CN113034222A

CN113034222A - Intelligent unmanned restaurant take-out delivery system and method

Info

Publication number: CN113034222A
Application number: CN202110247689.8A
Authority: CN
Inventors: 江正云
Original assignee: Wisdom Ltd
Current assignee: Wisdom Ltd
Priority date: 2020-03-06
Filing date: 2021-03-06
Publication date: 2021-06-25
Anticipated expiration: 2041-03-06
Also published as: CN113034222B

Abstract

The invention discloses an intelligent unmanned restaurant takeout delivery system and method, which comprises the following steps: the system comprises an operation server, a plurality of central controllers and a plurality of distribution terminals. According to the invention, the central controller used for distributing the cooking instruction and the delivery instruction and the operation progress information of the cooking equipment and the delivery terminal is arranged in the unmanned restaurant, the operation server connected with at least one central controller and the user terminal is arranged, the order information generated by the user terminal is received and sent to the central controller, and the central controller is used for uniformly coordinating the devices, so that the takeout automatic delivery process of the unmanned restaurant is realized.

Description

Intelligent unmanned restaurant take-out delivery system and method

Technical Field

The invention belongs to the field of unmanned kitchens, automatic cooking and automatic distribution, and particularly relates to an intelligent unmanned restaurant takeout distribution system and method.

Background

The development of modern production and scientific technology, and automation technology become the hot spots of people's research. Automation refers to a process of realizing an expected target by automatic detection, information processing, analysis and judgment, and manipulation control according to the requirements of people without direct participation of people or less people in a machine device, a system or a process. Automation technology is widely used in industry, agriculture, medical treatment, services, and home.

With the continuous promotion of urbanization in China and the vigorous development of small and medium-sized enterprises, the demand of enterprise employees on working meals is more and more large, take-out ordering becomes a mainstream choice which is economical and practical and accords with the working time of employees, meanwhile, the demand of automation and intellectualization along with cooking is also increasing, the prior art is difficult to meet various demands of users, nowadays, the automatic cooking machine has the functions of automatic hot oil, automatic stir-frying and the like, as long as food and ingredients are put into the cooking robot, the cooking machine can automatically complete the cooking process, and therefore users can enjoy delicious food conveniently and quickly.

However, the existing takeout delivery scheme still adopts the traditional takeout delivery scheme, the scheme has poor flexibility and high labor demand, and most importantly, in the traditional takeout delivery scheme, a time difference contradiction that a deliverer often arrives at a restaurant in advance to wait for cooking to be finished or waits for the deliverer to take meals after cooking is finished exists, so that the contradiction can lead to frosting in the takeout delivery scheme with low delivery efficiency, and the dining time and dining experience of a user are influenced, and the working efficiency of the restaurant and the deliverer is also greatly reduced.

Disclosure of Invention

The present invention is directed to an intelligent unmanned restaurant takeout and delivery system and method.

In a first aspect of the present invention, an intelligent unmanned restaurant takeout delivery system is provided, comprising:

the operation server analyzes the received order information to generate a driving instruction for completing the order information and sends the driving instruction to the central controller;

the system comprises at least one central controller, a calculation server and a control unit, wherein the central controller is arranged in an unmanned kitchen, distributes driving instructions to cooking equipment and a distribution terminal of the unmanned kitchen, and sends cooking progress information of the cooking equipment and distribution time information of the distribution terminal to the calculation server;

and the delivery terminal comprises delivery equipment and storage equipment arranged on the delivery equipment, receives a driving instruction issued by the central controller, and drives the delivery terminal to go to an unmanned kitchen to take a bill or drives the delivery terminal to go to a user-specified position to prepare a bill.

Further, the distribution terminal includes:

the terminal shell is used for protecting the internal structure of the distribution terminal, the internal structure of the shell comprises a base and a main body, a fixed shaft is arranged in the center of the top of the base, a support frame is fixedly installed at the bottom of the base, a moving device used for moving is arranged on the support frame, a battery and a controller are arranged in the base, and the controller is connected with the battery; the main body is arranged on a fixed shaft of the base through a bearing and is connected with the base in a sliding way through a sliding rail, a power supply layer, a wine layer, a beverage layer and a tableware layer are arranged in the main body, a hub motor connected with a controller is arranged at the bottom of the main body, and the hub motor receives a control instruction sent by the controller and drives the main body to rotate; the mechanical arm is arranged on the main body and used for taking and putting tableware and food; the tableware plate is arranged in the tableware layer and can be used for fixing tableware; and a bottom lamp strip is also arranged on the terminal shell.

The traveling device comprises a traveling motor and a transmission mechanism which are arranged in the support frame, and a crawler traveling mechanism and auxiliary wheels which are arranged at the bottom of the support frame; the auxiliary wheel is fixedly arranged on the supporting frame through a damping device; the crawler traveling mechanism is connected with a traveling motor through a transmission mechanism; the advancing motor is connected with the controller, receives a control instruction of the controller, and drives the crawler traveling mechanism to realize moving advancing of the intelligent distribution terminal.

It should be noted that the distribution terminal further includes a touch display screen, which is installed on the outer shell of the main body, connected with the controller, and used for displaying beverage and food information inside the distribution terminal, and receiving a control instruction input by a user, so as to implement human-computer interaction.

The power supply layer in the main body is provided with a battery layer taking-out door, the drink layer is provided with a drink layer left-right sliding door, and the drink layer is provided with a drink layer left-right sliding door; the left and right sliding doors of the wine layer and the left and right sliding doors of the beverage layer are both provided with electromagnetic door locks and friction motors; the electromagnetic door lock and the friction motor are respectively connected with the controller.

The distribution terminal further comprises a sensor, and the sensor is connected with the controller and used for counting after the user takes out the articles.

The manipulator comprises a gear rack, a ball screw, a holder motor A, a holder motor B, a small motor B, a torsion spring, a small electromagnet and a flexible manipulator B, and the manipulator realizes the opening and closing of the manipulator through the gear rack and realizes the far and near expansion of the manipulator through the holder motor A; the height lifting of the manipulator is realized through a ball screw; when the distribution terminal is used for grabbing, the position of the manipulator away from the service plate is controlled through the combined action of the holder motor A and the holder motor B, and the motor action controls the position of the manipulator in the height direction through the module; after the dinner plate reaches the position, the small motor B starts to work, the opening and closing of the flexible manipulator B are controlled through the combination of the gear rack and the small electromagnet, so that the dinner plate can be grabbed, and the angle of the torsion spring is automatically adjusted so as to be matched with the angle of the dinner plate, so that the torsion spring can be completely attached to the wall surface of the dinner plate to grab articles.

