ACKNOWLEDGMENT

First and foremost, we would like to express our utmost gratitude to the Department of
Electronics and Communication Engineering of Kathmandu engineering college (KEC)
for allowing us this opportunity to broaden our horizon through this major project.

We would like to take this opportunity to express our sincere gratitude and deep regards to
our Head of Electronics and Communication Department Er.Sagun Manandhar. We thank
him for giving this opportunity to explore into the real-world project and learn some valuable
knowledge which will always be helpful in our future. We would specially thank our Project
Coordinator Er.Dipen Manandhar for the useful and helpful assistance for the initiation of
this project.

We would also like to thank our Project supervisor Er.Suramya Sharma for providing
invaluable guidance, comments and suggestions throughout the course of the project.

And finally, we would like to thank all of the persons, who directly and indirectly helped us
in this concept of the project.

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 ABSTRACT

This paper describes the design and development of a restaurant management which is
considered as a possible solution to restaurant automation. The robotics technology is
replacing manual work throughout the world. In classical café, restaurants and hotels, the
customers face a lot of problems due to congestion at peak hours, unavailability of waiters
and due to manual order processing. These shortcomings can be handled by using a restaurant
automation system, where we can order food and beverages, and deliver them through a
system that consist of an app for ordering the food by the customer and use a robot to deliver
the food items to the customer. The customer order are placed on a database, and based on
the table of customer the robot is given command to go to the particular table.

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 TABLE OF CONTENTS

ACKNOWLEDGMENT.....................................................................................................................i
ABSTRACT..........................................................................................................................................ii
TABLE OF CONTENTS......................................................................................................................iii
List of Figures.......................................................................................................................................iv
List of Abbreviation...............................................................................................................................v
CHAPTER 1: INTRODUCTION......................................................................................................1
1.1 Background............................................................................................................................1
1.2 Problem statement.................................................................................................................2
1.3 Objectives..............................................................................................................................2
1.4 Scope of project and Application...........................................................................................2
1.5 Organization of report............................................................................................................3
CHAPTER 2: LITERATURE REVIEW...............................................................................................4
CHAPTER 3: RELATED THEORY.....................................................................................................6
HARDWARE DESCRIPTIONS.......................................................................................................6
3.1 ArduinoMega:.............................................................................................................................6
3.2 Ultrasonic Sensor:........................................................................................................................7
3.3 DC gear motor............................................................................................................................8
3. 4 Infrared Sensor:..........................................................................................................................9
3. 5 motor driver module:................................................................................................................10
3. 6 Bluetooth Module:....................................................................................................................10
SOFTWARE DESCRIPTIONS:......................................................................................................11
CHAPTER 4: METHODOLOGY.......................................................................................................12
4.1 Block Diagram...........................................................................................................................12
4.2 Algorithm..................................................................................................................................13
4.3 Flowchart...................................................................................................................................14
CHAPTER 5: RESULT AND ANALYSIS.........................................................................................16
CHAPTER 6: EPILOGUE..................................................................................................................17
6.1 Conclusion.................................................................................................................................17
6.1 Future Enhancement..................................................................................................................17
REFERENCES....................................................................................................................................18
APPENDIX.........................................................................................................................................19

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 List of Figures

Figure. 3.1: Arduino mega 2560 ………………………………………………………. 6

Figure 3.2: Ultrasonic sensor .....…………………………................………………... 8

Figure3.3: DC gear motor..... ………………………………………………………… 8

Figure3.4: IR sensor and working of IR for different surface……………………… .. 9

Figure.3.5: motor driver module ………………………….…………..………….……. 10

Figure.3.6: Bluetooth Module………….…….………………………..……….…….… 10

Figure 4.1: Block diagram of robot system..........................…………………………… 12

