ACKNOWLEDGEMENT

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 Engineering 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.

We would like to convey our sincere appreciation to Dr.Nanda Bikram Adhikari for
giving his valuable time to examine our project. And finally; we would like to thank
all of the persons, who directly and indirectly helped us in this concept of the project.

i
 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

ABSTRACT............................................................................................................................................ ii
TABLE OF CONTENTS....................................................................................................................... iii
List of Figures ......................................................................................................................................... v
List of Abbreviation ............................................................................................................................... vi
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: ............................................................................................................ 8
3.3 DC gear motor................................................................................................................. 8
3. 4 Infrared Sensor:............................................................................................................... 9
3. 5 Motor driver module: .................................................................................................... 10
3. 6 Bluetooth Module: ........................................................................................................ 11
3. 7 LCD Display: ................................................................................................................ 11
3. 8 Buzzer: .......................................................................................................................... 12
SOFTWARE DESCRIPTIONS: .......................................................................................... 13
Arduino IDE: ....................................................................................................................... 13
Android studio: .................................................................................................................... 13
CHAPTER 4: METHODOLOGY ........................................................................................................ 14
4.1 Block Diagram ............................................................................................................... 14
4.2 Algorithm ....................................................................................................................... 16
4.3 Flowchart ....................................................................................................................... 17
CHAPTER 5: RESULT AND ANALYSIS .......................................................................................... 19
CHAPTER 6: EPILOGUE .................................................................................................................... 21
6.1 Conclusion ..................................................................................................................... 21

iii
 6.2 Limitations and Future Enhancements........................................................................... 21
REFERENCES ........................................................................................ Error! Bookmark not defined.
APPENDIX ........................................................................................................................................... 23

iv
 List of Figures

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

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

Figure3.3: DC gear motor..... ………………………………………………… 9

Figure3.4: IR sensor and working of IR for different surface……………… .. 10

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

Figure.3.6: Bluetooth Module…….....………………………..……….…….… 11

Figure.3.7: LCD display …….....………………………..……….…….…....... 12

Figure.3.8: Buzzer …….....………………………..……….................…….… 12

Figure 4.1: Block diagram of robot system..........................……………..…… 14

Figure 4.2: Block diagram of robot movement……………………………..… 14

Figure 4.3: Block diagram of ordering system ………………………………... 15

Figure4.4: Flowchart for working of Ordering APP ...........……..…………… 17

Figure 4.5: Flowchart for working of Robot ………………………………….. 18

Figure 5.1: Major project order app screenshot …………………………….. 19

Figure 5.2: Robot app to give information about table ……………...……….. 20

Figure 5.3: Photo of robot ……...........................…………………………….. 20

v
 List of Abbreviation

DC Direct current

Gnd Ground

I/O Input/output

IR Infrared sensor

LCD Liquid Crystal Display

LED Light emitting diode

PIO Programmed Input/output

PWM Pulse Width Modulation

Tx Transmitter

Rst Reset

Rx Receiver

vi
 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 is 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.

1
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.

1.4 Scope 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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1.5 Organization 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.

3
 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.

4
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 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.

5
 CHAPTER 3: RELATED THEORY

For 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

6
provide or receive 40 mA as recommended operating condition and has an internal
pull-up resistor.

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.

7
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 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

8
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

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.

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

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.

10
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

3. 7 LCD Display:
LCD (Liquid Crystal Display) screen is an electronic display module and find a wide
range of application. A 16×2 LCD display is a very basic module and is very
commonly used in various devices and circuits. These modules are preferred over
seven segment and other multi segment LEDs. The reasons being LCDs are
economical, easily programmable, have no limitation of displaying special and even
customs characters (unlike in seven segments), animations and so on.

A 16×2 LCD means it can display 16 characters per line and there are 2 such lines. In
this LCD each character is displayed in 5×7 pixel matrix.

11
This LCD has two registers namely, Command and Data. The command register stores the
command instructions given to the LCD. The data register stores the data to be displayed on
the LCD.

Figure 3.7: LCD display

3. 8 Buzzer:
A buzzer is a mechanical, electromechanical, magnetic, electromagnetic or
piezoelectric audio signalling device. A Piezoelectric element is a flat piece of
piezoelectric material with two electrodes. A piezoelectric buzzer may be driven by
an oscillating electronic circuit or other audio signal source. Sounds commonly used
to indicate that a button has been pressed are a click, a ring or a beep. Buzzer are used
in various places like smoke alarm, microwave ovens and electronic toys.

Figure 3.8: Buzzer

12
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.

13
 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

DC motors
Motors

Figure 4.1: Block diagram of robot system

Figure 4.2: Block diagram robot movement

14
 Cloud

User App Sent to Data Data

Firebase sent to from
cloud cloud

Manager

PC of Manager

Data from
Firebase

Info about order

Figure 4.3: Block diagram of ordering system

15
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

Algorithm for robot

1) Start
2) Move the robot according to the system and hotel architecture
3) If ultrasonic sensor detect obstacle, then the buzzer is ON
4) If the customer place his hand infront of IR sensor the sliding mechanism
will activate
5) If ordered is picked up then slide will come back to its initial position
6) Robot will come back to its base station
7) End

16
4.3 Flowchart

Start

Sign up

Yes Is sign up No
Register successful?

Is sign in No
Sign in successful?

Yes

Place your order

Go back to home
screen

End

Figure 4.4: Flowchart for working of Ordering App

17
 Start

The ordered item will

placed into the robot

Move the robot according to system and

information is given through the app

Is obstacle Yes Buzzer

detected? is ON

No

No
Is IR sensor
is high ? Wait until IR
get high

Yes

On the sliding
mechanism

Come back to the

original position

Stop

Figure 4.5: Flowchart for Working of Robot

18
 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.

● 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 an app so that the robot can move the specific table as acknowledged
by restaurant authoriser.

Some picture of our project

Figure 5.1: Major project order app screen shoot

19
Figure 5.2 : Robot app to give information about table

Figure 5.3: Photo of robot

20
 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.

6.2 Limitations and Future Enhancements

The system has limitations within it due to various constraints. Major constraints that
were present in the project were financial constraints, constraints of time and also
availability of resources. Also in certain aspects the lack of experience and knowledge
also played a role in overall product to be not as precise as we would have liked.

There is a large scope for future improving the project. Few of the improvement that
need to be implemented are:

● 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.

21
 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/

22
 APPENDIX

A. Internal circuit for ultrasonic sensor

Ultrasonic transmitter.

Ultrasonic receiver.

23
App for giving robot about table instruction

24