion to appropriately adjust the sliding resistance between the pressing member 72 and the pressed member 65, and on the slide rail 70 while keeping the food container 51 in a horizontal position.
- the food container 51 can be transported smoothly.
- FIG. 12 is a perspective view of the food container dropping device.
- FIG. 13 is a plan view of each member shown in FIG.
- the food container dropping means 53 has a fixed rail 67, and a first sliding rail 68 and a second sliding rail 69 that are slidably gripped with respect to the fixed rail 67.
- a plurality of recesses having a predetermined pitch and having a period of a distance a are provided inside the first sliding rail 68, recesses having a predetermined pitch and having a period of a distance a are provided.
- the second sliding rail 69 there are provided recesses having a predetermined pitch with a cycle of a distance b.
- FIG. 14 is an operation explanatory view of the food container dropping device 53.
- the food container 51 at the position “4” is dropped, and then the food container 51 at the position “1” is dropped. It is the one explained.
- the fixed rail 67, the first sliding rail 68, and the second sliding rail 69 are provided as one set along each slide rail 70, and in the food container 51 stocked at four locations on the slide rail, It is configured so that the designated food container 51 can be dropped.
- FIG. 14A the food container 51 at any position of “1” to “4” is fixed.
- the first sliding rail 68 moves by a predetermined amount, only one food material container 51 at the rightmost position “4” drops, and immediately returns to the position in FIG. 14C.
- the second slide rail 69 moves to the right by a predetermined amount, and then in FIG. 14E, the first slide rail 68 also moves to the right by a predetermined amount, so that the leftmost “1” is reached. Only one food material container 51 at the position is dropped, and immediately thereafter, it is returned to the position shown in FIG. 14A, for example. By such an operation, the food container 51 can be taken out one by one from the designated position.
- FIG. 15 is a perspective view of the food material container slide device 54.
- the food container slide device 54 has a slide rail 70, a driving force generation device 71, a pressing member 72, and a rotary shaft engaging member 73.
- the slide rail 70 receives the dropped food material container and conveys it to the discharge position.
- the slide rail 70 has a U-shape that is open upward in cross section, and has flanges on both open side surfaces (hereinafter, also referred to as “side rails”).
- the lower surface of the slide portion 62 of the food container 51 slides on the upper surfaces of the pair of flange portions.
- the driving force generation device 71 drives the pressing member 72 and presses the pressing member 72 to convey the dropped food material container 51 to the discharge position.
- the food material container 51 can be conveyed along the slide rail 70 while maintaining the horizontal posture.
- the rotary shaft 64 and the bottomed prevention portion 63 provided on the lower surface of the food material container 51 can be set so as to be in sliding contact with the upper surface of the bottom portion of the slide rail 70.
- the lower surface of the slide portion 62 of the food container 51 is in sliding contact with the upper surface of the flange portion, but between the rotary shaft 64 and the bottoming prevention portion 63 and the upper surface of the bottom portion of the slide rail 70. It is also possible to provide a predetermined gap.
- the rotating shaft engaging member 73 is a pin-shaped member provided at the discharge portion of the slide rail 70, for example, set in the width direction, and the center portion in the width direction bends downward in a U shape. Both ends in the width direction are provided substantially horizontally at a predetermined height position from the bottom surface of the slide rail 70, and the rotary shaft engaging members 73 at the both ends in the width direction rotate the pair of rotations at the bottom of the food container 51. It is provided so as to engage with the shaft 64.
- the tip end side of the pressing member 72 can proceed to the end of the slide rail 70 without interfering with the rotary shaft engaging member 73 at the discharge position of the slide rail 70.
- the food container stock device 56 is moved with the opening side down.
- FIG. 16 is an operation explanatory diagram of the food material container slide device 54.
- the food material container 51 is kept in a horizontal position, and along the slide rail 70. The food material container 51 can be conveyed toward the discharge position.
- the rotary shaft 73 on the bottom surface of the food container 51 is engaged with both ends of the rotary shaft engaging member 73 in the width direction, and is further pressed by the pressing member 72 so that the rotary shaft 73 is the center of the food container. 51 starts rotating.
- the food material container 51 which has started to rotate, is further pressed by the pressing member 72 to further rotate the food material container 51.