Figure 4.2: Block diagram of robot movement………………………………………… 12

Figure 4.3: Block diagram of ordering system ………………………………………… 13

Figure4.4: Flowchart for working of Ordering APP ...........……...………………… 14

Figure 4.6: Flowchart for working of Robot ………………………………………… 15

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 List of Abbreviation

DC Direct current

Gnd Ground

I/O Input/output

IR Infrared sensor

Led Light emitting diode

PIO ProgrammedInput/output

PWM PulseWidthModulation

Tx Transmitter

Rst Reset

Rx Receiver

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 CHAPTER 1: INTRODUCTION

1.1 Background

The project we have taken in account uses the concept of a digitalized menu system to order
food items and deliver them with the help of a robot. The growth in science and technology
has created a lot of changes and stir in our daily lifestyle as well as business transactions.
Business in the hospitality industry too has been greatly influenced, and competition has
increased due to improved ordering food techniques. In earlier days, the food ordering system
was a manual process, which required a lot of manpower, where a waiter had to note down
orders from customers using a pen and paper, take orders from the kitchen, bring the food and
make the bill. Though very simple, this system requires extensive investment in the purchase
and storage of paper. Not only this, it is also prone to human error and is very time
consuming.

The use of mobile robots in the service industry and in restaurant is on increasing trend in the
industry especially in Asia. Using a robot waitstaff not only helps to reduce the cost of the
restaurant but it also helps in attracting new customers. The lack of human resources, cost of
hiring and disinterest in developing a carrier in food and beverage industries are the main
reasons for using a robot waitstaff. Also the robot waitstaff can increase the number of
customers in the restaurant. kids, adults and old people may be attracted to the technology,
which helps in increasing the revenue of the restaurant. They can work continuously and has
better efficiency than a human. In the time where human resource is hard to find and their
stability to work permanently in restaurant in very low such kind of robots are the best
option.

And the use of digitalized menu system to order not only helps to reduce the time the
customer has to wait but also helps in fewer mistakes, delivering the food items of a
particular customer. Since human waiter can make mistake at peak times when the customers
are high, robot have a less chance of making such mistakes.

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1.2 Problem statement

We often visit to restaurant for food and drink, there we see a waiter came and ask for order.
The most annoying part is waiter wait while we are choosing items for menu. At the time of
pick hour customer increase, requires more manpower and as a result the situation becomes
annoying and expensive too to solve this kind of problem we design automation system
called restaurant menu ordering system and also the robot that serve the food from kitchen to
table.

1.3 Objectives

Objectives of our project are

 To use a digitalized system for ordering foods and drinks in restaurants.

 To design a co-ordinate based robot to serve food in restaurants.

1.4Scope of project and Application

The scopes of our project are:

 Restaurants and Hotels

 This robot can also used in factories
 This robot can also used in office and homes for various uses.
 This app can be used for online-food ordering

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1.5Organization of report

Chapter one gives a brief introduction of our project such as what our project does, the
problem addressed by our project, our objectives and scope and where our project can be
potentially used.

Chapter two sheds some light about the past as well as present invention and innovations
regarding our project.

The equipment used along with their specifications and operating principle are briefly
described in chapter three.

Chapter four is the methodology which includes the working principle of our project
explained in detail with the help of block diagram, algorithm, and flow chart.

Chapter five includes expected outcome of our project and references.

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 CHAPTER 2: LITERATURE REVIEW

With the advancement in technology, we are working on the journey of getting to the peak of
facilities by introducing digital food ordering system and serving the food with the help of a
robot waiter. We may think of robotic waiter as something that belongs to the future, but the
truth is that robots have been serving people at restaurants since the 1980s. . Also, restaurant
owners can change prices or take items off the menu without having to reprint anything. The
most commonly used food ordering scheme is the traditional paper based system, which is
prone to get lost, torn or damaged. Also, for making a small change, the whole menu needs to
be reprinted which is quite a bother[1].

The use of mobile robots in the service industry and in particular restaurant is on increasing
trend in the industry especially in Asia. The reason often cited are the high cost of hiring and
difficulty in retaining workers who lack the patience to develop a career in the food and
beverage industry. In Singapore, a seafood restaurant has deployed robots that cost about
$17,000, Which is half of a human waiter's annual salary[2].

Even in the early 1970s, a number of restaurants served foods solely through vending
machines. Called automats. Across Europe, McDonald's has implemented 7,000 touch screen
kiosks that will handle cashiering duties. Tanbo R-1 and Tanbo R-2, built in Japan were used
in a Chinese fast-food restaurant. The robots spun in circles and dropped the food when any
of them were nearby. They could deliver food and can communicate with customer. A robot
waiter named Ken was used to deliver bottle of wine and glasses to customer table at a
restaurant in Tokyo. There are many more examples of robot used in the restaurant [3].

