CN101927490A

CN101927490A - Full-automatic beer robot

Info

Publication number: CN101927490A
Application number: CN2009100574838A
Authority: CN
Inventors: 王蕾睿
Original assignee: Individual
Current assignee: Individual
Priority date: 2009-06-26
Filing date: 2009-06-26
Publication date: 2010-12-29

Abstract

The invention provides a full-automatic beer robot which can provide preferable beer services for customers and allow the customers to appreciate elegant action for pouring the beer as well as enjoy the implicit beer culture through the action. The full-automatic beer robot has the unique features of overcoming the deficiency in functions and action policies of the existing beer robot, more effectively improving service quality of the robot and more fully promoting the inherent culture connotation. In addition, the robot has incomparable advantages compared with the common service robot in intelligence, automation and environmental protection.

Description

Full-automatic beer robot

Technical field:

What the present invention relates to is a kind of full-automatic beer robot.

Technical background:

The commitment that service robot still is in exploitation at present and popularizes, its definition is amplified from the manipulation type industrial robot.According to the preliminary definition that the robot combined meeting in the world (IFR) is adopted, so-called service robot is the robot of a kind of half autonomous or full utonomous working, and what it was finished is the healthy services that is beneficial to man, but does not comprise those manufacturing-oriented equipment.

Beer robot belongs to a kind of of service robot, and at present, the Asahi beer company of Japan has had a beer service robot in 07 year made to order for conducting promotion to its beer, is guest's service in the inside, a tame restaurant in London always.This robot can be embodied as out the beer lid, take wineglass to remove to fill with beer and be placed on assigned address, the disk that rotates the front then is delivered to client's basic function in front, and can also in service process, send pre-stored voice, can after service, make some anthropomorphic simple motion performance to reach the entertainment purposes that attracts eyeball, for very big contribution has been done in the market propaganda and the popularization that promote Asahi beer.

Yet still there are a lot of improvements that are worth in this robot by examining as can be known:

1, it is stiff to move.What this robot used for reference is a cover frame for movement of universal industrial machine human arm on the automatic assembly line, and whole to give people's reflection be to move to stylize very much, stiff having a surplus and flexible not enough.Lack to be inverted the necessary flexibility action skill of a cover of beer, to embody the intension of beer culture not dark, view and admire that some is abundant inadequately with recreational value.

2, it is big to take up room.There is the Rotary round table of nearly 1 rice diameter its front, and it is huge to add himself build, thereby the ornaments of laying of robot have taken very big space for this reason, and the shop front type restaurant that is placed on as an inch of land is an inch of gold seems very improper.

3, intelligent degree is not high.It has specially customized a conveyor line and a Rotary round table that transmits beer bottle for this robot is supporting, and specially is provided with groove structure on detachable round tabletop, to reach the purpose of the operation that stylizes.Under the too many customized condition, it just can reach some basic service function and requirements, and its adaptive capacity to environment is poor as can be known, and intelligent processing ability is not strong.

4, automaticity is not high.Its processing automaticity for beer bottle is not high, has increased the burden of transporting the waiter of beer bottle for this robot, has limited getting wine and putting many freedom of glass position of client yet.

5, no environmental protection consciousness.Do not have the device and the measure of reclaiming beer bottle cap and empty bottle, increased bar cleanup crew's workload.

At above situation, the present invention is using for reference on its elemental motion and the function basis, has correspondingly improved these shortcoming parts.And, embodying the present invention's environmental protection more, intelligence, cultural spirit is denseer.The present invention is in particular in:

1, flexible movements.The most vivid place of the present invention has been to demonstrate fully the deep intension of beer culture, especially be particular about the flexible skill of a cover of beer, allow client before tasting the beverage that gladdens the heart and refresh the mind, by appreciating its original flexible skill, thus passion and happy atmosphere when having a taste of the rectification that this beer robot.

2, it is little to take up room.The present invention self build is small and exquisite, and the desktop of shelving beer bottle or stein is also scalable, thereby the laying ornaments and need not take very big space of robot for this reason, is well suited for being placed on shop front type restaurant or hotel.

3, intelligent degree height.One aspect of the present invention can also be regulated the manner of execution of pouring according to client's needs except that the pouring pattern of acquiescence, pour out the beer of any foam volume, makes client's taste choice big.By vision system, can strengthen its cognitive ability on the other hand, make its fluency that in operating process, moves all be far superior to existing similar beer robot with adaptive faculty to environment to surrounding environment.

4, the automaticity height.It has alleviated the burden of transporting the waiter of beer bottle for this robot for the full-automation that is treated to of beer bottle, does not limit the position that client gets wine and puts cup.

5, have environment-friendly function.The device and the measure of reclaiming beer bottle cap and empty bottle are arranged, alleviated bar cleanup crew's workload.