The distribution terminal also comprises a parallel turnover door and a telescopic mechanism, wherein the parallel turnover door is connected with the telescopic mechanism and is arranged at the top of the main body for preventing the tableware in the tableware layer from falling; the telescopic mechanism is connected with the controller and used for opening or closing the parallel turnover door according to a control instruction sent by the controller.

The distribution terminal further comprises an obstacle avoidance module, wherein the obstacle avoidance module comprises two radars, a camera A and a camera B, and the two radars are respectively arranged in front of and behind the traveling device, connected with the controller and used for scanning and acquiring image information of the distribution terminal before and after traveling on the ground; the camera A is arranged below the telescopic mechanism, the camera B is arranged on the side face of the manipulator, the camera A and the camera B are used for respectively collecting environmental information of the advancing front and the rear of the distribution terminal and identifying human body characteristics, and the controller is respectively connected with the camera A and the camera B.

The obstacle avoidance module further comprises an ultrasonic sensor and a collision sensor; the ultrasonic sensor identifies the distance of the obstacle and is used for assisting the robot to avoid the obstacle; and the collision sensor is used for detecting whether the robot collides or not, and controlling the robot to give an alarm and prompt the generation of collision when the robot is detected to suddenly generate collision.

The distribution terminal acquires the peripheral image information of the distribution terminal by using the camera A and the camera B, real-time specific position parameters of the distribution terminal are acquired in the operation server by using a camera identification algorithm, the operation server generates a driving instruction according to the distribution place position information in the distribution order information and the acquired real-time specific position parameters of the distribution terminal, and the driving instruction is sent to the distribution terminal through wireless communication to drive a crawler traveling mechanism of the distribution terminal, so that the distribution terminal can be automatically distributed at different positions.

After the distribution terminal enters an elevator building, the position information and the floor information of the distribution terminal are obtained through the camera A and the camera B, the real-time specific position parameters of the distribution terminal are obtained in the operation server through a camera recognition algorithm, the operation server generates a driving instruction according to the obtained real-time specific position parameters of the distribution terminal and the floor information of the elevator, obtained by an elevator system connected with the operation server, the driving instruction is sent to the distribution terminal through wireless communication, a crawler traveling mechanism of the distribution terminal is driven, the distribution terminal can get in and out of the elevator in the distribution process, and automatic distribution on different floors is achieved.

Further, the intelligent unmanned restaurant takeout delivery system further comprises an order server, wherein the order server acquires order information and sends the order information to the operation server, and the acquired order information comprises user takeout order information sent by a user terminal, or the order server generates predicted order information corresponding to the user terminal in advance according to historical user order data.

Further, an intelligent unmanned restaurant takeout delivery system, the calculation server comprising:

the order analysis module is used for analyzing the order information sent by the order server and extracting the dish type information, the distribution address information and the distribution scheme selection information required by the user in the order information;

the distribution scheme generation module is used for generating an optimal or various distribution schemes which can be selected by a user according to the food type information and the distribution address information extracted by the order analysis module, the distribution time information of the distribution terminal and the cooking progress information of the unmanned restaurant cooking equipment, which are acquired by the operation server in real time;

and the instruction generating module is used for generating a cooking instruction sent to the corresponding cooking equipment and a distribution instruction sent to the corresponding distribution terminal according to the dish type information, the distribution address information and the distribution scheme selection information analyzed by the order analyzing module.

Furthermore, the intelligent unmanned restaurant takeout and delivery system is characterized in that the central controller receives a driving instruction issued by the operation server, and the driving instruction comprises a cooking instruction sent to cooking equipment by the central controller and a delivery instruction sent to a delivery terminal corresponding to the unmanned kitchen within a preset area range.

Furthermore, the intelligent unmanned restaurant takeout and distribution system is characterized in that the driving instruction sending mode of the central controller is that an unmanned kitchen for food cooking is selected according to a user terminal, and the central controller sends a cooking instruction to corresponding unmanned kitchen cooking equipment; and matching the distribution terminal which is closest to the food cooking time and the order taking time when the unmanned kitchen is visited, and sending a distribution instruction to the corresponding distribution terminal by the central controller.

Further, unmanned dining room takeaway delivery system of intelligent formula, the delivery equipment adopt unmanned tracking drive car, unmanned tracking drive car is provided with positioner and automatic obstacle avoidance equipment, carries out tracking navigation and automatic obstacle avoidance according to the delivery instruction that the central controller who receives issued, and delivery storage device goes to unmanned dining room, or carries food in storage device and the storage device and goes to user's assigned position.

Furthermore, the intelligent unmanned restaurant takeout distribution system comprises a storage device, a food material storage box and at least one refrigerating storage box, wherein the food material storage box is arranged at a distribution terminal and comprises at least one normal-temperature storage box, at least one heating storage box and at least one refrigerating storage box, and the storage device is used for storing and distributing different types of food.

Furthermore, the intelligent unmanned restaurant takeout delivery system further comprises a payment module arranged at the user terminal, wherein the payment module comprises a payment submodule for paying when an order is issued and a receiving submodule for receiving food loaded by the delivery terminal; the payment submodule provides a user payment interface for accessing payment software, and the receiving submodule sends receiving confirmation information to the operation server by receiving two-dimensional code image information on the distribution terminal acquired by the user terminal.

Furthermore, the intelligent unmanned restaurant takeout delivery system further comprises a takeout food storage cabinet arranged in a user area range, and food on the delivery terminal is grabbed and placed in a cabinet cavity of a user corresponding to the food storage cabinet through a multi-degree-of-freedom mechanical arm arranged on the takeout food storage cabinet to be taken by the user.

