• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    interactive beverage preparation station, hardware / software platform for ordering, to control an interactive preparation station and application. an interactive robotic station for beverage preparation and dispensing is described, comprising a user input interface, a user display, automated ingredient dispensers, a robotic station for collecting ingredients from the dispenser, mixing the ingredients, performing bar operations, preferably mixing and/or stirring and/or stirring and/or straining, pouring the beverage into an open top container and providing the container to a user, a control unit to automatically control the dispensers and robotic station, based on the inputs network interface, and display information about the beverage preparation process on the display.
    公开号:BR112015025712B1
    申请号:R112015025712-7
    申请日:2014-04-08
    公开日:2021-08-10
    发明作者:Carlo Filippo Ratti
    申请人:Carlo Filippo Ratti；
    IPC主号:
    专利说明:

    Background of the Invention
    [001] The proposed invention belongs to the technical field of large-scale industrial robots.
    [002] More specifically, the present invention belongs to the technical field of production lines operated through large-scale industrial robots.
    [003] More specifically, the present invention belongs to the technical field of automation and use of robots, preferably, but not exclusively, large-scale industrial robots, in daily tasks.
    [004] More specifically, the proposed invention belongs to the technical field of automated beverage production, in particular cocktail production lines actuated by a typing input generated by a user through large-scale industrial robots. List Of Figures- Figure 1 is a schematic view of a hardware/software platform for beverage preparation according to the present invention;- Figure 2 is an exploded schematic view of a first form of incorporation of a robotic station for the platform of figure 1;- A figure 3 is a perspective view of a detail of the robotic station of figure 2; figure 4 is a schematic view of a display of the platform of figure 1; figures 5 and 6 are perspective views of respective details of a sub - unit of the robotic station of figure 2;- figures 7 to 9 are respectively a front view, a side view and a top view of a second embodiment of a robotic station according to with the present invention;- Figure 10 is a sequence of schematic views of a detail of the robotic station of Figures 7 to 9;- Figure 11 is an exploded view of a robotic station according to a third embodiment of the present invention Figure 12 is a sequence of schematic perspective views of a sub-unit of the robotic station according to the present invention; Figure 13 shows a sequence of perspective views to explain the operation of the sub-unit according to the Figure 12; Figure 14 shows a sequence of perspective views to explain the operation of another sub-unit of a robotic station according to the present invention; Figures 15 and 16 are a front and side view, respectively, of a robotic station according to a fourth embodiment of the present invention; Figures 17 to 19 are a front, side and top view, respectively, of a fifth embodiment of a robotic station according to the present invention. Invention Summary
    [005] The proposed invention is a production line or automated preparation station for beverages, in particular cocktails, activated by a typing input generated by a user through large-scale industrial robots.
    [006] The preparation station comprises an interface for user input, a robotic station to collect ingredients from the dispenser based on the order, mixing the ingredients and pouring the beverage into an open top container, and a control unit for automatically control the robotic station, based on typing inputs from the network interface, to prepare the drink.
    [007] Preferably, the preparation station comprises stored beverage recipes, created by associated users, each cocktail recipe being defined by a set of instructions, which are executed by the robotic cocktail station, and/or by a list of ingredients , so that a user can create a list of ingredients and their relative amounts.
    [008] Preferably, the preparation station comprises automated beverage ingredient dispensers, controlled by the control unit so that the robotic station mixes these ingredients.
    [009] In addition, the preparation station performs bar operations, preferably mixing and/or stirring and/or stirring and/or straining, and presents on the display information about the beverage preparation process. Preferably, the preparation station comprises stored drink recipes, created by an associated user, each cocktail recipe being defined by a set of instructions, to be executed by the robotic station, and/or by a list of ingredients, from the which the user selects from a sub-list of ingredients and their relative amounts.
    [010] Preferably, the preparation station comprises automated beverage ingredient dispensers, controlled by a control unit, so that the robotic station mixes the ingredients collected from the automated dispensers.