- the rotation of the food container 51 progresses, and the straight line connecting the center of gravity of the food container 51 and the rotary shaft 64 exceeds the vertical line from the rotary shaft engaging member 73 by a predetermined accuracy, for example, about 5 degrees.
- the food material container 51 is further rotated by its own weight and rotated up to about 180 degrees at the position of FIG. 16D, and the food material contained in the food material container 51 is taken out from the food material drop hole described later.
- FIG. 17 is a perspective view of the foodstuff container take-out device, showing a state where the foodstuff container 51 is in the position of FIG. 16D.
- the slide rails 70 are provided in a plurality of rows, for example, four rows.
- a cover member 76 is provided above the discharge position of the slide rail 70. The cover member not only prevents foreign matter from entering, but also has a role of preventing the food material container 51 from rotating too much and overshooting.
- FIG. 18 is a plan view of the food container extracting device.
- the ingredient drop hole 75 is provided directly below the food container 51, and the food dropped from the food container 51 by the rotation of the food container 51 is the ingredient. It is thrown into the cooking container 14 conveyed to the lower position through the drop hole 75.
- one slide rail 70 movable in the width direction may be used to move the slide rail 70 in accordance with the position where the food material container 51 falls, so that the food material container 51 can be received. ..
- the food container take-out device 55, the ingredient drop hole 75 and the like are also movable together with the slide rail 70, the food container take-out device 55 and the ingredient can be provided for one movable slide rail 70.
- One set of the drop holes 75 and the like may be provided.
Abstract
Description
前記注文に応じて麺を加熱できる装置と、
調理容器を加熱するための加熱装置、
食材を前記調理容器に供給する供給器と、
前記調理器具を移動させることができる移動装置と、
を有し、