In Singapore a seafood restaurant has deployed robots to serve customer[4]. Each robot is
reported to cost about $17,000, which is half of a human waiter’s annual salary. Apart from
restaurant, A report on service robots in 2012 [5] noted that 2.5 million service robots for
personal and domestic use were sold in 2011 and the sales value increased by 19%. In the
area of public use some robots are used in assisting nursing work in hospitals [6] and in
shopping centers as the “shopping maid” robot.

Recently, in our country there is also use of such kind of autonomous robots. a restaurant
named KKFC has been using about a one-meter tall robot to deliver food to the tables. And
when the customers take the tray from the robot it requests them to touch its hand so it can go

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back. The robot travels along magnetic strips on the floor and use an optical sensing systems
to run back and collect meals. It has a battery life about eight hours when charged for 12
hours [7]. Our neighbour China is using robot waiters since 2006.

And ecommerce business started during the 1960s, businesses conducted electronic
transactions via primitive computer networks. Through Electronic Data Interchange (EDI),
they were able to share business documents with other companies. Ecommerce dates back to
the invention of the very old notion of “sell and buy”, electricity, cables, computers, modems
and the internet. Ecommerce became possible in 1991 when the internet was opened to
commercial use [8]. Amazon and eBay are the two companies responsible for revolutionizing
ecommerce. And in 1999 another ecommerce company called Alibaba Group was established
in China.

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 CHAPTER 3: RELATED THEORY

For an any electronic project hardware and software are the essential parts. Thus, for this
project hardware and software used are as mentioned:

HARDWARE DESCRIPTIONS

3.1 ArduinoMega:

Arduino is an open-source electronics platform based on easy-to-use hardware and software.

It’s intended for making interactive projects. The Arduino Mega is a microcontroller board
based on the ATmega2560. It has 54 digital input/output pins (of which 14 can be used as
PWM outputs), 16 analog inputs, 4 UARTs (hardware serial ports), a 16 MHz crystal
oscillator, a USB connection, a power jack, and ICSP header, and a reset button.

Figure 3.1: Arduino Mega 2560

Each of the 54 digital pins on the board can be used as an input or output, using pin Mode(),
digital Write(), and Read() functions. They operate at 5 volts. Each pin can provide or receive
40 mA as recommended operating condition and has an internal pull-up resistor.

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A maximum of 12V is the value that must not be exceeded on any I/O pin to avoid permanent
damage to the microcontroller. In addition, some pin shaves specialized functions:

 Serial Communication. RXD and TXD are the serial pins used to transmit and receive
serial data i.e. Rx represents the transmission of data while Tx used to receive data.
There are four combinations of these serial pins are used where Serail 0 contains
RX(0) and TX(1), Serial 1 contains TX(18) and RX(19), Serial 2 contains TX(16) and
RX(17), and Serial 3 contains TX(14) and RX(15)
 External Interrupts. Six pins are used for creating external interrupts i.e interrupt
0(0), interrupt 1(3), interrupt 2(21), interrupt 3(20), interrupt 4(19), interrupt 5(18).
These pins produce interrupts by a number of ways i.e. providing LOW value, rising
or falling edge or changing value to the interrupt pins.
 Analog Pins. There are 16 analog pins incorporated on the board labeled as A0 to
A15. It is important to note that all these analog pins can be used as digital I/O pins.
Each analog pin comes with 10-bit resolution. These pins can measure from ground to
5V. However, the upper value can be changed using AREF and analogReference()
function.

 I2C. Two pins 20 and 21 support I2C communication where 20 represents SDA

(Serial Data Line mainly used for holding the data) and 21 represents SCL(Serial
Clock Line mainly used for providing data synchronization between the devices)

 SPI Communication. SPI stands for Serial Peripheral Interface used for the
transmission of data between the controller and other peripherals components. Four
pins i.e. 50 (MISO), 51 (MOSI), 52 (SCK), 53 (SS) are used for SPI communication.

3.2 Ultrasonic Sensor:

Ultrasonic transducers are transducers that convert ultrasound waves to electrical signals or
vice versa. Those that both transmit and receive may also be called ultrasound transceivers;
many ultrasound sensors besides being sensors are indeed transceivers because they can both
sense and transmit. These devices work on a principle similar to that of transducers used in
radar and sonar systems, which evaluate attributes of a target by interpreting the echoes from
radio or sound waves, respectively. Active ultrasonic sensors generate high-frequency sound

7
waves and evaluate the echo which is received back by the sensor, measuring the time
interval between sending the signal and receiving the echo to determine the distance to an
object. Passive ultrasonic sensors are basically microphones that detect ultrasonic noise that
is present under certain conditions, convert it to an electrical signal, and report it to a
computer.

