CN107817805A - A kind of autonomous formula drink distributor, method and system - Google Patents
A kind of autonomous formula drink distributor, method and system Download PDFInfo
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- CN107817805A CN107817805A CN201711205664.1A CN201711205664A CN107817805A CN 107817805 A CN107817805 A CN 107817805A CN 201711205664 A CN201711205664 A CN 201711205664A CN 107817805 A CN107817805 A CN 107817805A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Abstract
The invention discloses a kind of autonomous formula drink distributor, method and system.Methods described includes：The drink distribution request from mobile device of the sports equipment the reception server forwarding of drink distributing equipment is installed, the drink distribution request carries the output parameter of target position information and drink；Environmental information in scanning room, SLAM birds-eye views are built according to the environmental information data scanned；The target position information is converted into the target location coordinate in SLAM birds-eye views；Itself course is planned according to itself starting position coordinates, the target location coordinate and the SLAM birds-eye views, target position is shifted to according to the course；The drink distributing equipment is controlled to perform corresponding operating according to the output parameter of the drink, output meets the drink of the parameter, realizes automatic output drink function, saves user time.
Description
Technical field
The present invention relates to field of computer technology, and in particular to a kind of autonomous formula drink distributor, method and is
System.
Background technology
Synchronous superposition (Simultaneous localization and Mapping, abbreviation SLAM) can
So that robot is not going to explore in by environment about, is passing through weight in motion process from the unknown place of circumstances not known
Map feature (for example, corner, pillar etc.) the positioning self-position and posture observed again, further according to self-position increment type
Map is built, so as to reach while position and the purpose of map structuring.Establishing map known to new cartographic model or iteration
Meanwhile the positioning robot on the cartographic model, by record with some form perception obtain information, to it is conventional
Sensing results compare, to support the assessment to reality positioning.
Traditional 2D and 2.5D SLAM algorithms can build birds-eye view, in addition, it is also proposed some 3D SLAM in recent years
Algorithm, these algorithms are realized by combined colors and depth transducer (RGB-D) such as PrimeSense equipment.It is existing
The more typical D S LAM methods of ratio be KinectFusion, it is a kind of dense three-dimensional SLAM methods, using iteration most
Near point goes the distance measurements of matching depth image and a tape symbol to obtain three-dimensional map.Another kind is proposed by Bylow et al.
Method, this method be on the basis of KinectFusion algorithms, it is public by using a kind of distance of more complicated tape symbol
The representation of formula and a kind of improvement that preferably optimisation strategy is carried out.Kerl et al. proposes another intensive vision SLAM side
Method, this algorithm optimize existing location estimation using light-metering and depth error.
The whole world provides drink device and popularized already, is all seen everywhere in public places, in the environment such as office.Drink is provided
Product device is typically to be placed in a fixed place, and user's hand-held container goes to the place water receiving from origin position, it
Hand-held container returns to origin position again afterwards.During this on the one hand user will spend the time on round road；On the other hand
The container for filling with water is easy to splash out during handheld motion, and use is rather inconvenient.
The content of the invention
The invention provides a kind of autonomous formula drink distributor, method and system, with solve prior art or
Part solves problems of the prior art.
According to an aspect of the invention, there is provided a kind of autonomous formula drink distributor, the autonomous formula
Drink distributor includes drink distributing equipment and sports equipment, and the drink distributing equipment is arranged on the sports equipment top
Portion；
The sports equipment includes data processing circuit, wireless communication unit, transducing signal Acquisition Circuit and mobile unit；
The drink distributing equipment is provided with interactive unit, drink output unit；
The wireless communication unit wireless connection service device, receive the drink distribution for the user terminal that the server is sent
Request, and send idle state information and current location information to the server；
The signal input part of the wireless communication unit connects the signal output part of the data processing circuit, described wireless
The signal output part of communication unit connects the signal input part of the data processing circuit；
The transducing signal that the transducing signal output end of the transducing signal Acquisition Circuit connects the data processing circuit is defeated
Enter end；
The control signal input of the mobile unit and the control signal input of the drink output unit connect respectively
Connect the control signal output of the data processing circuit；
The control command output end of the interactive unit connects the control command input of the data processing circuit, described
The video/audio signal input of interactive unit connects the video/audio signal output end of the data processing circuit.