前記移動装置は、前記調理容器を少なくとも前記供給器から食材の供給を受ける位置、前記加熱装置により加熱する位置、及び、前記麺を加熱できる装置から加熱調理された麺を受け取る位置に移動させることができ、
前記加熱装置は、少なくとも前記注文に応じて前記調理容器が前記供給器から供給された食材を加熱調理することができることを特徴とする。
(2-1)提供容器を保管して盛り付け位置に供給する提供容器供給装置、
(2-2)提供容器に盛り付けられた料理を顧客に配膳する配膳装置、
(2-3)使用後の調理容器を洗浄する調理容器洗浄装置、
(2-4)使用後の提供容器を洗浄する提供容器洗浄装置、
(2-5)使用後の提供容器を顧客から回収し、洗浄する提供容器洗浄装置に搬送する使用済提供容器搬送装置、又は、
(2-6)使用後の提供容器を洗浄する提供容器洗浄装置から、提供容器を保管して盛り付け位置に供給する提供容器供給装置に、洗浄後の提供容器を搬送する洗浄後提供容器搬送装置、
(2-7)麺を加熱できる装置に麺を供給する麺供給装置、
(2-8)複数種類の麺の中から、前記注文に応じた麺を茹で器に供給する麺供給装置、
(2-9)加熱する装置を介さない非加熱状態の麺を、調理容器に供給する非加熱状態麺供給装置、
の少なくとも1つの装置を、さらに備えることを特徴とする。
前記(2-1)の提供容器に料理を盛り付ける手段、
前記(2-3)の調理容器を調理容器洗浄装置まで搬送する手段、又は、
前記(2-3)の調理容器を調理容器洗浄装置から取り出す手段
の少なくとも1つは、前記移動装置であることを特徴とする。
前記移動装置は、複数台の移動式の調理容器把持装置からなり、
前記調理容器把持装置は少なくとも調理容器を把持して移動させること、及び、調理容器の姿勢を調整することが可能であり、
前記複数台の調理容器把持装置は協調して複数の調理容器を所望の位置に移動させることができることを特徴とする。
前記麺加熱手段に自動的に麺を供給する麺供給装置を備え、
前記麺供給装置は少なくとも
麺を所望の温度で保管する麺保管手段、及び
前記麺保管手段から所定量の麺を取り出す麺取出手段、及び、
前記麺取出手段により取出された麺を麺加熱手段の所定の位置に搬送する麺搬送手段
を備えることを特徴とする。
前記加熱装置は、
電磁式加熱手段を備え、
調理容器を所定の姿勢で回転させながら加熱すると共に、
調理容器の食材を攪拌することが可能であることを特徴とする。
食材供給装置は、
複数種類の食材を保管すると共に、
顧客の注文に応じて複数種類の食材の中から所定の食材を所定の分量だけ調理容器に自動的に供給することを特徴とする。
顧客の注文は、
(12-1)対話形式での注文を受け付けること、
(12-2)メニューをカスタマイズした注文を受け付けること、
(12-3)無線通信端末からの注文を受け付けること、
(12-4)専用端末からの注文を受け付けること、
(12-5)音声認識により注文を受け付けること、又は、
(12-6)画像認識により注文を受け付けること、
の中の少なくとも1つにより可能であることを特徴とする。
(16-1)店内の空席状況を自動で把握すること、
(16-2)遠隔からでも顧客による空席の確認ができること、
(16-3)遠隔からでも顧客による席の予約ができること、
(16-4)遠隔からでも顧客によるメニューの注文ができること、
(16-5)顧客への料理の提供が自動化されていること、
(16-6)料金の決済が顧客の端末から可能であること、
(16-7)配膳が自動化されていること、
(16-8)使用後の提供容器の回収が自動化されていること、
(16-9)使用後の提供容器の洗浄が自動化されていること、
(16-9)洗浄後の提供容器の補充が自動化されていること、
(16-10)使用後の調理容器の洗浄が自動化されていること、
(16-11)店内における顧客の席への誘導が自動化されていること、
(16-12)顧客への料理の提供が自動化されていること、
(16-13)顧客からの注文の予測が自動化されていること、
(16-14)食材の仕入れのための発注が自動化されていること、又は、
(16-15)納品された食材が自動的に前記供給器に補充されていること、
の中から少なくとも1つのことを行うことができることを特徴とする。
(17-1)店内の空席状況を自動で把握すること、
(17-2)遠隔からでも顧客による空席の確認ができること、
(17-3)遠隔からでも顧客による席の予約ができること、
(17-4)遠隔からでも顧客によるメニューの注文ができること、
(17-5)顧客への料理の提供が自動化されていること、
(17-6)料金の決済が顧客の端末から可能であること、
(17-7)配膳が自動化されていること、
(17-8)使用後の提供容器の回収が自動化されていること、
