CN102699895A - Meal delivering robot and meal delivering method - Google Patents
Meal delivering robot and meal delivering method Download PDFInfo
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- CN102699895A CN102699895A CN2012101804947A CN201210180494A CN102699895A CN 102699895 A CN102699895 A CN 102699895A CN 2012101804947 A CN2012101804947 A CN 2012101804947A CN 201210180494 A CN201210180494 A CN 201210180494A CN 102699895 A CN102699895 A CN 102699895A
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Abstract
The invention provides a meal delivering robot comprising a main body moving along a guide rail, wherein the main body comprises a head component, a body component and robot arms, wherein the robot arms support a dinner plate horizontally; a controller, as well as a power device, a driving device, a walking device, a wireless signal transmission device and a voice device connected with the controller is arranged in the main body; the guide rail is a magnetic guide rail; and a tracking positioning device and an obstacle avoiding device are arranged on the main body. The meal delivering robot has a simple structure, dispenses with complicated image operation, saves electric energy, and can work for a longer time.
Description
Technical field
The present invention relates to a kind of food delivery robot and food delivery method thereof.
Background technology
The field in intelligent robotics American-European developed country that originates from; Automated control technology developed countries such as Japan, Germany, France is now led over each country, but really uses the also very rare of civilian industry, and Japan develops a type of human-like service robot in early days; Advanced technology; But only limit to technical research, break through the correlation technique problem, practicality is not strong.
Domestic have patent similar as: " wheel type intelligent autonomous mobile service robot " of Beijing University of Technology its groundwork principle is to have adopted image capturing system to come robot is carried out analytical calculation, navigates.Walking mode is wheeled, and top is the complicated movable, mechanical structures that moves forward and backward.There is feasibility in theory, has the technological difficulties of two maximums in the actual operation,, in the active service process, have the electricity shortage phenomenon because the upper body complex mechanical structure all needs relatively more a large amount of electric power systems with big data complex image computing.Second because its data location is to give image calculation, so the reaction speed of its calculating will not reach the speed of actual requirement far away, has a strong impact on client's service experience in the active service process.
For example " a kind of dining room service robot system " of Shenzhen Xianjin Technology Academe this system's design has comprised control module, the module of advancing, interactive module, sensing module, Executive Module again.Various electronic modules are a lot, but avoided the basic functions of a robot, be exactly robot how to arrive its position that will arrive, how positioning robot position, and robot runs into obstacle in arrival process, hide the problem of back route selection.Go up both at home and abroad also do not have a can be actual the room service robot that uses of dining room.
Summary of the invention
Be technical deficiency more than solving, it is simple to the invention provides a kind of frame for movement, food delivery robot and the food delivery method thereof that can accurately locate and keep away barrier and save electric energy.
The present invention realizes through following measure:
A kind of food delivery of the present invention robot, comprising can be along the main body of guide rail operation, and said main body comprises the head group
Part, trunk assembly and robot arm; Said robot arm level has been lifted service plate; Be provided with controller and the power set that are connected with controller, drive unit, running gear, wireless signal transmission and voice device in the main body; It is characterized in that: said guide rail is a magnetic track, and said main body is provided with tracking positioner and obstacle avoidance apparatus;
Said tracking positioner; Comprise that magnetic sensor, card reader and some magnetic that has the numbering data strengthen card; Said magnetic strengthens card and is successively set on each place, seats in a restaurant and its numbering data are corresponding with the seats in a restaurant sequential encoding along guide rail, and said magnetic sensor is connected with controller with card reader, and magnetic sensor is used to detect the magnetic signal of guide rail; Card reader be used to read main body the magnetic of process strengthen the coded data of card; Said controller is used for confirming guide rail position according to magnetic signal judge simultaneously whether the numbering data that receive are corresponding with preset seats in a restaurant sequential encoding, controls main body when corresponding and halt;
Obstacle avoidance apparatus; Comprise the ultrasonic sensing device and the infrared inductor that all are connected with controller; Said ultrasonic sensing device and pyroscan all are used for the distance of sonde body and the place ahead barrier; Simultaneously pyroscan also is used to survey the temperature signal of the place ahead barrier, and said controller is used for according to receiving to such an extent that distance signal is controlled main body deceleration, braking or voice suggestion with temperature signal.
The aforementioned body bottom is provided with the chassis, and said magnetic sensor, card reader, power set, drive unit and running gear all are arranged in the chassis.
