CN102445946A - Service robot for cafeteria - Google Patents
Service robot for cafeteria Download PDFInfo
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- CN102445946A CN102445946A CN2011103942631A CN201110394263A CN102445946A CN 102445946 A CN102445946 A CN 102445946A CN 2011103942631 A CN2011103942631 A CN 2011103942631A CN 201110394263 A CN201110394263 A CN 201110394263A CN 102445946 A CN102445946 A CN 102445946A
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Abstract
The invention belongs to the field of a service robot, in particular to the service robot for a cafeteria. The middle position on a front end of the robot is provided with a camera for tracking; a tracking line is overlaid on a cafeteria path or a pass-through path; and a stop line is overlaid vertical to the tracing line in a dining area. When the robot identifies the stop line, the robot stops for 10 seconds, and countdown display is carried out on a liquid crystal display (LCD) display; two rear wheels serve as driving wheels to form speed closed-loop control; a steering engine for controlling front wheels to steer forms position closed-loop control; and two sides of the robot are provided with surface plate trays connected with a direct-current motor shaft to form the position closed-loop control. The service robot has the advantages of simple structure and low cost and is stable to operate, the function of sending and fetching food and tableware can be effectively realized, and the management level of the cafeteria and the operation automation degree can be improved. The service robot for the cafeteria can be applied to service occasions, such as cafeterias and the like.
Description
Technical field
The invention belongs to the service robot field, relate to a kind of cafeteria service robot, particularly a kind of service robot device with tracking function.
Background technology
The food of cafeteria is chosen and need the personnel of having dinner be selected, and the service plate of using needs the attendant manually to collect.This situation has increased attendant's labour intensity on the one hand; On the other hand because concentrated the select time for eating meals that increased have dinner personnel of personnel of having dinner to food; Personnel's the mobile dining room of causing is crowded simultaneously; The influence environment of having dinner when the attendant serves the service quality that also can influence the dining room when untimely, causes the restaurant service satisfaction to reduce.
Therefore, design a kind of dining room service robot that can tracking, get food for the personnel of having dinner send; And the self-service cleaning service plate of personnel of realizing having dinner; Can effectively reduce service staff's working strength, improve the utilization factor in dining room, improve the environment of having dinner; Improve the service quality in dining room, especially in cafeteria, have important use and be worth.
Summary of the invention
Technical matters to be solved by this invention is; To present cafeteria field food and the low deficiency of service plate cleaning automaticity, design a kind of dining room service robot with tracking function, improve the automaticity of restaurant service; Improve the operational efficiency in dining room, improve the environment of having a dinner.
The technical scheme that the present invention adopted is: a kind of cafeteria service robot; Include 2 front-wheels, 2 trailing wheels, 1 steering wheel control front-wheel steer, Single-chip Controlling unit, LCD display as driving wheel; Robot is equipped with both sides the dull and stereotyped pallet, the robot front end centre position that are connected with the direct current arbor camera that is used for tracking is housed; Tracking line shop is put in the passageway, dining room or is passed the dish passage; Stop line in the dining area and vertical shop with the tracking line put, it is characterized in that said tracking line is that the ground in one and utilization place forms the adhesive tape line of obvious aberration; Described dull and stereotyped pallet links to each other with the rotating shaft of direct current generator, and direct current generator can drive dull and stereotyped pallet and rotatablely move, and guarantees that dull and stereotyped pallet is horizontal all the time; Described 2 trailing wheels are by the driving wheel of direct current motor driven rotary as robot.
The objective of the invention is to make cafeteria's tracking service robot cheap, simple in structure with simple circuit and components and parts; Through tracking line guided robot route running according to expectation; To realize that robot send functions such as getting food, self-service cleaning tableware in cafeteria for the personnel of having dinner provide, has good practicability.
Embodiment
Do further explain in the face of the present invention down.
Cafeteria's service robot obtains road leading portion scene through the camera that is installed on front end; Identify the position of tracking line and stop line; Rotation through the control steering wheel makes the tracking line be positioned at the centre position of the captured image of camera; The left and right sides axis that is robot faces the tracking line, can go along the tracking line to guarantee robot.In order to ensure robot can realize stable tracking effect at the turning, the anglec of rotation of steering wheel adopts closed-loop control.Single-chip microcomputer calculates the angular error of steering wheel according to the position of the tracking line that identifies and the deviation in image centre position, adopts pid control algorithm calculation control rate, through the rotation of chip for driving control steering wheel.