(17-9)使用後の提供容器の洗浄が自動化されていること、
(17-9)洗浄後の提供容器の補充が自動化されていること、
(17-10)使用後の調理容器の洗浄が自動化されていること、
(17-11)店内における顧客の席への誘導が自動化されていること、
(17-12)顧客への料理の提供が自動化されていること、
(17-13)顧客からの注文の予測が自動化されていること、
(17-14)食材の仕入れのための発注が自動化されていること、
(17-15)納品された食材が自動的に前記供給器に補充されていること、又は、
の中から少なくとも1つのことを行うことができることを特徴とする。
前記麺供給装置は麺加熱手段に自動的に麺を供給し、
麺を所望の温度で保管する麺保管手段、
前記麺保管手段から所定量の麺を取り出す麺取出手段、及び、
前記麺取出手段により取出された麺を麺加熱手段の所定の位置に搬送する麺搬送手段
を備えると共に、
前記麺供給装置は、顧客の注文に応じて複数種類の麺の中から所定の麺を所定の分量だけ取り出し、前記麺加熱手段に自動的に麺を供給し、
前記調理容器移動装置は、少なくとも一台の移動式の調理容器把持装置を備え、外周に凸部が設けられた調理容器を移動させる調理容器移動装置であって、
前記調理容器把持装置は調理容器の前記凸部を把持して移動させること、及び、姿勢を調整することが可能であり、かつ、
前記麺加熱装置は、カゴ内で麺を加熱し、加熱した麺を容器に取り出す麺加熱装置であって、
カゴ内で麺を加熱する動作、
加熱された麺の入ったカゴを持ち上げる動作、
前記持ち上げられたカゴよりも下方、かつ、麺を加熱する位置よりも上方の所定位置に容器を配置する動作、及び、
前記持ち上げたカゴを傾けて、カゴの中の麺を容器に移動させる動作を行うことを特徴とする。
麺加熱手段に自動的に麺を供給する麺供給装置であって、
麺を所望の温度で保管する麺保管手段、
前記麺保管手段から所定量の麺を取り出す麺取出手段、及び、
前記麺取出手段により取出された麺を麺加熱手段の所定の位置に搬送する麺搬送手段
を備えることを特徴とする。
少なくとも一台の移動式の調理容器把持装置を備え、外周に凸部が設けられた調理容器を移動させる調理容器移動装置であって、
前記調理容器把持装置は調理容器の前記凸部を把持して移動させること、及び、姿勢を調整することが可能であることを特徴とする。
カゴ内で麺を加熱し、加熱した麺を容器に取り出す麺加熱装置であって、
カゴ内で麺を加熱する動作、
加熱された麺の入ったカゴを持ち上げる動作、
前記持ち上げられたカゴよりも下方、かつ、麺を加熱する位置よりも上方の所定位置に容器を配置する動作、及び、
前記持ち上げたカゴを傾けて、カゴの中の麺を容器に移動させる動作を行うことを特徴とする。
顧客の注文に応じて複数種類の料理を調理可能な料理方法であって、
麺加熱装置によって前記注文に応じて麺を加熱するステップと、
加熱装置によって調理容器を加熱するステップと、
食材供給装置によって食材を前記調理容器に供給するステップと、
移動装置によって前記調理容器を移動させるステップと、
を有し、
前記移動装置は、前記調理容器を少なくとも前記食材供給装置から食材の供給を受ける位置、前記加熱装置により加熱する位置、又は、前記麺加熱装置から加熱調理された麺を受け取る位置に移動させることができ、
前記加熱装置は、少なくとも前記注文に応じて前記調理容器が前記供給器から供給された食材を加熱調理することができることを特徴とする。
本発明の第1実施形態に係る料理自動提供システム1について、図1~図3を参照して説明する。図1は、第1実施形態の斜視図である。図2は、図1の別の角度からの斜視図である。また、図3は、図1のまた別の角度からの斜視図である。
本発明の第2実施形態に係る料理自動提供システム1について、図4~図6を参照して説明する。図4は、本実施形態の料理自動提供システム1の斜視図である。図5は、図4の別の角度からの斜視図である。
本発明の第3実施形態に係る料理自動提供システム1について説明する。第1実施形態の図1~3及び第2実施形態の図4~6には図示されていないが、本実施形態の料理自動供給システム1は、茹で器11、電磁調理器16、加熱調理装置41の他に、焼き器、揚物器、蒸し器、煮込み器、加圧調理器、冷却器、オーブン、グリル、電子レンジ、炊飯器等を備えており、麺料理以外にも多種多様な料理を自動的に提供することが可能である。さらには、飲料自動提供システムと組み合わせることにより、アルコール飲料、温かい飲料、冷たい飲料等を含む飲料を自動的に調製すると共に容器に注いで自動的に顧客に提供することが可能である。使用済みの容器等の食器の回収や洗浄も、前述の使用済み提供容器17の回収と同様の手段により、自動化可能である。