The aforementioned body stage casing is provided with two ultrasonic sensors, and the lower body part two ends are provided with two infrared ray sensors, and the elbow place of robot arm is provided with two infrared ray sensors.
Above-mentioned running gear comprises the reverse two groups of group of motors of settling of intersection, and each group of motors drives and is connected with the power wheel that is positioned at both sides, rear portion, chassis, and the chassis anteriomedial is provided with a universal moving runner.
Between above-mentioned robot arm and the service plate buffer unit is set.
The food delivery method of a kind of food delivery of the present invention robot may further comprise the steps:
A. lay magnetic track, and magnetic enhancing card, storage and seats in a restaurant sequential encoding corresponding codes data in magnetic strengthens card are set at each place, seats in a restaurant along guide rail;
The seats in a restaurant sequential encoding of needing food delivery b. for the setting of food delivery robot detects at magnetic sensor under the state of magnetic signal of magnetic track in real time, and the food delivery robot moves along magnetic track; In food delivery robot running, if the ultrasonic sensing device detects the place ahead barrier in setpoint distance, food delivery machine Easy abeadl then; If pyroscan detects the place ahead barrier in setpoint distance, then food delivery machine brake meets characteristics of human body's index if the while pyroscan detects the temperature of the place ahead barrier, then sends the voice suggestion of dodging; After barrier shifted out outside the setpoint distance, the food delivery robot continued to move along magnetic track;
C. in food delivery robot running; Card reader read the food delivery robot the magnetic of process strengthen the coded data of card; Whether the magnetic that the controller comparison is read strengthens the coded data of blocking corresponding with the seats in a restaurant sequential encoding of setting, if not, then the food delivery robot continues to move along magnetic track; If the food delivery robot halts, food delivery puts in place;
D. after receiving return instruction, the reposition of food delivery robot.。
The invention has the beneficial effects as follows:
1. simple in structure, do not need the complex image computing, save electric energy, increased running time; 2. do not need image calculation, reaction speed is very fast, and the active service process can be given client's service experience preferably; 3. can realize locating stop with running in keep away barrier, use reliable, can practical application in the dining room.
Description of drawings
Fig. 1 is an overall structure sketch map of the present invention.
Fig. 2 is a chassis portion structural representation of the present invention.
Among the figure: 1 head assembly, 2 robot arms, 3 trunk assemblies, 4 chassis, 5 service plates, 6 infrared ray sensors, 7 ultrasonic sensing devices, 8 magnetic sensors, 9 card reader, 10 power wheels, 11 universal moving runners.
The specific embodiment
Like Fig. 1,2, shown in 3, a kind of food delivery of the present invention robot, comprising can be along the main body of guide rail operation,
Main body comprises head assembly 1, trunk assembly 3 and robot arm 2; Robot arm 2 levels have been lifted service plate 5; Be provided with controller and the power set that are connected with controller, drive unit, running gear, wireless signal transmission and voice device in the main body; Guide rail is a magnetic track, and main body is provided with tracking positioner and obstacle avoidance apparatus.
The tracking positioner; Comprise that magnetic sensor 8, card reader 9 and some magnetic that has the numbering data strengthen card; Magnetic strengthens card and is successively set on each place, seats in a restaurant and its numbering data are corresponding with the seats in a restaurant sequential encoding along guide rail, and magnetic sensor 8 is connected with controller with card reader 9, and magnetic sensor 8 is used to detect the magnetic signal of guide rail; Card reader 9 be used to read main body the magnetic of process strengthen the coded data of card; Controller is used for confirming guide rail position according to magnetic signal judge simultaneously whether the numbering data that receive are corresponding with preset seats in a restaurant sequential encoding, controls main body when corresponding and halt.
Obstacle avoidance apparatus comprises ultrasonic sensing device 7 and the infrared inductor that all is connected with controller; Ultrasonic sensing device 7 and pyroscan all are used for the distance of sonde body and the place ahead barrier; Simultaneously pyroscan also is used to survey the temperature signal of the place ahead barrier, and controller is used for according to receiving to such an extent that distance signal is controlled main body deceleration, braking or voice suggestion with temperature signal.Ultrasonic detector constantly sends detectable signal, and when finding that the place ahead bar is bordering on 1 meter, robot slows down automatically.The accurate judgement of pyroscan simultaneously is lower than 30CM, will carry out brake hard.And infrared ray is detecting obstacles thing object temperature simultaneously, meet characteristics of human body's index after, robot sends language messages such as " please give way ".Since the intrinsic characteristics of ultrasonic wave determined its can orientation distance under less than the situation of 25CM error ratio bigger, therefore adopt two Detection Techniques, be two Detection Techniques integrated applications of ultrasonic wave and infrared ray, improved reliability.