According to another aspect of the present invention, there is provided a kind of autonomous formula drink distribution method, methods described include：
The distribution of the drink from mobile device for being provided with the sports equipment the reception server forwarding of drink distributing equipment please
Ask, the drink distribution request carries the output parameter of target position information and drink；
Environmental information in scanning room, SLAM birds-eye views are built according to the environmental information data scanned；
The target position information is converted into the target location coordinate in SLAM birds-eye views；
Itself traveling road is planned according to itself starting position coordinates, the target location coordinate and the SLAM birds-eye views
Line, target position is shifted to according to the course；
The drink distributing equipment is controlled to perform corresponding operating according to the output parameter of the drink, output meets the ginseng
Several drinks.
According to a further aspect of the invention, there is provided a kind of autonomous formula drink distribution system, the system include：
Server and one or more above-mentioned autonomous formula drink distributors, the server and each autonomous formula
Drink distributor is wirelessly communicated；
The server, the drink distribution request wirelessly sent for receiving mobile terminal, the drink point
The output parameter of target position information and drink is carried with request, obtains the free time of each autonomous formula drink distributor
State and current location, a suitable autonomous formula drink distributor is determined by algorithm globally optimal, and to true
The autonomous formula drink distributor made forwards the drink distribution request；
The autonomous formula drink distributor, for receiving the drink distribution request, the environment letter in scanning room
Breath, SLAM birds-eye views are built according to the environmental information data scanned；By the target position information in the drink distribution request
The target location coordinate being converted into SLAM birds-eye views, according to itself starting position coordinates, the target location coordinate and described
SLAM birds-eye views plan itself course, and target position is shifted to according to the course；And for according to
The output parameter of drink in drink distribution request, the distributing equipment output of control drink meet the drink of the parameter.
The beneficial effects of the invention are as follows：Technical scheme, receive server forwarding come from mobile device
Drink distribution request when, using the environmental information around sensing equipment real time scan itself, based on SLAM technique constructions SLAM
Birds-eye view；The target position information that drink distribution request carries is converted into the target location coordinate in SLAM birds-eye views, according to
Itself starting position coordinates, target location coordinate and SLAM birds-eye views plan itself course, by the success of drink distributing equipment
The position being moved to where target, realizes automatic drink distribution function, saves user time, avoids during user connects drink
The occurrence of drink in container splashes out, avoids user from scalding, saving water resource.In addition, technical scheme
The output parameter control drink distributing equipment output of the drink carried according to drink distribution request meets the drink of user's requirement, full
Foot user different drink demand, improves Consumer's Experience.
Brief description of the drawings
Fig. 1 is a kind of structural representation of autonomous formula drink distributor of one embodiment of the invention；
Fig. 2 is a kind of illustrative view of functional configuration of autonomous formula drink distributor of one embodiment of the invention；
Fig. 3 is a kind of flow chart of the method for autonomous formula drink distribution of one embodiment of the invention；
Fig. 4 is a kind of particular flow sheet of the method for autonomous formula drink distribution of one embodiment of the invention；
Fig. 5 is a kind of schematic diagram of the system of autonomous formula drink distribution of one embodiment of the invention.
Embodiment
The present invention design concept be：It can not be the problem of user send water automatically for drinking equipment in the prior art, send out
A person of good sense expects, using the environmental information around sensing equipment real time scan itself, based on SLAM technique construction SLAM birds-eye views, incites somebody to action
The target position information that server is sent is converted into the position coordinates in SLAM birds-eye views；According to itself starting position coordinates, mesh
Cursor position coordinate and SLAM birds-eye views plan itself course, control the mobile unit to shift to target position；It is mobile
To after target position, the output parameter output for the drink that control drink distributing equipment is sent according to server meets user will
The drink asked.