In a second aspect of the present invention, an intelligent unmanned restaurant takeout distribution method is provided, which includes the following steps:

s101, analyzing and sending order information, analyzing the received order information through an operation server to generate a driving instruction for completing the order information, and sending the driving instruction to a central controller;

s102, distributing a driving instruction and acquiring takeout distribution information, arranging the driving instruction in a central controller of the unmanned kitchen, distributing the driving instruction to cooking equipment and a distribution terminal of the unmanned kitchen, and sending the cooking progress information of the cooking equipment and the distribution time information of the distribution terminal to an operation server;

and S103, taking and dispatching the takeaway food, receiving a driving instruction issued by the central controller through the carrying equipment and the storage equipment arranged on the carrying equipment, and driving the distribution terminal to go to an unmanned kitchen to take an order or driving the distribution terminal to go to a user-specified position to distribute an order.

Further, an intelligent unmanned restaurant takeout distribution method further includes an order information acquisition step S100 of the operation server: the order information is obtained through the order server and sent to the operation server, the obtained order information comprises user takeout order information sent by the user terminal, or the order server generates predicted order information corresponding to the user terminal in advance according to historical user order data.

Further, an intelligent unmanned restaurant takeaway distribution method, wherein the step of analyzing and sending order information comprises the following substeps:

a1 order parsing: analyzing order information sent by an order server, and extracting dish type information, delivery address information and delivery scheme selection information required by a user in the order information;

a2 generates a distribution scheme: generating an optimal or various delivery schemes which can be selected by a user according to the food type information and the delivery address information extracted by the order analysis module, the delivery time information of the delivery terminal and the cooking progress information of the unmanned restaurant cooking equipment, which are acquired by the operation server in real time;

the a3 instruction generates: and generating a cooking instruction sent to the corresponding cooking equipment and a distribution instruction sent to the corresponding distribution terminal according to the dish type information, the distribution address information and the distribution scheme selection information analyzed by the order analysis module.

Furthermore, the central controller receives a driving instruction issued by the operation server, and the driving instruction comprises a cooking instruction sent to cooking equipment by the central controller and a distribution instruction sent to a corresponding distribution terminal in a preset area range of the unmanned kitchen.

Furthermore, the intelligent unmanned restaurant takeout distribution method is characterized in that the driving instruction sending mode of the central controller is that an unmanned kitchen for food cooking is selected according to a user terminal, and the central controller sends a cooking instruction to corresponding unmanned kitchen cooking equipment; and matching the distribution terminal which is closest to the food cooking time and the order taking time when the unmanned kitchen is visited, and sending a distribution instruction to the corresponding distribution terminal by the central controller.

The invention has the beneficial effects that: according to the invention, the central controller used for distributing the cooking instruction and the delivery instruction and the operation progress information of the cooking equipment and the delivery terminal is arranged in the unmanned restaurant, the operation server connected with at least one central controller and the user terminal is arranged, the order information generated by the user terminal is received and sent to the central controller, and the central controller is used for uniformly coordinating the devices, so that the takeout automatic delivery process of the unmanned restaurant is realized.

Drawings

FIG. 1 is a schematic diagram of an intelligent unmanned restaurant takeout delivery system according to the present invention.

Fig. 2 is a structural view of the internal device of the dispensing terminal of the present invention with the housing removed.

Fig. 3 is a front view of the distribution terminal of the present invention.

Fig. 4 is a side view of the dispensing terminal of the present invention.

Fig. 5 is a rear view of the dispensing terminal of the present invention.

Fig. 6 is a top view of the dispensing terminal of the present invention.

Fig. 7 is a structural view of an internal battery layer of the distribution terminal of the present invention.

Fig. 8 is a view of the internal power and support structure of the dispensing terminal of the present invention.

Fig. 9 is a diagram of a beverage layer structure of the dispensing terminal of the present invention.

Fig. 10 is a structure view of a tableware layer of the dispensing terminal of the present invention.

Fig. 11 is a structural view of a robot of the dispensing terminal of the present invention.

Fig. 12 is a diagram showing the installation positions of the radar and the camera for obstacle avoidance according to the present invention.

Fig. 13 is a schematic structural diagram of the present invention.

Fig. 14 is a schematic structural diagram of a range hood.

Fig. 15 is a schematic structural view of a rice pouring device.

Fig. 16 is a schematic diagram of the structure of the seasoning layer.

Fig. 17 is a schematic view (top view) of a cooking layer structure.

Fig. 18 is a schematic view (sectional view) of a cooking layer structure.

FIG. 19 is a schematic view of a cleaning and food intermediate layer.

Fig. 20 is a cross-sectional view taken at fig. 19B-B.

FIG. 21 is a schematic view of a dining plate food placement layer.

Fig. 22 is a schematic structural view of the robot.

In the figure: 1. a main shaft; 2. A bottom layer; 3. a service plate food placing layer; 4. cleaning and food semi-finished product placing layer; 5. a cooking layer; 6. a seasoning layer; 7. a range hood; 8. a central flue; 301. a plate for placing dinner plates; 302. a fixed gear; 303. a drag chain; 304. a moving gear; 305. an electric push rod; 306. a link mechanism; 307. a slide rail; 401. a link mechanism; 402. a fixed gear; 403. a drag chain; 404. a tableware placing and cleaning bin; 405. cleaning the tool; 406. a pot cover cleaning bin; 407. a moving gear; 408. a meal semi-finished product bin; 409. a slide rail; 410. an electric push rod; 411. an oil leakage hopper; 501. a manipulator; 502. a frying pan table surface; 503. a flat-bottom pan table surface; 504. a surface of an oven; 505. the electric cooker table-board; 506. the electric pressure cooker table-board; 507. a cooker; 508. an oven; 509. a moving gear; 510. a fixed gear; 511. an electric push rod; 601. a lifting mechanism; 602. a one-way valve; 603. a moving piston; 604. an electromagnetic push rod; 605. a guide rail; 606. a ratchet mechanism; 607. solid and powder seasoning hoppers; 608. a fixed gear; 609. a moving gear; 610. a liquid seasoning hopper; 701. a smoke pipe; 702. an edible oil barrel; 703. a power supply wire inlet; 704. a water inlet of the water pipe; 705. a gas inlet; 706. an edible oil pump; 707. a backup battery device; 708. a fan; 709. a booster pump; 710. a base plate; 711. a door panel; 712. an air inlet; 713. a rice bin; 714. a lifting mechanism; 715. rotating the feed opening; 716 weighing sensor; 717. a rice bin cover; 718. a linear slide rail; 501-1, a slice; 501-2, a bearing I; 501-3 and a bearing II; 501-4, rotating a first joint of a steering engine; 501-5, a steering engine rotary joint II; 501-6, a steering engine rotary joint III; 501-7, rotating joint four of a steering engine; 501-8, rotating joint five of a steering engine; 501-9, a stepping motor; 801-crawler traveling mechanism, 802-transmission mechanism, 803-drinking water layer, 804-drinking water layer, 805-tableware tray, 806-tableware layer, 807-telescopic mechanism, 808-touch display screen, 809-parallel turnover door, 810-mechanical arm, 811-up-down sliding door, 812-beverage layer left-right sliding door, 813-drinking water layer left-right sliding door, 814-battery layer taking-out door, 815-bottom lamp strip, 816-battery, 817-hub motor, 818-fixed shaft, 819-sliding rail, 820-motor, 821-module, 822-tripod head motor A, 823-tripod head motor B, 824-small motor B, 825-torsion spring, 826-small electromagnet, 827-flexible mechanical arm B, 828-gear rack, 829-radar, 828-tripod head motor B, 828-gear rack, 830-camera a, 831-camera B.