Bottom part body is provided with chassis 4, and magnetic sensor 8, power set, drive unit and running gear all are arranged in the chassis 4.Thereby make the robot steadily of centre of gravity, guaranteed the food delivery stabilized walking.Outer body structure adopts bionical and Application Design, integrated speech system, ultrasonic transducer system, infrared ray sensor 6 systems, meal article displacement structure.Robot path control system adopts two cover control systems; First cover is wireless remote-control system; Robot receiving radio data transfer instruction is operated; Second cover is for to design initial destination and to seek the magnetic instruction operation according to robot self, and the wireless remote control data command is higher than robot self control instruction.Wireless control system, closely remote control is adopted based on the ZigBee radio sensing network of Z-Stack protocol stack and is realized.Operating frequency 2.4GHz can realize 11 channel hoppings, has route and encryption function, swap data between any wireless endpoint, but clean culture, multicast and broadcasting.CC2530+CC2591 scheme, radio transmitted power 20dB, opening communication distance 1km are adopted in the remote control design.Can control a robot simultaneously and also can control the operation of a plurality of robots simultaneously.
Hypomere is provided with two ultrasonic sensors in the main body, and the widest part two ends, main body lower end are provided with two infrared ray sensors 6, and the elbow place of robot arm 2 is provided with two infrared ray sensors 6.Running gear comprises the reverse two groups of group of motors of settling of intersection, and each group of motors drives and is connected with the power wheel 10 that is positioned at both sides, 4 rear portion, chassis, and chassis 4 anteriomedial are provided with a universal moving runner 11, and whole dynamical system can be accomplished original place 360 degree and rotate.Between robot arm 2 and the service plate 5 buffer unit is set, guarantees steadily transporting of meal article when starting and stopping in robot.Robot power supply and power adopt 2 groups of 25w motor-driven, and supplying cell is the 22AH2 piece, can accomplish 4-8 hour food delivery demand of a time for eating meals section.Robot head integrated audio and microphone.Can do simply language is talked with.The DC reducing motor: 2 of quantity are used for driving wheel and drive motor supply voltage 24V, rated power 25W, rated moment 15kg. and Cm output speed 150 changeed minute.Robot maximum travelling speed: 50m/min 0-50m/min, 3 seconds acceleration time.Maximum endurance 8-10 hour.
Supplying cell: lead-acid accumulator (lithium iron phosphate storage battery) 22AH2 piece; Single ultrasonic sensor induction angle: 60 degree, apart from 0.3-5m.Single infrared sensor distance of reaction: the corresponding time of 0.1-10m certainty of measurement: ± 1.0mm is less than 1ms.Magnetic Induction device distance of reaction 0.5CM-10CM, reaction time 2-20ms.The remote control command range is less than 1km.
The food delivery method of a kind of food delivery robot may further comprise the steps:
A. lay magnetic track, and magnetic enhancing card, storage and seats in a restaurant sequential encoding corresponding codes data in magnetic strengthens card are set at each place, seats in a restaurant along guide rail;
The seats in a restaurant sequential encoding of needing food delivery b. for the setting of food delivery robot detects at magnetic sensor 8 under the state of magnetic signal of magnetic track in real time, and the food delivery robot moves along magnetic track; In food delivery robot running, if ultrasonic sensing device 7 detects the place ahead barrier in setpoint distance, food delivery machine Easy abeadl then; If pyroscan detects the place ahead barrier in setpoint distance, then food delivery machine brake meets characteristics of human body's index if the while pyroscan detects the temperature of the place ahead barrier, then sends the voice suggestion of dodging; After barrier shifted out outside the setpoint distance, the food delivery robot continued to move along magnetic track;
C. in food delivery robot running; Card reader 9 read the food delivery robot the magnetic of process strengthen the coded data of card; Whether the magnetic that the controller comparison is read strengthens the coded data of blocking corresponding with the seats in a restaurant sequential encoding of setting; If, then the food delivery robot does not continue to move along magnetic track; If the food delivery robot halts, food delivery puts in place;
D. after receiving return instruction, the reposition of food delivery robot.
The foregoing description is said to be in order to specify this patent; Though describe through specific term in the literary composition; But can not limit the protection domain of this patent with this; The personage who is familiar with this technical field can change or revise it after the spirit of understanding this patent and principle and reach equivalent purpose, and this equivalence change and modification all should be covered by the claim scope and define in the category.