    [011] Preferably, the preparation station comprises a display that displays at least one of the following procedures: a queuing process for users and/or drink orders; a representation of the beverage preparation process, including waiting time; statistics on drinks ordered.
    [012] Preferably, the preparation station comprises a structural barrier to prevent injury to the user. In particular, such a structural barrier comprises a counter and a carrier incorporated into the counter, having a loading station in which a drinking cup is supported, filled with a drink prepared by a robotic arm, and a withdrawal station, where a user receives the cocktail glass.
    [013] The production line or automated beverage preparation station, in particular cocktails, comprises or consists of a user interface software, preferably a network and/or smart phone (smartphone) application running on a portable device 101, such as a laptop computer or other personal smart mobile device, connected to the Internet, having the following functionalities: a) Allow users to register and enter personal data; b) Allow users to choose a preferred beverage 106 a be prepared, that is, a user can enter a personal recipe having ingredients and their relative amounts; c) Show users the data and ingredients used to prepare the preferred beverage 106; d) Show users the status of the automated machine and the functioning of the system.
    [014] The user interface software is preferably a network application, which allows connection to each portable device that supports Internet accessibility, without the need for executable software to be downloaded to the personal device of user. The app specifically runs on any web browsing app already present on the handheld. The user interface is preferably designed to accommodate all possible display sizes for handheld devices. According to another embodiment of the present invention, a first user can store a preferred drink recipe 106 so that such recipe can be viewed by other users. Furthermore, in case a second user selects the above-mentioned preferred recipe of the first user, and introduces some changes, that is, add or remove one or more ingredients and/or change their amounts, the software notifies the first user of the fact your recipe has been modified. Notifications and/or users associated with those notifications are stored and accounted for by a classification algorithm, which monitors the receipts managed by the ordering platform hardware / software comprising the production line and user interface referred to above. For example, if a recipe is modified by many different users the relative ranking is higher than a recipe that is modified only once and/or is modified many times by a limited number of users. Alternatively, or in combination, the ranking of a recipe depends on the number of users choosing the recipe and/or a ranking scale according to which each user can rank the selected recipe. Alternatively, or in combination, it is also possible for the ranking to be comparative, so that when a recipe is modified, users can rank the modified recipe as better, worse, or equal to the original recipe.
    [015] The automated line also comprises a back-end software, preferably a Java Servlet that updates and manages the storage of all data received from the network application, an automated controller 107, and visualization components 104. The data for the system include current system status, user information, order information, ingredient information, beverage recipes, statistics, and payments. All data is stored in a structured database (preferably a Redis database). The database is continually updated through typing input from users through the network application, at every stage of the user experience. These typing entries include, in any combination, user registration, confirmation of user entry into the system (login), user information updates, ingredient retrieval, creating or retrieving a recipe, placing orders, and order analysis. All communication between the back-end software and the network application is facilitated through JSON objects. Any Redis information that is needed by the industrial robot controller is then read from the Redis database and entered into a local database (preferably a MySQL database) using a Python bridge that monitors all Redis activity .
    [016] This procedure is designed to:- Collect typing input made by the user in the UI software, allowing people to communicate with the automated machines 105, which will be described in more detail below, and their selection of base ingredients for the beverages 106 ordered, combining it with the user's personal information stored through the interface software; - Converting the user's typing input to data that the automated machines 105 can handle directly; - Read the bank data coming from the machines and make it readable, including the operations of the machines, the availability of liquid, the state of the system and the definition of the trajectories of the robots to prepare the drinks 106. According to a preferred embodiment of the present invention , robots are controlled according to an optimized trajectory, to move and complete at least the picking of ingredients, in particular the picking or mixing. of liquids. The optimization algorithm retrieves the x, y, z spatial positions that robots must reach in order to collect ingredients and automatically define the relevant trajectory, which preferably comprises linear segments along which robots must move according to criteria for example, to minimize the time taken to collect ingredients. Robots are also controlled to move according to a predefined, wavy motion, at least for moving or shaking. In such a case, the movement is more complex than simply moving to collect ingredients, and it is predefined during programming so that no optimization is automatically performed by the automatic controller. During programming, movement is preset with respect to, for example, the oscillation amplitude, the oscillation frequency if the movement is periodic, and the displacement frequency or amplitude if the movement is more complex than periodic. Preferably, the oscillations are around a central spatial point.