Detailed Description

In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.

As shown in fig. 1, in the present embodiment, an intelligent unmanned restaurant takeout delivery system includes: the operation server analyzes the received order information to generate a driving instruction for completing the order information and sends the driving instruction to the central controller; the system comprises a plurality of central controllers, a plurality of operation servers and a plurality of control modules, wherein the central controllers are arranged in an unmanned kitchen, distribute driving instructions to cooking equipment and distribution terminals of the unmanned kitchen, and send cooking progress information of the cooking equipment and distribution time information of the distribution terminals to the operation servers; and the plurality of distribution terminals comprise carrying equipment and storage equipment arranged on the carrying equipment, the carrying equipment receives a driving instruction issued by the central controller, and the distribution terminals are driven to go to an unmanned kitchen to take orders or the distribution terminals are driven to go to a user-specified position to allocate orders.

In this embodiment, the system further includes an order server, where the order server obtains order information and sends the order information to the operation server, where the obtained order information includes user takeout order information sent by receiving the user terminal, or the order server generates predicted order information corresponding to the user terminal in advance according to historical user order data.

Specifically, an intelligent unmanned restaurant takeout delivery system, the operation server includes: the order analysis module is used for analyzing the order information sent by the order server and extracting the dish type information, the distribution address information and the distribution scheme selection information required by the user in the order information; the distribution scheme generation module is used for generating an optimal or various distribution schemes which can be selected by a user according to the food type information and the distribution address information extracted by the order analysis module, the distribution time information of the distribution terminal and the cooking progress information of the unmanned restaurant cooking equipment, which are acquired by the operation server in real time; and the instruction generating module is used for generating a cooking instruction sent to the corresponding cooking equipment and a distribution instruction sent to the corresponding distribution terminal according to the dish type information, the distribution address information and the distribution scheme selection information analyzed by the order analyzing module.

More specifically, the central controller receives a driving instruction issued by the operation server, wherein the driving instruction comprises a cooking instruction sent to the cooking equipment by the central controller and a distribution instruction sent to a corresponding distribution terminal in an unmanned kitchen 1KM area range; the driving instruction sending mode of the central controller is that an unmanned kitchen used for food cooking is selected according to a user terminal, and the central controller sends a cooking instruction to corresponding unmanned kitchen cooking equipment; and matching the distribution terminal which is closest to the food cooking time and the order taking time when the unmanned kitchen is visited, and sending a distribution instruction to the corresponding distribution terminal by the central controller.

As shown in fig. 2 to 12, in this embodiment, the distribution terminal includes:

the terminal shell is used for protecting the internal structure of the distribution terminal, the internal structure of the shell comprises a base and a main body, a fixed shaft is arranged in the center of the top of the base, a support frame is fixedly installed at the bottom of the base, a moving device used for moving is arranged on the support frame, a battery and a controller are arranged in the base, and the controller is connected with the battery; the main body is mounted on a fixed shaft 818 of the base through a bearing and is in sliding connection with the base through a sliding rail 819, a power supply layer, a wine layer 803, a beverage layer 804 and a tableware layer 806 are arranged inside the main body, a hub motor 817 connected with a controller is arranged at the bottom of the main body, and the hub motor 817 receives a control command sent by the controller and drives the main body to rotate; a manipulator 810 arranged on the main body for taking and putting tableware and food; a tableware plate 805 is arranged in the tableware layer 806 and can be used for fixing tableware; a bottom light strip 815 is also provided on the terminal housing.

The traveling device comprises a traveling motor and a transmission mechanism 802 arranged inside the support frame, and a crawler walking mechanism 801 and auxiliary wheels arranged at the bottom of the support frame; the auxiliary wheel is fixedly arranged on the supporting frame through a damping device; the crawler walking mechanism 801 is connected with a traveling motor through a transmission mechanism; the traveling motor is connected with the controller, receives a control instruction of the controller, and drives the crawler walking mechanism 801 to realize the moving traveling of the intelligent distribution terminal.

It should be noted that the dispensing terminal further includes a touch display screen 808, which is mounted on the outer shell of the main body, connected to the controller, and configured to display beverage and food information inside the dispensing terminal, and receive a control instruction input by a user, so as to implement human-computer interaction.

The power layer in the main body is provided with a battery layer taking-out door 814, the drink layer is provided with a drink layer left-right sliding door 813, and the drink layer is provided with a drink layer left-right sliding door 812; the wine layer left-right sliding door 813 and the beverage layer left-right sliding door 812 are both provided with electromagnetic door locks and friction motors; the electromagnetic door lock and the friction motor are respectively connected with the controller.

The manipulator 810 comprises a gear rack 828, a ball screw, a holder motor A822, a holder motor B823, a small motor B824, a torsion spring 825, a small electromagnet 826 and a flexible manipulator B827, the manipulator 810 realizes the opening and closing of the manipulator 810 through the gear rack 828, and the holder motor A822 realizes the far and near extension and retraction of the manipulator 810; the manipulator 810 is lifted up and down through a ball screw; when the distribution terminal is used for grabbing, the position of the manipulator 810 from the dinner plate is controlled through the combined action of the holder motor A822 and the holder motor B823, and the position of the manipulator 810 in the height direction is controlled through the module 821 by the action of the motor 820; after the dinner plate reaches the position, the small motor B824 starts to work, the opening and closing of the flexible mechanical arm B827 are controlled through the combination of the gear rack 828 and the small electromagnet 826, so that the dinner plate can be grabbed, and the angle of the torsion spring 825 is automatically adjusted to be matched with the angle of the dinner plate, so that the torsion spring completely fits with the wall surface of the dinner plate to grab the articles.