Summary of the invention:

Main purpose of the present invention is to provide a kind of full-automatic beer robot, thereby overcome the existing deficiency of beer service robot on function and action policy, more effectively improve the service quality of the type robot and promote the cultural connotation that wherein breeds more fully.

Robot of the present invention is by the frame for movement main body, sensor-based system, and kinematic system and Circuits System constitute.Wherein,

(1) the frame for movement main body comprises: head, last body, arm, movable chassis and auxiliary device.

1. head is mainly laid two cameras of simulation eyes;

2. go up body inside and mainly lay mechanical arm and motor-driven and control circuit board;

3. arm mainly is made of the mechanical arm of 2 6DOFs;

4. movable chassis adopts wheeled construction;

5. auxiliary device comprises conveyer belt equipment.

(2) sensor-based system mainly comprises: sensors such as vision, sense of touch, photoelectricity.

1. vision sensor utilizes the above cmos digital camera of 1,300,000 pixels;

2. touch sensor mainly is the touching switch;

3. photoelectric sensor mainly comprises infrared correlation sensor and photoelectric coded disk;

(3) the motion system mainly comprises: motor and back gear thereof, rolling bearing and attaching parts, the whole frame for movement of arm, hand structure, conveyer structure, wheel undercarriage structure.

1. motor and back gear thereof: be the protection motor and prolong electrical machinery life, motor shaft directly do not bear in

2. rolling bearing and attaching parts

3. the whole frame for movement of arm: except that hand,

4. hand structure

5. conveyer structure

6. wheel undercarriage structure

(4) Circuits System mainly is meant driving and the control circuit and the supply unit of motor.

1. stepper motor driving circuit: stepper motor uses the mode of pulse to drive, and a stepping angle is rotated in per 4 pulses, and its power supply is provided by dc source.

2. steering wheel drive circuit: steering wheel utilizes the mode of pulsewidth modulation (PWM) to control rotational angle, and its power supply is provided by dc source.

3. direct current motor drive circuit: direct current generator uses the H bridge circuit to drive, and utilizes the mode of pulsewidth modulation (PWM) to control velocity of rotation, and its power supply is provided by dc source.

4. control circuit system:, be aided with necessary peripheral circuit mainly based on embedded controllers such as MCU or ARM.The embedded real-time operation system of software of controller is guaranteed the stable and reliable operation of whole system.

5. supply unit: power supply is made up of Switching Power Supply and lithium-ion-power cell.

Operation principle of the present invention is as follows:

This full-automatic beer robot, from top to bottom by head, last body, two arms, movable chassis and auxiliary device constitute.

The place ahead of its head (facial positions just) is equipped with 2 vision sensing equipments, and this device is made up of cmos digital camera and support circuit thereof, and this device can obtain the image information of surrounding environment.This device is equipped with 2 micro-step motors in the bottom makes digital camera freely to rotate, and the range expansion that makes its sight line is to from all directions.

The original image information that is obtained is realized location automatically through behind a series of image processing process to beer bottle and wineglass, and the current state to himself judges simultaneously, and then differentiates NextState automatically.

After making clearly judgement, by control circuit system and motor-driven program the motor and the control circuit of each joint on two mechanical arms sent command adapted thereto respectively, the frame for movement of two mechanical arms is the same with control circuit, be symmetrically distributed in the both sides of body, mechanical arm anthropomorphic dummy's arm, by big arm; 3 of forearm and hand structures part is formed; each several part all uses 2 motors as cradle head; make each several part all have 2 frees degree; and since the motor shaft that links to each other between the each several part to becoming vertical distribution, a whole like this arm just can freely-movable in this mechanical arm extends to when the longest as the sphere of diameter.

Corresponding rotation, motion or corresponding operation take place respectively in these structures after receiving instruction.The fluent movements nature finish whole action of falling beer, good beer is placed on its little bar desk that carries, wait for taking of guest, beer bottle and the empty stein to sky reclaims simultaneously.

Description of drawings

Fig. 1 is a robot of the present invention overall schematic.

Fig. 2 is the schematic diagram of the wrist part structure (being used to reclaim bottle cap) of robot arm of the present invention.

Fig. 3 is the conveyer belt system schematic diagram of robot of the present invention.

The specific embodiment

The service procedure of this full-automatic beer robot:

1, at first, according to the image information that camera obtained, handle the location of realizing later on for beer bottle through image, control the motor generation corresponding mobile of which position in which joint of left arm then, and then pick up beer bottle, right arm action simultaneously, be used in the instrument of uncapping that right arm links to each other, open the bottle cap of the beer bottle that left arm takes.