    [017] The back-end software is preferably stored in a cloud database 102, which is constantly replicated to a database on a local server 103, which allows automated machines 105 to work continuously during an occasional disconnection with the Internet.
    [018] The automated line also comprises an automated machine. Automated machine 105 is composed of dispensers of liquids - solids - granules 2, activated by the back-end software, which distribute base ingredients according to their nature and user instructions, collected through the interface software, in favor of robotic arms 1, preferably anthropomorphic robotic arms. Robots 1 have an open top liquid container "final preparer" 14 (figure 3), which allows the collection of liquids thanks to the movement of robotic arms 1. Robots 1 move to be vertically aligned with distributors 2 actuated by the backup software in order to collect the distributed ingredients. In particular, dispensers are controlled by the back-end software to dose each ingredient. In particular, a suitable flow control is provided for dosing liquid ingredients. Preferably, the flow control is an open-loop control, and a discrete open/closed valve duty cycle (not shown) is controlled to dose liquid ingredients. The automated machine 105 and the automated controller 107 are designed to: a) Read the data coming from the back-end software and perform specific actions according to the beverage 106; such actions do not refer to the collection of ingredients, and can be of a choreographic type, so that the robots "dance" according to a predefined wavy movement; b) Sense or detect their operational state, and communicate with the back-end software; c) Prepare drinks 106 according to user instructions.
    [019] The proposed invention preferably includes three robotic arms 1a, 1b, 1c.
    [020] Preferably, a robotic arm 1b, in an intermediate position between the other two, receives a disposable open-top liquid container, that is, a plastic or glass cup 15, and makes it available for the other two arms.
    [021] Preferably, two robotic arms 1a, 1c, on both sides of the central robotic arm 1b, have the “final preparer” 14 (figure 3) in the form of a bar shaker (cocktail shaker). This final preparer is made up of three parts: a lower part 16, which receives the ingredients, a mechanically actuated lid 17, which allows waterproof closing, and a metal filter 18, between them, which allows to strain the drink 106 during your eviction.
    [022] Preferably, two robotic arms 1a, 1c, on either side of the central robotic arm 1b, have an alternative final preparer in the form of a bar shaker (cocktail shaker), which allows the robotic arms to stir the ingredients without dripping.
    [023] Preferably, two robotic arms 1a, 1c, on both sides of the central robotic arm 1b, have an alternative final preparer in the form of a bar shaker (cocktail shaker), which allows the robotic arms to shake the ingredients without dripping.
    [024] Preferably, the two robotic arms 1a, 1c, on both sides of the central robotic arm 1b, move to be vertically aligned with each dispenser 2 required by the mixture of ingredients for the preparation of the cocktail 106.
    [025] Preferably, the two lateral robotic arms 1a, 1c pour drinks made of different base ingredients into the open top liquid container 15, provided by the central robotic arm 1b. The central robotic arm 1b eventually provides the open top liquid container to the person who operated the UI software. Preferably, this is achieved by providing the automated line with a counter 3 and a conveyor belt for serving cups 4, where the central robotic arm 1b places the open top liquid container 15 filled with beverage 106.
    [026] To provide adequate safety features for the user, the central robotic arm places the open top liquid container 15 on a 4 conveyor belt or something similar, which ultimately carries the beverage to the user. In this way, the user is always out of any path of the robotic arms (passive safety feature). The conveyor belt 4 is placed below a counter 2. Furthermore, 2D laser scanners 19 or similar are provided to delimit a working area W of the robotic arms 1a, 1b, 1c, and to stop the robots in the case from a user or other body interfering with the W desktop (active security feature).