The distribution terminal further comprises a parallel turnover door 809 and a telescopic mechanism 807, wherein the parallel turnover door 809 is connected with the telescopic mechanism 807 and is arranged at the top of the main body for preventing tableware in the tableware layer from falling; the telescopic mechanism 807 is connected with the controller and is used for opening or closing the parallel folding door 809 according to a control command sent by the controller.

It should be noted that the distribution terminal further includes an obstacle avoidance module, where the obstacle avoidance module includes two radars 829, a camera a830 and a camera B831, where the two radars 829 are respectively disposed in front of and behind the traveling device, connected to the controller, and used for scanning and acquiring image information of the distribution terminal before and after traveling on the ground; the camera A830 is arranged below the telescopic mechanism 807, the camera B831 is arranged on the side face of the manipulator 810, the camera A830 and the camera B831 are used for collecting environmental information of the front and the rear of the advancing of the distribution terminal respectively and identifying human features, and the controller is connected with the camera A830 and the camera B831 respectively.

The distribution terminal acquires the peripheral image information of the distribution terminal by using the camera A830 and the camera B831, acquires the real-time specific position parameters of the distribution terminal in the operation server by using a camera identification algorithm, the operation server generates a driving instruction according to the distribution location information in the distribution order information and the acquired real-time specific position parameters of the distribution terminal, and the driving instruction is sent to the distribution terminal through wireless communication to drive the crawler walking mechanism 801 of the distribution terminal, so that the automatic distribution of the distribution terminal at different positions is realized.

After the distribution terminal enters an elevator building, the position information and the floor information of the distribution terminal are obtained through the camera A830 and the camera B831, the real-time specific position parameters of the distribution terminal are obtained in the operation server through a camera recognition algorithm, the operation server generates a driving instruction according to the obtained real-time specific position parameters of the distribution terminal and the floor information of the elevator, obtained by an elevator system connected with the operation server, the driving instruction is sent to the distribution terminal through wireless communication, the crawler walking mechanism 801 of the distribution terminal is driven, the distribution terminal can enter and exit the elevator in the distribution process, and automatic distribution on different floors is achieved.

As shown in fig. 13-22, in this embodiment, the cooking device selects food materials and seasonings from the food semi-finished product placing layer and the seasoning layer of the cooking device according to the control command issued by the central controller, and sends the food materials and seasonings to the cooking device of the cooking layer for cooking, and after the dishes are cooked, selects proper tableware from the dinner plate placing layer to complete the dish loading of the dishes, and controls the cleaning device to clean the cooking device.

Wherein, cooking equipment be intelligent culinary art device, place layer 3, culinary art layer 5 and smoke ventilator 7 including main shaft 1, bottom 2, dinner plate meal, main shaft 1 installs on bottom 2, dinner plate meal is placed and is equipped with between layer 3 and culinary art layer 5 and wash and food semi-manufactured goods and place layer 4, still be equipped with seasoning layer 6 between culinary art layer 5 and smoke ventilator 7, still be equipped with central flue 8 in the main shaft 1, dinner plate meal is placed layer 3, is washed and food semi-manufactured goods and places layer 4, culinary art layer 5, seasoning layer 6 and smoke ventilator 7 and all install on main shaft 1.

The range hood 7 further comprises a smoke pipe 701, an edible oil barrel 702, a power supply inlet 703, a water pipe water inlet 704, a fuel gas inlet 705, an edible oil pump 706, a standby battery device 707, a fan 708, a booster pump 709, a bottom plate 710 and a door plate 711, wherein the fan 708 is installed on the central flue 8, one end of the smoke pipe 701 is installed on the fan 708, the other end of the smoke pipe is installed on the door plate 711, the edible oil pump 706 is connected with the edible oil barrel 702 through an oil pipe, the booster pump 709 is connected with the water pipe water inlet 704, the booster pump 709 is further provided with a three-way valve, the standby battery device 707 is installed on the bottom plate 710, the range hood 7 is further provided with an air inlet 712 and a rice pouring device, the rice pouring device comprises a rice bin 713, a lifting mechanism 714, a rotary discharging port 715 and a linear sliding rail 718, the rice bin 713 is provided with a rice, the rotary feed opening 715 is mounted at the bottom of the rice bin 713, the lifting mechanism 714 comprises a steel wire rope and wheels, a driving motor is further arranged beside the steel wire rope and the wheels, and the linear sliding rail 718 is mounted on the spindle 1.

Edible oil in the edible oil barrel 702 is injected into a frying pan through an oil pipe by the edible oil pump 706, oil smoke generated by frying is cooled through a central flue, the oil smoke is cleaned by spraying, the treated oil smoke is discharged from a smoke pipe 701 under the action of the fan 708, a corresponding range hood is correspondingly opened according to the working table top of the cooking layer 5, the oil smoke is sucked away in a pair, the rice quantity is automatically controlled by the weighing sensor 716 according to the needs of users, the motor of the lifting mechanism 714 drives the wheels to wind the steel wire rope to realize slow descending and lifting of the rice bin 713, the rice bin is close to the pan opening, the rice in the rice bin 713 is injected into the electric rice pan through the rotary discharging opening 715, the rice is prevented from being scattered outside, the arranged standby battery device 707 can realize the normal work under the condition of power failure or power failure, and the device can also.

The seasoning layer 6 comprises a lifting mechanism 601, a moving piston 603, a guide rail 605, a ratchet mechanism 606, a solid and powder seasoning hopper 607, a fixed gear 608, a moving gear 609 and a liquid seasoning hopper 610, wherein the lifting mechanism 601 is arranged on the main shaft 1, the fixed gear 608 is further arranged between the lifting mechanism 601 and the moving gear 609, the solid and powder seasoning hopper 607 is arranged on the guide rail 605, the ratchet mechanism 606 is arranged in the solid and powder seasoning hopper 607, a driving motor is further arranged beside the ratchet mechanism 606, a plurality of one-way valves 602 are arranged in the liquid seasoning hopper 610, the moving piston 603 is arranged at a feed opening of the liquid seasoning hopper 610, and an electromagnetic push rod 604 is further arranged beside the moving piston 603.