本発明の第4実施形態に係る自動飲食店について説明する。本実施形態の自動飲食店は、第1~第3実施形態のいずれか少なくとも1つの料理自動提供システム1を備えており、顧客の携帯端末等からの注文にしたがって、料理の注文を受け付け、自動的に注文にしたがったレシピと調理方法で料理を調理し、顧客に料理を配膳することができる。また、本実施形態の自動飲食店は、店内の空席状況を自動で把握すること、遠隔からでも顧客による空席の確認ができること、遠隔からでも顧客による席の予約ができること、遠隔からでも顧客によるメニューの注文ができること、顧客への料理の提供が自動化されていること、料金の決済が顧客の端末から可能であること、配膳が自動化されていること、使用後の提供容器の回収が自動化されていること、使用後の提供容器の洗浄が自動化されていること、洗浄後の提供容器の補充が自動化されていること、使用後の調理容器の洗浄が自動化されていること、店内における顧客の席への誘導が自動化されていること、顧客への料理の提供が自動化されていること、顧客からの注文の予測が自動化されていること、食材の仕入れのための発注が自動化されていること、納品された食材が自動的に前記供給器に補充されていること等が可能である。
本発明の第5実施形態に係る料理自動提供システム1について説明する。本実施形態では、第1~第4実施形態で説明した料理自動提供システム1の適用場所が席予約できる飲食店だけでなく、様々な形態の飲食店、食品販売店等、多様な態様で実施可能なことを説明する。例えば、スーパーマーケット、デパート、商店、コンビニエンスストア等においても、本実施形態の料理自動提供システム1を利用することが可能であり、例えば、コンビニエンスストアにおいて揚物器による揚物料理等を含む料理の自動調理が可能である。また、例えば、宴会場、結婚式場、イベント会場等においても、本実施形態の料理自動提供システム1を利用することが可能である。また、ホテル、旅館、民宿、ペンション、宿泊施設等においても、本実施形態の料理自動提供システム1を利用することが可能である。また、例えば、デパートの食堂、ショッピングモールのフードコート、社員食堂等においても、本実施形態の料理自動提供システム1を利用することが可能である。また、移動式の店舗、例えば車両内に料理自動提供システム1を設置することができ、車両の移動中、あるいは、移動先での自動調理が可能である。また、店舗内で料理を製造して販売する店舗、小規模な店舗、仮設店舗、料理工場等においても、本実施形態の料理自動提供システム1を利用することが可能である。
本発明の第6実施形態に係る料理自動提供システム1について説明する。本実施形態では、第1~第5実施形態で説明した料理自動提供システム1は、さらに、デリバリー店舗やデリバリー工場等にも適用可能である。以下、本実施形態の料理自動提供システム1がデリバリー店舗に適用された例について説明する。
本発明の第7実施形態に係る料理自動提供システム1について説明する。本実施形態では、第1~第6実施形態で説明した料理自動提供システム1に、さらに、トマトピューレの調理、スープの煮込み調理、ネギを刻む調理等の食材の仕込みを行う自動調理機を追加したものである。食材の仕込みを、それぞれ、自動調理機によって行う場合には、各食材、例えばトマトやネギの形状や色が画像認識され、食材の種類や状態を把握し、食材に適した加工を行うための加工手段に搬送される。この搬送の際には、食材の種類や状態に合わせて各食材の適宜の位置を、搬送手段、例えばロボットアームにより把持すること等により、ピックアップして搬送する必要がある。
本発明の第8実施形態に係る料理自動提供システム1について説明する。本実施形態では、第1~第7実施形態で説明した料理自動提供システム1に、さらに、食器自動洗浄システムを付加したものについて説明する。店舗における省力化のためには、食器の配膳のみならず、食べ終わった食器の回収、食器の洗浄、洗浄した食器の収納についての自動化も必要となる。これらの食器の取扱いの際にも、前述の第7実施形態で説明した画像認識装置が利用可能である。ここでは、前述の画像認識装置により食器を取り扱う例、特に、食器を洗浄機に食器を投入し、取り出し、食器の種類ごとにコンテナに収容するシステムについて説明する。
本発明の第9実施形態に係る料理自動提供システム1について図9~18を参照して説明する。本実施形態では、第1~第8実施形態で説明した料理自動提供システム1において、食材供給装置の具体例を説明する。ただし、本実施形態においては、食材供給装置の一例を示すものであり、本発明は本実施形態に限定されるものではなく、他の態様の食材供給装置も採用することができる。
10…麺供給装置
11…茹で器
12…かご
13…食材供給装置