    [027] According to a first embodiment of the invention, the automated line comprises, below the counter 2 and within a structure 13, an ice machine 5, a stock of liquid base ingredients 6, a stock of ingredients of solid base 7, a soda fountain (soda) 8, a cup dispenser 9, pumps 10, dirty water tanks 11, and a clean water tank 12.
    [028] The automated line also comprises visual means 104 to display a virtual aesthetic representation of the process. The visual means display: - Users who register in the user interface software (indicated with the numeral 20 in figure 4); - Users who make up their drinks 106, through the user interface software (indicated with the numeral 20);- Users who confirm their orders through the user interface software (indicated with numeral 20); - The queuing process of people who confirmed through the user interface software (indicated with the numeral 20); - The representation of the beverage preparation process, including the waiting time (indicated with the numeral 21); - The ingredients being dumped by the automated machine (indicated with numeral 22);- Statistics related to the preparation, and the most wanted cocktails (indicated with numerals 23, 24).
    [029] The first thing that the workflow provides is the generation of a series of data, through the interaction between people and the user interface software. Users log into the user interface software, and gain access to: a list of base ingredients, a list of ingredient mixes (recipes) pre-selected by the programmer, and a list of pre-selected ingredient mixes by previous users. By following one of these three paths, a user can submit their request to the system.
    [030] This information is transmitted to the back-end software, which does its post-processing in order to make it readable by the automated machine 105. The automated machine 105 receives the list of queued orders, and performs, in that order: a distribution of glasses, the distribution of ingredients according to the mixture of base ingredients, the collection of ingredients by the final preparer, performed by gravity, the preparation of the drink, stirring it, stirring it, mixing it or shaking it , and distribution of the beverage through the conveyor belt 4.
    [031] Figures 5 and 6 show an example of an automatic dispenser 30 for the preparation of fresh fruit slices used as ingredients in beverage recipes, in particular fresh lemon slices. In particular, the dispenser 30 comprises a compartment 31 for collecting the fruit, and a cutting base 32 below the compartment 31. The fruits within the compartment 31 are pressed onto the cutting base 32 by gravity, and, if applicable, a weight is added to press the fruit onto the cutting base 32. Other means of pressure can replace this weight. The cutter base 32 has a blade 34 and a plunger 35 controlled by the back-end software, to cut a slice of fresh fruit when instructed. The slice is collected by the final preparer 14 by gravity. In particular, the cutting base 32 comprises a bottom wall 36 for holding the fruits within the compartment 31, and the plunger 35 pushes the fruit into contact with the bottom wall 36 in order to cut the slice and expel it through. of a bottom groove 37 delimited by the blade 34.
    [032] Figures 7 and 8 show another embodiment of the arrangement of the present invention that is identical to the embodiment of figures 1 to 6, except for what is described below. The automated line 40 comprises automated dispensers 2 and switched-dispensers with robotic arm 41. In particular, the automated dispensers 2 are controlled by the back-end software, and the switched-dispensers with robotic arm 41 are opened by contacting the robotic arms 1 when the final preparer 14 is placed in a suitable position for picking up ingredients. Preferably, the dispenser 41 also operates by gravity and comprises a plurality of containers, in particular bottles 42, and a plurality of respective holders 43 for holding the bottles 42 upside down. Preferably the dispenser 41 is above the counter 3, and defines a window A1 through which the user sees the robots 1 preparing drinks 106, when the user is standing in front of the counter 2 (figure 7).
    [033] In particular, each bottle 42 is connected to a metering shutter or dosimeter 44 that delivers a fixed and predefined amount of an ingredient by gravity when switched. The metering shutter 44 is discretely opened or on-off, and preferably comprises a lever 45 or the like, which is to be pressed, tilted, etc. to provide the preset fixed amount of the ingredient. The robotic arms 1 suitably contact and switch a relevant metering shutter 44 so that a final preparer 14 collects the ingredient by gravity, such as a liquid. An ingredient amount with the drink recipe is an integer multiple of said fixed preset amount, so robots 1 may need more than one switching of metering shutter 44 to collect the correct amount for the recipe.