The moving gear 609 is matched with the fixed gear 608, the seasoning hopper is rotated to the position above a pot opening needing to be filled, the seasoning hopper is slowly descended by the lifting mechanism 601 to be close to the pot opening, the seasoning in the solid and powder seasoning hopper 607 is filled into the pot by the ratchet mechanism 606 matched with the guide rail 605, the electromagnetic push rod 604 pushes the moving piston 603, and the seasoning in the liquid seasoning hopper 610 is filled into the pot through the one-way valve 602.

The cooking layer 5 comprises a plurality of manipulators 501, two frying pan table tops 502, a pan table top 503, an oven table top 504, an electric cooker table top 505, an electric pressure cooker table top 506, a moving gear 509, a fixed gear 510 and a plurality of electric push rods 511, wherein the frying pan table top 502, the pan table top 503, the electric cooker table top 505 and the electric pressure cooker table top 506 are all provided with one manipulator 501, two frying pan table tops 502 are all provided with cookers 507, the oven table top 504 is provided with an oven 508, the pan table top 503, the electric pressure cooker table top 505 and the electric pressure cooker table top 506 are all provided with an induction cooker, the electric push rods 511 are arranged on the frying pan table top 502, the fixed gear 510 is arranged on the main shaft 1, the moving gear 509 is mutually meshed with the fixed gear 510, the electric push rods 511 are arranged beside the frying pan table top 502, the pan table top, the frying pan is fixed on a frying pan table board 502, the top of the cooking layer 5 is also provided with a camera, the manipulator 501 comprises a rotary joint, a turner 501-1, a bearing I501-2 and a bearing II 501-3, the rotary joint comprises a steering engine rotary joint I501-4, a steering engine rotary joint II 501-5, a steering engine rotary joint III 501-6, a steering engine rotary joint IV 501-7, a steering engine rotary joint IV 501-8 and a stepping motor 501-9, the bearing I501-2 is arranged on the steering engine rotary joint I501-4, the steering engine rotary joint I501-4 can rotate for 360 degrees circumferentially, the steering engine rotary joint II 501-5, the steering engine rotary joint IV 501-6, the steering engine rotary joint IV-7 and the steering engine rotary joint IV-501-8 can horizontally move for 180 degrees, the turner 501-4 and the bearing II 501-3 are both mounted on a steering engine rotating joint V501-8, a controller is further arranged in the manipulator 501, and the turner 501-1 can rotate at any angle by matching with an algorithm, so that actions of turning and frying, holding soup, scooping vegetables and holding rice are realized.

The camera arranged at the top of the cooking layer 5 can monitor the whole operation process of the device in a video mode, food materials in the pot are stirred and fried through the mechanical arm 501, after the stir-frying is finished according to a program, the table board 502 of the frying pot is slowly ejected out through the electric push rod 511, the fried dishes are poured into a dish plate with the dinner plate and food placing layer 3 automatically lifted out through a flow guide opening formed in the frying pot, the frying pot is reset through the electric push rod 511, a proper amount of food cleaning machine is automatically ejected according to the oil stain degree of the fried dishes, the frying pot is washed and cleaned through the mechanical arm 501, the mechanical arm 501 beside the table board 505 of the electric cooker holds the steamed meals into a bowl, the mechanical arm 501 beside the table board of the electric pressure cooker puts the needed food materials into the electric pressure cooker, then the pot cover placed in the washing and food semi-finished product placing layer 4.

The cleaning and food semi-finished product placing layer 4 comprises a plurality of link mechanisms 401, a fixed gear 402, a drag chain 403, a tableware placing and cleaning bin 404, a pot cover cleaning bin 406, a moving gear 407, a plurality of meal semi-finished product bins 408, a plurality of slide rails 409, a plurality of electric push rods 410 and an oil leakage hopper 411, wherein the drag chain 403 is installed on the main shaft 1, the fixed gear 402 is meshed with the moving gear 407, a cleaning tool 405 is further arranged on the tableware placing and cleaning bin 404, each link mechanism 401 is installed in each meal semi-finished product bin 408, one electric push rod 410 is installed at the bottom of each link mechanism 401, and each slide rail 409 is installed beside each electric push rod 410.

Wherein the material of eating after washing has been placed in meal semi-manufactured goods storehouse 408, and the tableware is placed and is placed spoon, soup ladle and spatula in washing storehouse 404, and electric putter 410 through setting up promotes link mechanism 401 and ejecting meal semi-manufactured goods storehouse 408, conveniently takes out the material of eating of the inside, through installing the fixed gear 402 on main shaft 1 and moving gear 407 meshing, makes and wash and food semi-manufactured goods and place layer 4 and can rotate around main shaft 1, convenient operation.

The dinner plate meal placing layer 3 comprises a plurality of dinner plate placing plates 301, a fixed gear 302, a drag chain 303, a movable gear 304, an electric push rod 305, a plurality of link mechanisms 306 and a plurality of slide rails 307, wherein the fixed gear 302 is installed on the spindle 1, the movable gear 304 is meshed with the fixed gear 302, the drag chain 303 is installed on the fixed gear 302, one link mechanism 306 is installed at the bottom of each dinner plate placing plate 301, one electric push rod 305 is installed at the bottom of each link mechanism 306, and one slide rail 307 is installed beside each electric push rod 305.

Promote the dinner plate through electric putter 305 and place board 301, place board 301 with the dinner plate and release to frying pan water conservancy diversion mouth below, board 301 is placed near the frying pan to rethread link mechanism 306 lifting dinner plate, and according to the difference of dish, the height of lifting can automatically regulated, in the dish was put into to the dish that the dish in the pot was conveniently will fried, the dish meal was placed layer 3 and is kept in many dishes.

In this embodiment, an unmanned dining room takeaway delivery system of intelligent formula, carrying equipment adopt unmanned tracking drive car, unmanned tracking drive car is provided with positioner and automatic obstacle avoidance equipment, carries out tracking navigation and automatic obstacle avoidance according to the delivery instruction that the central controller who receives issued, carries storage device to go to unmanned dining room, or carries food in storage device and the storage device and go to user's assigned position.