14…調理容器
15…ロボットアーム
16…電磁調理器
17…提供容器
18…提供容器供給装置
19…洗浄機
20…配膳コンベア
21…自動配膳機
30…麺
Claims (25)
- 顧客の注文に応じて複数種類の料理を調理可能な料理自動提供システムであって、
前記注文に応じて麺を加熱できる麺加熱装置と、
調理容器を加熱するための加熱装置、
食材を前記調理容器に供給する食材供給装置と、
前記調理容器を移動させることができる移動装置と、
を有し、
前記移動装置は、前記調理容器を少なくとも前記食材供給装置から食材の供給を受ける位置、前記加熱装置により加熱する位置、又は、前記麺加熱装置から加熱調理された麺を受け取る位置に移動させることができ、
前記加熱装置は、少なくとも前記注文に応じて前記調理容器が前記供給器から供給された食材を加熱調理することができることを特徴とする料理自動提供システム。 - (2-1)提供容器を保管して盛り付け位置に供給する提供容器供給装置、
(2-2)提供容器に盛り付けられた料理を顧客に配膳する配膳装置、
(2-3)使用後の調理容器を洗浄する調理容器洗浄装置、
(2-4)使用後の提供容器を洗浄する提供容器洗浄装置、
(2-5)使用後の提供容器を顧客から回収し、洗浄する提供容器洗浄装置に搬送する使用済提供容器搬送装置、又は、
(2-6)使用後の提供容器を洗浄する提供容器洗浄装置から、提供容器を保管して盛り付け位置に供給する提供容器供給装置に、洗浄後の提供容器を搬送する洗浄後提供容器搬送装置、
(2-7)麺を加熱できる装置に麺を供給する麺供給装置、
(2-8)複数種類の麺の中から、前記注文に応じた麺を茹で器に供給する麺供給装置、
(2-9)加熱する装置を介さない非加熱状態の麺を、調理容器に供給する非加熱状態麺供給装置、
の少なくとも1つの装置を、さらに備えることを特徴とする請求項1に記載の料理自動提供システム。 - 前記(2-1)の提供容器に料理を盛り付ける手段、
前記(2-3)の調理容器を調理容器洗浄装置まで搬送する手段、又は、
前記(2-3)の調理容器を調理容器洗浄装置から取り出す手段
の少なくとも1つは、前記移動装置であることを特徴とする請求項2に記載の料理自動提供システム。 - 前記(2-2)の配膳装置と、前記(2-5)の使用済提供容器搬送装置、又は、前記(2-6)の洗浄後提供容器搬送装置の中のいずれか少なくとも2つは、共用可能であることを特徴とする請求項2又は3に記載の料理自動提供システム。
- 前記移動装置は、前記調理容器を少なくとも前記供給器から食材の供給を受ける位置、前記加熱装置により加熱する位置、前記麺加熱装置から加熱調理された麺を受け取る位置、盛付装置の位置、又は、前記調理容器を洗浄する位置に移動させることができることを特徴とする請求項1~4のいずれか1項に記載の料理自動提供システム。
- 前記移動装置は、複数台の移動式の調理容器把持装置からなり、
前記調理容器把持装置は少なくとも調理容器を把持して移動させること、及び、調理容器の姿勢を調整することが可能であり、
前記複数台の調理容器把持装置は協調して複数の調理容器を所望の位置に移動させることができることを特徴とする請求項1~5のいずれか1項に記載の料理自動提供システム。 - 前記麺加熱装置及び/又は前記加熱装置は、同時に複数の調理が可能であることを特徴とする請求項1~6のいずれか1項に記載の料理自動提供システム。
- 前記麺加熱手段に自動的に麺を供給する麺供給装置を備え、
前記麺供給装置は少なくとも
麺を所望の温度で保管する麺保管手段、及び
前記麺保管手段から所定量の麺を取り出す麺取出手段、及び、
前記麺取出手段により取出された麺を麺加熱手段の所定の位置に搬送する麺搬送手段
を備えることを特徴とする請求項1~7のいずれか1項に記載の料理自動提供システム。 - 前記麺供給装置は、顧客の注文に応じて複数種類の麺の中から所定の麺を所定の分量だけ取り出し、前記麺加熱手段に自動的に麺を供給することを特徴とする請求項1~8のいずれか1項に記載の料理自動提供システム。
- 前記加熱装置は、
電磁式加熱手段を備え、
調理容器を所定の姿勢で回転させながら加熱すると共に、
調理容器の食材を攪拌することが可能であることを特徴とする請求項1~9のいずれか1項に記載の料理自動提供システム。 - 食材供給装置は、
複数種類の食材を保管すると共に、
顧客の注文に応じて複数種類の食材の中から所定の食材を所定の分量だけ調理容器に自動的に供給することを特徴とする請求項1~10のいずれか1項に記載の料理自動提供システム。 - 顧客の注文は、
(12-1)対話形式での注文を受け付けること、
(12-2)メニューをカスタマイズした注文を受け付けること、