2, then, right arm is placed on the pocket that wrist is used for reclaiming bottle cap with beer bottle cap.According to image information, and image processing techniques is obtained the relevant position of stein, control right arm generation corresponding mobile is picked up stein, slowly draws close and how many angles that tilt to bottle, beer bottle how many angles that also tilt gradually in the left arm simultaneously, make the bottleneck of beer bottle link to each other with the wineglass rim of a cup just, left arm control beer bottle continues to rotate then, pours out beer, what interoperation takes place in the stein that the while right arm is taken, until filling whole cup beer.

3, then, right arm is placed on the beer that fills on the little bar desk, and left arm is placed on empty beer bottle in the collection box, full automaticly finishes whole process of falling beer.

4, last, all be empty beer bottle in the case to be recycled after, conveyer belt spreads out of collection box, and green beer case case is imported into.

Claims

1. full-automatic beer robot, this robot be by head, last body, and two arms, movable chassis and auxiliary device constitute, and auxiliary device comprises conveyer belt and beer case.This robot mainly is the one glass of beer that does not almost have foam that fills for client's fluent movements.

It is characterized in that:

(1) robot head is equipped with 2 cmos digital cameras as vision sensor, is used to discern surrounding environment and object.And every vision sensor and head junction are equipped with 2 motors and are convenient to vision sensor freely-movable on hemisphere face, are convenient to increase the visual line of sight of this robot.

(2) two mechanical arms adopt and the similar structure of staff, are divided into big arm, forearm and 3 parts of hand structure, and every arm uses 6 motors, make that big arm, forearm and hand structure can be with 6DOF motions in phase flexibly.

(3) one of the uniqueness action skill of overlapping beer makes that foam appears in beer in the wineglass hardly in whole pouring process, meets the custom of Chinese's drinks beer.

(4) be furnished with out the device of beer bottle cap on the right mechanical arm, and the beer bottle cap of opening can be placed in the collection bag, do not produce solid refuse, embodied environmental protection concept well.

(5) be equipped with the automation flowing water transmission that automatic conveyor has been realized bottle, mechanical arm can take out a bottled beer exactly and empty bottle accurately is put back in the beer case from beer case.

(6) mobile chassis is wheeled framework, makes things convenient for robot moving freely on smooth floor, has increased the pouring service range.

(7) have phonetic function, can say hello to client, if there is client to take beer, it can be said: " you are good, and I am * * *, and welcome! ".

(8) have the small table surface that can stretch automatically and be used as the bar desk, can place the cup of beer.

2. full-automatic beer robot according to claim 1 is characterized in that: it possesses a cover NI Vision Builder for Automated Inspection, can detect bottle automatically, and the particular location of wineglass has certain object identification ability.2 inputs that the cmos digital camera is its video or image information of head, after cutting apart through image preliminary treatment, rim detection, image, a series of image such as coupling handles, identify beer bottle and wineglass and judge beer bottle and the particular location of wineglass.

3. full-automatic beer robot according to claim 1 is characterized in that: described mechanical arm has can be to the free-moving characteristics of all directions.Described mechanical arm have with the mankind like three joints: wrist joint, elbow joint and shoulder joint.Wrist joint adopts 1 motor, can freely-movable on the plane vertical with forearm; Elbow joint adopts 2 motors, not only can move on the plane vertical with big arm, and can realize rotating; Shoulder joint adopts 2 motors, can realize rotating, and also can move on the plane vertical with health.In addition, grasp and adopt 1 motor on the structure, realize the extracting of object.

4. full-automatic beer robot according to claim 1 is characterized in that: it has adopted the action design of a whole set of uniqueness, makes its beer of pouring out produce foam hardly.Its whole course of action is described below: left arm is taken beer bottle, and right arm is taken wineglass.At first, the angle that the wineglass inclination is certain, and guarantee that the rim of a cup of wineglass just contacts with the bottleneck of beer bottle; Then, the beginning pouring, beer bottle constantly tilts, the wineglass movement therewith.In the process of pouring, guarantee that beer is slowly dirty along the wall of cup of wineglass, until filling bock.

5. full-automatic beer robot according to claim 1 is characterized in that: it has been equipped with automatic conveyor can realize full-automatic service.Described automatic conveyor has two kinds of implementations: a kind of for automatic conveyor and robot itself are connected as a single entity, ringwise, be looped around the beer robot waist location; Another kind, automatic conveyor and robot separate itself, are positioned at beer robot the place ahead, and shape is in line.(the present invention gets second kind of implementation in specification)

6. full-automatic beer robot according to claim 1 is characterized in that: the described automatically flexible little bar desk of desktop, employing be and the similar structure of folding table/chair.Different is, an end of little bar desk is fixed on the body of beer robot, and the other end can be movable.When stretch in little bar desk, mainly rely on movable end that folding originally structure is launched, and stiff end mainly play a supportive role.