Specifically, the storage device is an edible material storage box arranged at the distribution terminal, and comprises at least one normal-temperature storage box, at least one heating storage box and at least one freezing storage box, and the storage device is used for storing different types of distributed food.

The system comprises a user terminal, a payment module and a delivery terminal, wherein the user terminal is used for receiving food loaded by the delivery terminal, and the delivery terminal is used for delivering the food loaded by the delivery terminal; the payment submodule provides a user payment interface for accessing payment software, and the receiving submodule sends receiving confirmation information to the operation server by receiving two-dimensional code image information on the distribution terminal acquired by the user terminal.

The food delivery system comprises a delivery terminal, a delivery terminal and a take-out food storage cabinet, wherein the delivery terminal is arranged in a cabinet cavity of a user corresponding to the food storage cabinet, and the take-out food storage cabinet is arranged in a user area range.

As shown in fig. 12, in the present embodiment, an intelligent unmanned restaurant takeout distribution method includes the following steps:

In this embodiment, the method further includes an order information obtaining step S100 of the calculation server: the order information is obtained through the order server and sent to the operation server, the obtained order information comprises user takeout order information sent by the user terminal, or the order server generates predicted order information corresponding to the user terminal in advance according to historical user order data.

Specifically, the analyzing and sending the order information includes the following substeps:

More specifically, the central controller receives a driving instruction issued by the operation server, where the driving instruction includes a cooking instruction sent from the central controller to the cooking device and a distribution instruction sent from a corresponding distribution terminal within a 1KM area of the unmanned kitchen.

More specifically, the intelligent unmanned restaurant takeout distribution method is characterized in that a driving instruction sending mode of a central controller is that an unmanned kitchen for food cooking is selected according to a user terminal, and a cooking instruction is sent to corresponding unmanned kitchen cooking equipment by the central controller; and matching the distribution terminal which is closest to the food cooking time and the order taking time when the unmanned kitchen is visited, and sending a distribution instruction to the corresponding distribution terminal by the central controller.

According to the invention, the central controller used for distributing the cooking instruction and the delivery instruction and the operation progress information of the cooking equipment and the delivery terminal is arranged in the unmanned restaurant, the operation server connected with at least one central controller and the user terminal is arranged, the order information generated by the user terminal is received and sent to the central controller, and the central controller is used for uniformly coordinating the devices, so that the takeout automatic delivery process of the unmanned restaurant is realized.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. An intelligent unmanned restaurant takeout delivery system, comprising: the system comprises an operation server, a central controller and a distribution terminal; the operation server analyzes the received order information to generate a driving instruction for completing the order information and sends the driving instruction to the central controller; the central controller is arranged in the unmanned kitchen, distributes driving instructions to the cooking equipment and the distribution terminal of the unmanned kitchen, and sends cooking progress information of the cooking equipment and distribution time information of the distribution terminal to the operation server; the delivery terminal comprises delivery equipment and storage equipment arranged on the delivery equipment, the delivery equipment receives a driving instruction issued by the central controller, the delivery terminal is driven to go to the unmanned kitchen, food made by the intelligent cooking equipment of the unmanned kitchen is subjected to order taking, or the delivery terminal is driven to go to a user-specified position for order matching; wherein, the delivery terminal includes:

the terminal shell is used for protecting the internal structure of the distribution terminal, the internal structure of the shell comprises a base and a main body, a fixed shaft is arranged in the center of the top of the base, a support frame is fixedly installed at the bottom of the base, a moving device used for moving is arranged on the support frame, a battery and a controller are arranged in the base, and the controller is connected with the battery; the main body is arranged on a fixed shaft (818) of the base through a bearing and is in sliding connection with the base through a sliding rail (819), a power supply layer, a wine layer (803), a beverage layer (804) and a tableware layer (806) are arranged inside the main body, a hub motor (817) connected with a controller is arranged at the bottom of the main body, and the hub motor (817) receives a control command sent by the controller and drives the main body to rotate; a manipulator (810) arranged on the main body and used for taking and putting tableware and food; a tableware plate (805) is arranged in the tableware layer (806) and can be used for fixing tableware; a bottom lamp strip (815) is also arranged on the terminal shell;

the travelling device comprises a travelling motor and a transmission mechanism (802) which are arranged in the support frame, and a crawler travelling mechanism (801) and auxiliary wheels which are arranged at the bottom of the support frame; the auxiliary wheel is fixedly arranged on the supporting frame through a damping device; the crawler belt walking mechanism (801) is connected with a traveling motor through a transmission mechanism; the traveling motor is connected with the controller, receives a control instruction of the controller, and drives the crawler traveling mechanism (801) to realize the moving traveling of the intelligent distribution terminal;

the distribution terminal also comprises a touch display screen (808) which is arranged on the shell of the main body, is connected with the controller and is used for displaying the beverage and food information in the distribution terminal and receiving a control instruction input by a user to realize man-machine interaction;

a battery layer taking-out door (814) is arranged on a power supply layer in the main body, a drink layer left-right sliding door (813) is arranged on the drink layer, and a drink layer left-right sliding door (812) is arranged on the drink layer; the left and right sliding doors (813) of the wine layer and the left and right sliding doors (812) of the beverage layer are both provided with electromagnetic door locks and friction motors; the electromagnetic door lock and the friction motor are respectively connected with the controller;

the distribution terminal also comprises a sensor, the sensor is connected with the controller and used for counting after the user takes out the articles;

the manipulator (810) comprises a gear rack (828), a ball screw, a holder motor A (822), a holder motor B (823), a small motor B (824), a torsion spring (825), a small electromagnet (826) and a flexible manipulator B (827), the manipulator (810) is opened and closed through the gear rack (828), and the manipulator (810) is extended and retracted through the holder motor A (822); the height lifting of the manipulator (810) is realized through a ball screw; when the distribution terminal is used for grabbing, the position of the manipulator (810) away from the dinner plate is controlled through the combined action of the holder motor A (822) and the holder motor B (823), and the position of the manipulator (810) in the height direction is controlled through the action of the motor (820) through the module (821); after the dinner plate reaches a position, a small motor B (824) starts to work, the opening and closing of a flexible manipulator B (827) are controlled through the combination of a gear rack (828) and a small electromagnet (826) so as to grab the dinner plate, and the angle of a torsion spring (825) is automatically adjusted so as to be matched with the angle of the dinner plate, so that the torsion spring is completely attached to the wall surface of the dinner plate to grab articles;