Claims (6)
1. food delivery robot; Comprising can be along the main body of guide rail operation; Said main body comprises head assembly, trunk assembly and robot arm, and said robot arm level has been lifted service plate, is provided with controller and the power set that are connected with controller, drive unit, running gear, wireless signal transmission and voice device in the main body; It is characterized in that: said guide rail is a magnetic track, and said main body is provided with tracking positioner and obstacle avoidance apparatus;
Said tracking positioner; Comprise that magnetic sensor, card reader and some magnetic that has the numbering data strengthen card; Said magnetic strengthens card and is successively set on each place, seats in a restaurant and its numbering data are corresponding with the seats in a restaurant sequential encoding along guide rail, and said magnetic sensor is connected with controller with card reader, and magnetic sensor is used to detect the magnetic signal of guide rail; Card reader be used to read main body the magnetic of process strengthen the coded data of card; Said controller is used for confirming guide rail position according to magnetic signal judge simultaneously whether the numbering data that receive are corresponding with preset seats in a restaurant sequential encoding, controls main body when corresponding and halt;
Obstacle avoidance apparatus; Comprise the ultrasonic sensing device and the infrared inductor that all are connected with controller; Said ultrasonic sensing device and pyroscan all are used for the distance of sonde body and the place ahead barrier; Simultaneously pyroscan also is used to survey the temperature signal of the place ahead barrier, and said controller is used for according to receiving to such an extent that distance signal is controlled main body deceleration, braking or voice suggestion with temperature signal.
2. according to the said food delivery of claim 1 robot, it is characterized in that: said bottom part body is provided with the chassis, and said magnetic sensor, card reader, power set, drive unit and running gear all are arranged in the chassis.
3. according to the said food delivery of claim 1 robot, it is characterized in that: said main body stage casing is provided with two ultrasonic sensors, and the lower body part two ends are provided with two infrared ray sensors, and the elbow place of robot arm is provided with two infrared ray sensors.
4. according to the said food delivery of claim 1 robot; It is characterized in that: said running gear comprises the reverse two groups of group of motors of settling of intersection; Each group of motors drives and is connected with the power wheel that is positioned at both sides, rear portion, chassis, and the chassis anteriomedial is provided with a universal moving runner.
5. according to the said food delivery of claim 1 robot, it is characterized in that: between said robot arm and the service plate buffer unit is set.
6. the food delivery method of a food delivery robot is characterized in that, may further comprise the steps:
A. lay magnetic track, and magnetic enhancing card, storage and seats in a restaurant sequential encoding corresponding codes data in magnetic strengthens card are set at each place, seats in a restaurant along guide rail;
The seats in a restaurant sequential encoding of needing food delivery b. for the setting of food delivery robot detects at magnetic sensor under the state of magnetic signal of magnetic track in real time, and the food delivery robot moves along magnetic track; In food delivery robot running, if the ultrasonic sensing device detects the place ahead barrier in setpoint distance, food delivery machine Easy abeadl then; If pyroscan detects the place ahead barrier in setpoint distance, then food delivery machine brake meets characteristics of human body's index if the while pyroscan detects the temperature of the place ahead barrier, then sends the voice suggestion of dodging; After barrier shifted out outside the setpoint distance, the food delivery robot continued to move along magnetic track;
C. in food delivery robot running; Card reader read the food delivery robot the magnetic of process strengthen the coded data of card; Whether the magnetic that the controller comparison is read strengthens the coded data of blocking corresponding with the seats in a restaurant sequential encoding of setting, if not, then the food delivery robot continues to move along magnetic track; If the food delivery robot halts, food delivery puts in place;
D. after receiving return instruction, the reposition of food delivery robot.
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| CN103226355A (en) * | 2013-05-16 | 2013-07-31 | 上海申磬产业有限公司 | Intelligent stockroom returning system and method in multifunctional nursing equipment |
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