This concept is used in obstacle detecting part in robot, when ultrasonic sensor detects any
obstacles in the programming specified the range then the robot stops moving.

Figure3.2: Ultrasonic sensor

3.3 DC gear motor

A DC motor is not the same as a "gear motor" - a "gear motor" may be an AC or DC motor
coupled with a gearbox or transmission. A gear motor adds mechanical gears to alter the
speed/torque of the motor for an application. Usually such an addition is to reduce speed and
increase torque.This is accomplished by an integrated series of gears or gearbox being
attached to the main rotor and shaft via a second reduction shaft. The second shaft is then
connected to the series of gears or gearbox to create what is known as a series of reduction
gears. The longer the train of reduction gears, the lower the output of the end or final, gear
will be. Gear motors are commonly used where equipment needs to be able to exert a high
amount of force in order to move a very heavy object.

Figure 3.3:DC gear motor

8
3. 4 Infrared Sensor:

An IR sensor is a device which detects IR radiation falling on it. There are numerous types of

IR sensors that are built and can be built depending on the application. Proximity sensors

(Used in Touch Screen phones and Edge Avoiding Robots), contrast sensors (Used in Line

Following Robots) and obstruction counters/sensors (Used for counting goods and in Burglar

Alarms) are some examples, which use IR sensors.

An IR sensor is basically a device which consists of a pair of an IR LED and a photodiode

which are collectively called a photo-coupler or an opto-coupler. The IR emitter LED emits

IR radiation and IR detector receives it after the radiation is reacted from a surface. The

radiation will not react from dark surface as dark surface absorbs the radiation and this

concept is used in line following robot.

Figure3.4: IR sensor and working of IR for different surface

9
3. 5 motor driver module:

The Arduino Motor Shield is based on the L298 (datasheet), which is a dual fullbridge driver
designed to drive inductive loads such as relays, solenoids, DC and stepping motors. It lets
you drive two DC motors with your Arduino board, controlling the speed and direction of
each one independently.

Fig3.5:Motor driver module.

3. 6 Bluetooth Module:

A Bluetooth module is a device for communication between two microcontrollers that is

designed for transparent wireless serial connection setup. The Bluetooth module HC-05 is a
MASTER/SLAVE module. The rule of module Master or Slave can be configured only by
AT COMMANDS. Slave module can only accept connection while Master can initiate
connection.

The default mode is Data mode with Data mode Baud rate as 9600, Data bit-8, stop bit-1 and
No parity (N) and Command mode Baud rate as 38400,8,1,N. It has 8 pins as; Enable (key),
Vcc (supply voltage), Ground, Tx (transmitter). Rx (receiver), State (for feedback), LED
(indicates status), and Button (control key). It is used in wireless robots, consumer
application, home automation, data logging application, wireless communication between
two microcontrollers etc.

Figure 3.6: Bluetooth Module

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SOFTWARE DESCRIPTIONS:

The software is another integral part of the system design which controls the hardware. Thus,
software must be designed with minimization of flaws so that the operation may carry out
effectively. Software also makes the implementation of hardware much easier with the help
of series of codes compiled together called program. Since software enhances visibility of the
project it should be developed in a way that it provides consistency to the system.

Arduino IDE:

The Arduino integrated development environment (IDE) is a cross-platform application (for

Windows, macOS, Linux) that is written in the programming language Java. It is used to
write and upload programs to Arduino compatible boards.. This means that we can easily
program the microcontroller the way we want to. Thus, we used Arduino IDE software so as
to write the program and achieve our desired functionality. Programs for different
components were written, compiled and then up loaded to the Arduino board.

Android studio:

Android Studio is the official integrated development environment (IDE) for Android
application development. It is based on the IntelliJ IDEA, a Java integrated development
environment for software, and incorporates its code editing and developer tools For food
ordering process we used android studio to make app. Our Android app is connected to
firebase real-time database after ordering the food through the app the data were sent to the
database where the restaurant authorizer can see the orders.