the distribution terminal further comprises a parallel turnover door (809) and a telescopic mechanism (807), wherein the parallel turnover door (809) is connected with the telescopic mechanism (807) and is arranged at the top of the main body for preventing tableware in the tableware layer from falling; the telescopic mechanism (807) is connected with the controller and is used for opening or closing the parallel turnover door (809) according to a control command sent by the controller;

the distribution terminal further comprises an obstacle avoidance module, wherein the obstacle avoidance module comprises two radars (829), a camera A (830) and a camera B (831), the two radars (829) are respectively arranged in front of and behind the traveling device, are connected with the controller and are used for scanning and acquiring image information of the distribution terminal before and after the traveling ground; the camera A (830) is arranged below the telescopic mechanism (807), the camera B (831) is arranged on the side face of the manipulator (810), the camera A (830) and the camera B (831) are used for respectively collecting environmental information in front of and behind the advancing direction of the distribution terminal and identifying human body characteristics, and the controller is respectively connected with the camera A (830) and the camera B (831);

the obstacle avoidance module further comprises an ultrasonic sensor and a collision sensor; the ultrasonic sensor identifies the distance of the obstacle and is used for assisting the robot to avoid the obstacle; the collision sensor is used for detecting whether the robot collides or not, and controlling the robot to give an alarm and prompt the generation of collision when the collision is detected to be suddenly generated by the robot;

the distribution terminal acquires the peripheral image information of the distribution terminal by using the camera A (830) and the camera B (831), real-time specific position parameters of the distribution terminal are acquired in the operation server by using a camera identification algorithm, the operation server generates a driving instruction according to the distribution place position information in the distribution order information and the acquired real-time specific position parameters of the distribution terminal, and the driving instruction is transmitted to the distribution terminal through wireless communication to drive a crawler walking mechanism (801) of the distribution terminal, so that the distribution terminal can be automatically distributed at different positions;

after the distribution terminal enters an elevator building, the position information and the floor information of the distribution terminal are obtained through the camera A (830) and the camera B (831), the real-time specific position parameters of the distribution terminal are obtained in the operation server through a camera recognition algorithm, the operation server generates a driving instruction according to the obtained real-time specific position parameters of the distribution terminal and the floor information of the elevator, obtained by an elevator system connected with the operation server, the driving instruction is sent to the distribution terminal through wireless communication, a crawler walking mechanism (801) of the distribution terminal is driven, the distribution terminal can get in and out of the elevator in the distribution process, and automatic distribution on different floors is achieved.

2. The intelligent unmanned restaurant takeout delivery system according to claim 1, further comprising an order server, wherein the order server acquires order information and sends the order information to the calculation server, the acquiring of the order information comprises receiving the user takeout order information sent by the user terminal, or the order server generates predicted order information corresponding to the user terminal in advance according to historical user order data;

the calculation server includes:

3. The intelligent unmanned restaurant takeout distribution system of claim 2, wherein the central controller receives driving instructions issued by the computing server, wherein the driving instructions comprise cooking instructions sent by the central controller to the cooking equipment and distribution instructions sent by the central controller to corresponding distribution terminals within a preset area of the unmanned kitchen; the driving instruction sending mode of the central controller is that an unmanned kitchen for food cooking is selected according to the user terminal, and the central controller sends a cooking instruction to corresponding unmanned kitchen cooking equipment; and matching the distribution terminal which is closest to the food cooking time and the order taking time when the unmanned kitchen is visited, and sending a distribution instruction to the corresponding distribution terminal by the central controller.

4. The intelligent unmanned restaurant takeout and delivery system according to claim 1, wherein the carrying device adopts an unmanned tracking driving vehicle, the unmanned tracking driving vehicle is provided with a positioning device and an automatic obstacle avoidance device, tracking navigation and automatic obstacle avoidance are performed according to a received delivery instruction sent by the central controller, and the storage device is carried to the unmanned restaurant or carries food in the storage device and the storage device to a position designated by a user; the storage device is an edible material storage box arranged at the distribution terminal and comprises at least one normal-temperature storage box, at least one heating storage box and at least one freezing storage box, and the storage device is used for storing different types of distributed food.

5. The intelligent unmanned restaurant takeout delivery system of claim 1 further comprising a payment module disposed at the user terminal, said payment module including a payment sub-module for making payment when placing an order, and a receipt sub-module for receiving a food item at the delivery terminal; the payment submodule provides a user payment interface for accessing payment software, and the receiving submodule sends receiving confirmation information to the operation server by receiving two-dimensional code image information on a distribution terminal acquired by a user terminal; the food delivery system is characterized by further comprising a takeout food storage cabinet arranged in the user area range, and food on the delivery terminal is grabbed and placed in a cabinet cavity of a user corresponding to the food storage cabinet through a multi-degree-of-freedom mechanical arm arranged on the takeout food storage cabinet for the user to take.

6. An intelligent unmanned restaurant takeout distribution method is characterized by comprising the following steps:

7. The intelligent unmanned restaurant outward taking delivery method according to claim 6, further comprising an order information acquiring step S100 of the calculation server: the order information is obtained through the order server and sent to the operation server, the obtained order information comprises user takeout order information sent by the user terminal, or the order server generates predicted order information corresponding to the user terminal in advance according to historical user order data.

8. The intelligent unmanned restaurant takeaway distribution method of claim 6 wherein said parsing and sending order information includes the substeps of:

9. The intelligent unmanned restaurant takeout distribution method according to claim 8, wherein the central controller receives driving instructions issued by the computing server, and the driving instructions comprise cooking instructions sent by the central controller to the cooking equipment and distribution instructions sent by corresponding distribution terminals within a preset area of the unmanned kitchen.

10. The intelligent unmanned restaurant takeout distribution method according to claim 9, wherein the central controller is driven by a command transmission mode in which an unmanned kitchen for cooking food is selected according to the user terminal, and the central controller transmits a cooking command to a corresponding cooking device of the unmanned kitchen; and matching the distribution terminal which is closest to the food cooking time and the order taking time when the unmanned kitchen is visited, and sending a distribution instruction to the corresponding distribution terminal by the central controller.