Put and the perpendicular stop line of tracking line shop, dining area the personnel of having dinner; When in the image that camera obtained, identifying stop line; Robot then stops 10 seconds of going; And on LCD display, carrying out the countdown demonstration, the personnel that have dinner take down food from the dull and stereotyped pallet of robot with wait, perhaps will be placed on the dull and stereotyped pallet of robot with the tableware of crossing.After stopping for 10 seconds, robot continues at the uniform velocity to go along the tracking line.
The driving functions of robot is by the drive motor control of trailing wheel.For guarantee robot at the uniform velocity, stable going on the tracking line, drive motor adopts speed closed loop control.Adopt photoelectric code disk to measure the rotational speed of drive motor; Compare with given speed; Obtain error signal; Adopt pid control algorithm calculation control rate,, make no matter robot can both steadily go evenly when states such as unloaded, fully loaded, climbing, descending are advanced through the rotational speed of chip for driving controlling and driving motor.
Because the concrete layout structure in dining room is different; Robot possibly move on the slope; When moving on the slope in order to ensure robot; Food in the dull and stereotyped pallet of robot can or not spill mistake because of the inclination landing, and the direct current generator that is connected with dull and stereotyped pallet is realized position closed loop control through obliquity sensor.Obliquity sensor adopts the SCA610 obliquity sensor; Obliquity sensor is mounted on the dull and stereotyped pallet; To detect the angle error of dull and stereotyped pallet and horizontal direction, through pid control algorithm calculation control rate, the direct current generator that is connected with dull and stereotyped pallet through driving element control rotates; To reduce the angle error of dull and stereotyped pallet and horizontal direction, can for sending, the personnel of having dinner get food and tableware reposefully to guarantee robot.
The invention has the advantages that; Control device is simple in structure, and is with low cost, and control is convenient; The steering wheel of robot, drive motor, dull and stereotyped pallet all adopt closed-loop control; Guarantee that robot can stablize, realize effectively sending the function of getting food and tableware, can improve the management level in dining room and the automaticity of operation, be applicable to service locations such as cafeteria.
Claims (5)
1. cafeteria's service robot; It is characterized in that including 2 front-wheels, 2 trailing wheels, 1 steering wheel control front-wheel steer, Single-chip Controlling unit, LCD display as driving wheel; Robot is equipped with both sides the dull and stereotyped pallet, the robot front end centre position that are connected with the direct current arbor camera that is used for tracking is housed; Tracking line shop is put in the passageway, dining room or is passed the dish passage, and stop line is put vertical shop with the tracking line in the dining area.
2. a kind of cafeteria according to claim 1 service robot is characterized in that described camera obtains road leading portion scene, identifies the position of tracking line and stop line.
3. according to claim 1,2 described a kind of cafeteria service robots, it is characterized in that described steering wheel forms position closed loop control according to the error between tracking line and the robot left and right sides axis, can go along the tracking line to guarantee robot.
4. according to claim 1,2 described a kind of cafeteria service robots; It is characterized in that described driving wheel adopts photoelectric code disk to measure the rotational speed of drive motor, form speed closed loop control; Make robot when various states are advanced, can both steadily go evenly; When robot detected stop line, robot then stopped 10 seconds of going, and on LCD display, carried out the countdown demonstration.