(12-3)無線通信端末からの注文を受け付けること、
(12-4)専用端末からの注文を受け付けること、
(12-5)音声認識により注文を受け付けること、又は、
(12-6)画像認識により注文を受け付けること、
の中の少なくとも1つにより可能であることを特徴とする請求項1~11のいずれか1項に記載の料理自動提供システム。 - 麺料理以外の調理が可能であることを特徴とする請求項1~12に記載の料理自動提供システム。
- さらに、他の調理装置が設けられたことを特徴とする請求項1~13に記載の料理自動提供システム。
- 請求項1~14のいずれか1項に記載の料理自動供給システムを備えたことを特徴とする飲食店。
- (16-1)店内の空席状況を自動で把握すること、
(16-2)遠隔からでも顧客による空席の確認ができること、
(16-3)遠隔からでも顧客による席の予約ができること、
(16-4)遠隔からでも顧客によるメニューの注文ができること、
(16-5)顧客への料理の提供が自動化されていること、
(16-6)料金の決済が顧客の端末から可能であること、
(16-7)配膳が自動化されていること、
(16-8)使用後の提供容器の回収が自動化されていること、
(16-9)使用後の提供容器の洗浄が自動化されていること、
(16-9)洗浄後の提供容器の補充が自動化されていること、
(16-10)使用後の調理容器の洗浄が自動化されていること、
(16-11)店内における顧客の席への誘導が自動化されていること、
(16-12)顧客への料理の提供が自動化されていること、
(16-13)顧客からの注文の予測が自動化されていること、
(16-14)食材の仕入れのための発注が自動化されていること、又は、
(16-15)納品された食材が自動的に前記供給器に補充されていること、
の中から少なくとも1つのことを行うことができることを特徴とする請求項15に記載の飲食店。 - 顧客からの注文に応じて提供される料理が自動的に調理される飲食店用自動システムにおいて、
(17-1)店内の空席状況を自動で把握すること、
(17-2)遠隔からでも顧客による空席の確認ができること、
(17-3)遠隔からでも顧客による席の予約ができること、
(17-4)遠隔からでも顧客によるメニューの注文ができること、
(17-5)顧客への料理の提供が自動化されていること、
(17-6)料金の決済が顧客の端末から可能であること、
(17-7)配膳が自動化されていること、
(17-8)使用後の提供容器の回収が自動化されていること、
(17-9)使用後の提供容器の洗浄が自動化されていること、
(17-9)洗浄後の提供容器の補充が自動化されていること、
(17-10)使用後の調理容器の洗浄が自動化されていること、
(17-11)店内における顧客の席への誘導が自動化されていること、
(17-12)顧客への料理の提供が自動化されていること、
(17-13)顧客からの注文の予測が自動化されていること、
(17-14)食材の仕入れのための発注が自動化されていること、
(17-15)納品された食材が自動的に前記供給器に補充されていること、又は、
の中から少なくとも1つのことを行うことができることを特徴とする飲食店用自動システム。 - 少なくとも麺供給装置、調理容器移動装置、及び、麺加熱装置を備える料理自動提供システムであって、
前記麺供給装置は麺加熱手段に自動的に麺を供給し、
麺を所望の温度で保管する麺保管手段、
前記麺保管手段から所定量の麺を取り出す麺取出手段、及び、
前記麺取出手段により取出された麺を麺加熱手段の所定の位置に搬送する麺搬送手段
を備えると共に、
前記麺供給装置は、顧客の注文に応じて複数種類の麺の中から所定の麺を所定の分量だけ取り出し、前記麺加熱手段に自動的に麺を供給し、
前記調理容器移動装置は、少なくとも一台の移動式の調理容器把持装置を備え、外周に凸部が設けられた調理容器を移動させる調理容器移動装置であって、
前記調理容器把持装置は調理容器の前記凸部を把持して移動させること、及び、姿勢を調整することが可能であり、かつ、
前記麺加熱装置は、カゴ内で麺を加熱し、加熱した麺を容器に取り出す麺加熱装置であって、
カゴ内で麺を加熱する動作、
加熱された麺の入ったカゴを持ち上げる動作、
前記持ち上げられたカゴよりも下方、かつ、麺を加熱する位置よりも上方の所定位置に容器を配置する動作、及び、
前記持ち上げたカゴを傾けて、カゴの中の麺を容器に移動させる動作を行うことを特徴とする請求項1~14に記載の料理自動提供システム。 - 麺加熱手段に自動的に麺を供給する麺供給装置であって、
麺を所望の温度で保管する麺保管手段、
前記麺保管手段から所定量の麺を取り出す麺取出手段、及び、
前記麺取出手段により取出された麺を麺加熱手段の所定の位置に搬送する麺搬送手段