    [034] Figure 10 shows in more detail the support 43. The support 43 detachably supports a bottle or container 42 upside down. A support 46 is fixed above the counter 3, and a releasable arm 47 can be coupled to the bottle 42 and connected to the support 46. Preferably, the releasable arm 47 is connected to a respective metering shutter 44.
    [035] The releasable connection between the releasable arm 47 and the bracket 46 can be of any type, and preferably includes a threaded pin 48 or a quick-connect connector.
    [036] The automated line 40 also comprises a mug or cup dispenser 50, to place a cup 15 on a conveyor 4'. Dispenser 50 comprises a frame 51 for stacking cups and a rigid tilting arm 52. Preferably, dispenser 50 is below counter 3 (FIG. 11).
    [037] The distributor 50 works as follows (figure 12, details 'a' to ‘d’). Arm 52, controlled by the rear software, catches an empty cup 15 from frame 51; arm 52 tilts or moves so as to place empty cup 15 on conveyor 4', ready to receive a cocktail; the robotic arms 1a, 1c pour the drink from the “final preparer” 14 into the cup 15, and the conveyor 4' delivers the drink into the cup 15 to the user. Preferably, frame 51 comprises a movable platform 53 for supporting empty cup 15 to be picked up by arm 52, at a substantially constant level, so that arm 52 moves discretely between a pickup position to pick up a empty cup 15 of frame 51 (fig. 12a), and a release position, for placing the empty cup 15 on conveyor 4' (fig. 12b). In order to avoid possible interference with the robotic arms 1a, 1c, the arm 52 returns from the release position to the catch position before the drink is poured from the final preparer 14 into the cup 15 (figure 13). Alternatively, a mug dispenser provides, for example, by gravity, a cup in the vertical position illustrated for example in Figure 12b, and the robotic arm moves the cup from the dispenser to a filling area, and then pours the beverage. inside the cup.
    [038] According to another preferred embodiment, the automated line 40 comprises an automated door 60 to control the picking up of the cup 15, after it has already been filled by the drink prepared by the robotic arms 1a, 1c. In particular, port 60 is controlled by back-end software, which recognizes that the ordered beverage is ready on the conveyor 4', then releases port 60 when the user provides an identification that he ordered the beverage. Preferably, door 60 comprises a door 61 that opens as shown in Figure 9, defining access to the beverage. Alternatively, door 60 comprises a door 62 mounted on conveyor 4', and which is movable together with cup 15 (figure 14). According to a preferred embodiment, the door 62 defines a movable receptacle which opens when the cup 15 receives the beverage from the final brewer 14, and which is closed around the cup 15 to prevent accidental trapping; it moves with cup 15 on conveyor 4', and is opened when the back-end software recognizes a release code belonging to the ordering user. Preferably, the release code is transmitted wirelessly, via a hand-held device, to a sensor 63 controlled by the back-end software (figures 14a to 14d).
    [039] Figure 15 illustrates another arrangement of an interactive robotic station according to the present invention. Interactive robotic station 70 is identical to station 40, except where expressly noted. In particular, the interactive robotic station 70 has a counter 3 arranged to provide a structural barrier to prevent injuries caused by direct contact of the robots 1 with a user. In particular, the longitudinal (figure 15) and transverse (figure 16) dimensions of the counter 3 are established so that a user remains outside the area defined by the maximum elongation or extension of the robots 1, even in the event of a breakdown. Such a structural barrier is an alternative, and it can be combined with the barrier defined by the optical scanners 19.
    [040] Figures 17 to 19 describe another arrangement of an interactive robotic station according to the present invention. Interactive robotic station 80 is identical to the robotic station in Figure 2, but the arrangement of the components changes. The numerals used in the previous paragraphs are also represented in figures 17 to 19 to designate corresponding elements.
    [041] In addition, it is possible that the software described above is used with robotic stations that do not comprise anthropomorphic robots. Furthermore, software comprising a downloadable application, which can be installed on a personal computer or a personal smart mobile device, can be used to share recipes on social networks.