5. a kind of cafeteria according to claim 1 service robot is characterized in that, described dull and stereotyped pallet adopts obliquity sensor to form position closed loop control, guarantees that dull and stereotyped pallet is in horizontality all the time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103942631A CN102445946A (en) | 2011-12-02 | 2011-12-02 | Service robot for cafeteria |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103942631A CN102445946A (en) | 2011-12-02 | 2011-12-02 | Service robot for cafeteria |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102445946A true CN102445946A (en) | 2012-05-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011103942631A Pending CN102445946A (en) | 2011-12-02 | 2011-12-02 | Service robot for cafeteria |
Country Status (1)
| Country | Link |
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| CN (1) | CN102445946A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103335652A (en) * | 2013-06-24 | 2013-10-02 | 陕西科技大学 | Dining room path navigation system and method of robot |
| CN103744425A (en) * | 2012-08-23 | 2014-04-23 | 苏州宝时得电动工具有限公司 | Automatic working equipment and its control method |
| CN104090576A (en) * | 2014-07-31 | 2014-10-08 | 开平市吴汉良理工学校 | Robot wheelchair control system based on Arduino open source platform |
| CN105415385A (en) * | 2016-01-07 | 2016-03-23 | 马高峰 | Intelligent meal delivering robot |
| CN105818147A (en) * | 2016-04-20 | 2016-08-03 | 柳州市力万科技有限公司 | Carrying system |
| CN106078755A (en) * | 2016-06-21 | 2016-11-09 | 昆明理工大学 | A kind of multifunctional medical service robot |
| CN114253290A (en) * | 2021-12-15 | 2022-03-29 | 成都飞机工业（集团）有限责任公司 | Method and system for automatic tracking and accurate positioning of airplane component transport vehicle |
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| JP2007139710A (en) * | 2005-11-22 | 2007-06-07 | Advanced Telecommunication Research Institute International | Walking-aid robot |
| CN101436037A (en) * | 2008-11-28 | 2009-05-20 | 深圳先进技术研究院 | Dining room service robot system |
| CN101661098A (en) * | 2009-09-10 | 2010-03-03 | 上海交通大学 | Multi-robot automatic locating system for robot restaurant |
| CN202045637U (en) * | 2011-01-11 | 2011-11-23 | 山东大陆科技有限公司 | Service robot |
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2011
- 2011-12-02 CN CN2011103942631A patent/CN102445946A/en active Pending
Patent Citations (5)
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| JP2007139710A (en) * | 2005-11-22 | 2007-06-07 | Advanced Telecommunication Research Institute International | Walking-aid robot |
| CN1919544A (en) * | 2006-09-06 | 2007-02-28 | 哈尔滨工程大学 | Dining assistant robot |
| CN101436037A (en) * | 2008-11-28 | 2009-05-20 | 深圳先进技术研究院 | Dining room service robot system |
| CN101661098A (en) * | 2009-09-10 | 2010-03-03 | 上海交通大学 | Multi-robot automatic locating system for robot restaurant |
| CN202045637U (en) * | 2011-01-11 | 2011-11-23 | 山东大陆科技有限公司 | Service robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103744425A (en) * | 2012-08-23 | 2014-04-23 | 苏州宝时得电动工具有限公司 | Automatic working equipment and its control method |
| CN103335652A (en) * | 2013-06-24 | 2013-10-02 | 陕西科技大学 | Dining room path navigation system and method of robot |
| CN103335652B (en) * | 2013-06-24 | 2016-06-08 | 陕西科技大学 | The dining room path guiding system of a kind of robot and air navigation aid |
| CN104090576A (en) * | 2014-07-31 | 2014-10-08 | 开平市吴汉良理工学校 | Robot wheelchair control system based on Arduino open source platform |
| CN105415385A (en) * | 2016-01-07 | 2016-03-23 | 马高峰 | Intelligent meal delivering robot |
| CN105818147A (en) * | 2016-04-20 | 2016-08-03 | 柳州市力万科技有限公司 | Carrying system |
| CN106078755A (en) * | 2016-06-21 | 2016-11-09 | 昆明理工大学 | A kind of multifunctional medical service robot |
| CN106078755B (en) * | 2016-06-21 | 2019-02-05 | 昆明理工大学 | A kind of multifunctional medical service robot |
| CN114253290A (en) * | 2021-12-15 | 2022-03-29 | 成都飞机工业（集团）有限责任公司 | Method and system for automatic tracking and accurate positioning of airplane component transport vehicle |
| CN114253290B (en) * | 2021-12-15 | 2024-03-19 | 成都飞机工业（集团）有限责任公司 | Method and system for automatic tracking and accurate positioning of airplane component transport vehicle |
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120509 |