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 CHAPTER 4: METHODOLOGY

Our system consists of Bluetooth for wireless communication between customers and
manager. Whereas customer can placed the order directly from the Food order app .After this
the ordered item will be carry by robot from kitchen to the table.

4.1 Block Diagram

IR sensor

Ultrasonic
sensor Motor
ARDUINO drivers

Bluetooth

Motors
DC motors

Figure 4.1: Block diagram of robot system

Figure 4.2: Block diagram robot movement

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 Cloud

App Sent to Data sent Data

User Manager
Firebase to cloud from
cloud

PC of Manager

Data from
Firebase

Info about order

Figure 4.3: Block diagram of ordering system

4.2 Algorithm

Algorithm for order placement

1) Start
2) Customer sign up for register
3) Customer sign in
4) Place order from item Menu
5) Place order manually if items not found in menu
6) Press order Button
7) Go back to home screen
8) End

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Algorithm for robot

1) Start
2) Move the robot according to the system and hotel architecture
3) If ultrasonic sensor detect obstacle stop the robot
4) If ordered is placed then come back to the initial position
5) End

4.3 Flowchart
Start

Sign up

Is sign up successful?
Yes
No
Register

Is sign in successful?
No
Sign in

Yes

Place your order

Go back to home End

screen

Figure 4.4: Flowchart for working of Ordering App

14
 Start

The ordered item

will placed into the
robot

Move the robot

according to system

Is obstacle detected?
yes
Wait

no

Is order placed ?

no yes
Wait until the
key is pressed

Come back to the

position

stop

Figure 4.5: Flowchart for working of Robot

15
 CHAPTER 5: RESULT AND ANALYSIS

We were able to cover up the following aspects regarding our project:

● constructing a moving robot:

We made a mechanical structure capable of moving so as to deliver food to specific tables.

● Building a sliding mechanism:

We built a sliding mechanism to serve food to customer at specific table.

● Development of app to order food:

We developed an app to order food by customer so that restaurant authoriser can know
ordering through software.

● Development of app to command the robot to move to particular table:

We developed a app so that the robot can move the specific table as acknowledged by
restaurant authoriser.

16
 CHAPTER 6: EPILOGUE

6.1 Conclusion

 We were able to develop an intelligent, user friendly automated robot which would
efficiently reduce human resource. The system capable of moving in restaurant
according to the information from instructor.
 An interactive application was made which provided user with the facility of ordering
foods in restaurant without the use of human resource.

6.1 Future Enhancement

● For advanced and luxurious hotels this robot concept can be operated by image process and
camera technology

● For low budget and small hotel this robot can be used as line following concept to deliver
food.

● App can be used as E-food ordering and delivery outside the restaurant locations.

17
 REFERENCES

[1] K. Severinson-Eklundh, A. Green, and H. Hüttenrauch, "Social and collaborative

aspects of interaction with a service robot," Robotics and Autonomous systems, vol.
42, pp. 223-234, 2003.

[2] Ronot Lucy at your service at newly opened Rong Heng Seafood (2016 Mar 16), retrived
from http://www.straittimes.com

[3] B. A. Maxwell, L. A. Meeden, N. Addo, L. Brown, P. Dickson, J. Ng,et al., "Alfred:

The robot waiter

[4] Development of a Robotic waiter system (2016), retrieved from

http://sciencedirectassets.com

[5] VDMA, “World Robotics 2012 Service Robots,” International Federation of Robotics,
August 2012.

[6] “Panasonic to unveil Innovative Communication Assistance Robots,” Int. Home Care &
Rehabilitation Exhibition, vol.38, September 2011

[7] Robot serving food in Kathmandu (2017, Nov 27), retrieved from
http://myrepublica.nagariknetwork.com

[8] “History of Ecommerce” retrieved from http://ecommerce –land.com

 http://www.ijsrp.org/research-paper-0413/ijsrp-p1605.pdf

 https://www.keyence.com/ss/products/sensor/sensorbasics/ultrasonic/info/

 https://www.elprocus.com/infrared-ir-sensor-circuit-and-working/

18
 APPENDIX

A. Internal circuit for ultrasonic sensor

Ultrasonic transmitter.

Ultrasonic receiver.

19
App for giving robot about table instruction

20