    [042] Furthermore, the application can store and display to its users information about their preparations or recipes and/or orders. This is in line, for example, with the recent trend to store information about daily personal life/lifestyle (eg self-quantified information). In addition, the app can calculate the amount of alcohol and/or calories for each user, depending on their preparations or recipes and/or previous orders.
    权利要求:
    Claims (11)
    [0001]
    1. Interactive beverage preparation station comprising a user input interface (101) for a beverage order, a robotic station (105) for collecting the ingredients based on the order, mixing the ingredients and pouring the beverage into an open top container (15), a pick-up zone (4, 4') in which the user receives the open top container (15) from the robotic station (105), and a control unit (103) for controlling automatically the robotic station (105) based on typing inputs from the input interface (101), to prepare a drink corresponding to the drink order, wherein the robotic station (105) comprises at least one robotic arm (1) having a final preparer (14) for collecting the ingredients, and performing bar operations, including at least mixing and/or stirring and/or stirring and/or straining, characterized in that the final preparer (14) comprises a bottom part (16) to receive the ingredients, and a tampon a (17), activated and controlled by the control unit (103), which makes the waterproof closing of the lower part (16).
    [0002]
    2. Preparation station, according to claim 1, characterized in that it comprises automated beverage ingredient dispensers (2), controlled by the control unit (103), and beverage ingredient dispensers with robotic arm (41) switched by a contact movement of the robotic arm (1) when it holds the final preparer (14) to collect an ingredient.
    [0003]
    3. Preparation station, according to claim 2, characterized in that the control unit (103) stores a spatial position of a collection point associated with each distributor (2, 41), in order to place the final preparer (14 ) at a collection point while collecting beverage ingredients.
    [0004]
    Preparation station, according to claims 2 or 3, characterized in that the automated beverage ingredient dispensers (2) and/or the beverage ingredient dispensers with robotic arm (41) comprise a metering shutter or dosimeter ( 44) to dispense a fixed, preset amount of an ingredient when switched.
    [0005]
    Preparation station according to any one of claims 2 to 4, characterized in that the robotic arm beverage ingredient dispensers (41) dispense an ingredient by gravity.
    [0006]
    6. Preparation station, according to any one of the preceding claims, characterized in that it comprises a counter (3) and a window (A1) above the counter, with the robotic arm (1) being placed so as to be visible when a user it is in front of the counter (3), and an optical and/or structural barrier (19, 3, 4) to prevent contact between the robotic arm (1) and the user.
    [0007]
    Preparation station, according to claim 6, characterized in that the light barrier (19) comprises a sensor that delimits a spatial region (W), in which the robotic arm (1) can move freely, with the unit of control (103) being programmed so that the robotic arm (1) is blocked if a body is detected by the sensor.
    [0008]
    Preparation station according to claim 6 or 7, characterized in that the barrier comprises a conveyor (4, 4') for transporting a beverage cup (15) after preparation of the beverage, and defines the distal pick-up zone of the robotic arm (1).
    [0009]
    Preparation station according to any one of the preceding claims, characterized in that the robotic arm (1) is controlled to move in a predefined and wavy motion, at least for a shaking operation and/or a stirring operation .
    [0010]
    10. Preparation station, according to any one of the preceding claims, characterized in that it comprises a door (60) to prevent a user from picking up a drink cup (15) after its preparation, in which the control unit (103) releases the door (60) upon receiving a user code, so that the user can then pick up the drink cup (15).
    [0011]
    11. Preparation station, according to any one of the preceding claims, characterized in that it comprises an additional arm (1b, 52) for picking up an empty cup (15) and placing it in a transport station (4, 4' ), where the robotic arm (1), which is anthropomorphic, fills the empty glass (15).
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    同族专利:
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    法律状态:
    2018-11-13| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2020-03-17| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-06-29| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-08-10| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 08/04/2014, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    EP13162973|2013-04-09|
    EP13162973.5|2013-04-09|
    PCT/IB2014/060534|WO2014167499A2|2013-04-09|2014-04-08|Interactive robotic station for beverage, in particular cocktail, preparation and dispensing|
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