を備えることを特徴とする麺自動供給装置。 - 顧客の注文に応じて複数種類の麺の中から所定の麺を所定の分量だけ取り出し、前記麺加熱手段に自動的に麺を供給することを特徴とする請求項19に記載の麺自動供給装置。
- 少なくとも一台の移動式の調理容器把持装置を備え、外周に凸部が設けられた調理容器を移動させる調理容器移動装置であって、
前記調理容器把持装置は調理容器の前記凸部を把持して移動させること、及び、姿勢を調整することが可能であることを特徴とする調理容器移動装置。 - カゴ内で麺を加熱し、加熱した麺を容器に取り出す麺加熱装置であって、
カゴ内で麺を加熱する動作、
加熱された麺の入ったカゴを持ち上げる動作、
前記持ち上げられたカゴよりも下方、かつ、麺を加熱する位置よりも上方の所定位置に容器を配置する動作、及び、
前記持ち上げたカゴを傾けて、カゴの中の麺を容器に移動させる動作を行うことを特徴とする麺加熱装置。 - 顧客の注文に応じて複数種類の料理を調理可能な料理方法であって、
麺加熱装置によって前記注文に応じて麺を加熱するステップと、
加熱装置によって調理容器を加熱するステップと、
食材供給装置によって食材を前記調理容器に供給するステップと、
移動装置によって前記調理容器を移動させるステップと、
を有し、
前記移動装置は、前記調理容器を少なくとも前記食材供給装置から食材の供給を受ける位置、前記加熱装置により加熱する位置、又は、前記麺加熱装置から加熱調理された麺を受け取る位置に移動させることができ、
前記加熱装置は、少なくとも前記注文に応じて前記調理容器が前記供給器から供給された食材を加熱調理することができることを特徴とする料理自動提供方法。 - 請求項23記載の料理自動提供方法における少なくとも1つの工程ないし手段をコンピュータにより実行することを特徴とするプログラム。
- 請求項24記載のプログラムを記憶したことを特徴とする記憶媒体。
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WO2022133607A1 (en) * | 2020-12-22 | 2022-06-30 | Technologies Ueat Inc. | System and method for dynamic menu and dish presentation |
KR20220109081A (ko) * | 2021-01-28 | 2022-08-04 | 주식회사 에이랍스 | 푸드 트럭에 설치 가능한 자동화 음식 제조 시스템 |
KR102468491B1 (ko) | 2021-01-28 | 2022-11-18 | 주식회사 에이랍스 | 푸드 트럭에 설치 가능한 자동화 음식 제조 시스템 |
WO2023020117A1 (zh) * | 2021-08-17 | 2023-02-23 | 江南大学 | 一种鲜食面煮制设备 |
WO2023047701A1 (ja) * | 2021-09-27 | 2023-03-30 | TechMagic株式会社 | 具材供給装置およびこれを備えた具材保管設備 |
JP2023048033A (ja) * | 2021-09-27 | 2023-04-06 | TechMagic株式会社 | 具材供給装置およびこれを備えた具材保管設備 |
JP7134525B1 (ja) | 2021-09-27 | 2022-09-12 | TechMagic株式会社 | 具材供給装置およびこれを備えた具材保管設備 |
WO2023127208A1 (ja) * | 2021-12-27 | 2023-07-06 | TechMagic株式会社 | 調理容器用装着向き調整台およびこれを備えた自動調理設備 |
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WO2020166723A3 (ja) | 2020-10-22 |
KR102545152B1 (ko) | 2023-06-20 |
US20210321813A1 (en) | 2021-10-21 |
CN112272528B (zh) | 2022-10-04 |
CN112272528A (zh) | 2021-01-26 |
TW202042722A (zh) | 2020-12-01 |
JP7007764B2 (ja) | 2022-02-10 |
JPWO2020166723A1 (ja) | 2021-09-27 |
KR20210009327A (ko) | 2021-01-26 |
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