Embodiment one
Fig. 1 is a kind of structural representation of autonomous formula drink distributor of one embodiment of the invention, such as Fig. 1 institutes
Show, the autonomous formula drink distributor 100 includes drink distributing equipment 1 and sports equipment 2, and drink distributing equipment 1 is installed
At the top of sports equipment 2；It should be noted that the position that drink distributing equipment is arranged on sports equipment is not limited, for example,
Drink distributing equipment can be arranged on to the side of sports equipment, as long as drink distributing equipment is arranged on sports equipment, fortune
Dynamic equipment can carry the movement of drink distributing equipment.
Fig. 2 is a kind of illustrative view of functional configuration of autonomous formula drink distributor of one embodiment of the invention, such as
Shown in Fig. 2, the sports equipment is provided with wireless communication unit 110, mobile unit 120, data processing circuit 130, transducing signal
Acquisition Circuit 140；The drink distributing equipment is provided with interactive unit 150, drink output unit 160；
The connection server of wireless communication unit 110, the drink distribution request for the user terminal that the server is sent is received,
And send idle state information and current location information to the server；
The signal input part of the wireless communication unit 110 connects the signal output part of the data processing circuit 130, institute
The signal output part for stating wireless communication unit 110 connects the signal input part of the data processing circuit 130；
The transducing signal output end of the transducing signal Acquisition Circuit 140 connects the sensing of the data processing circuit 130
Signal input part；
The control signal input of the control signal input of the mobile unit 120 and the drink output unit 160
The control signal output of the data processing circuit 130 is connected respectively；
The control command output end of the interactive unit 150 connects the control command input of the data processing circuit 130
End, the video/audio signal input of the interactive unit 150 connect the video/audio signal of the data processing circuit 130
Output end.
SLAM algorithms are prestored in data processing circuit 130 in the present embodiment, transducing signal Acquisition Circuit 140 includes
Infrared ray sensor and/or laser radar, in the present embodiment, by taking laser radar as an example, Laser Radar Scanning itself surrounding environment
Information, and the environmental information scanned is sent to data processing circuit 130, data processing circuit 130 utilizes SLAM algorithm roots
Birds-eye view is built according to the environmental information scanned.The target position information that the reception server of wireless communication unit 110 is sent, and will
The target position information is sent to data processing circuit 130, and data processing circuit 130 is according to the environmental information, the target
Positional information and own location information plan itself course, and are sent and driven to the mobile unit according to planning course
Dynamic control instruction, controls the mobile unit to shift to target position.
During autonomous formula drink distributor is moved to target location, laser radar real time scan itself week
The environmental information enclosed, and the environmental information scanned is sent to data processing circuit 130, data processing circuit 130 and utilized
SLAM algorithms build birds-eye view, and real-time update course in real time according to the environmental information scanned, and according to renewal after
Course continues to control mobile unit 120 to be moved to target location.
It is to be moved arrive target position after, user's drink demand is inquired by interactive unit 150, and exported by drink
Unit 160 exports the drink for meeting user's request, for example, the user needs the coffee of temperature.
In one embodiment of the invention, interactive unit 150 includes touch display screen 150_1, touch display screen 150_1
Control command output end connection data processing circuit 130 control command input, touch display screen 150_1 vision signal
Input connects the VT of data processing circuit 130；Touch display screen 150_1 control signal output and number
Connected according to the signal output part of process circuit 130.When confirming that drink distributing equipment nearby has user by the above method, number
Text prompt information, picture prompting information, visual prompts are sent to touch display screen 150_1 according to process circuit 130, or simultaneously
Send above-mentioned any two kinds or send above-mentioned three kinds of prompt messages simultaneously, prompt the user whether to need to export drink.Showing
Can be with information such as displays temperature, liquid measure, drink types on screen.By taking text prompt information as an example, show on touch display screen 150_1
Show textbox " whether needing to export drink ", and "Yes" and "No" is illustrated below in the textbox, when user clicks on "Yes", show
Show textbox " drink -- coffee, fruit juice and mineral water " and " temperature -- hot, gentle cold ", it is assumed that user's selection " coffee -- heat ",
It is that user exports Hot Coffee that then data processing circuit 130, which controls drink output unit 160, in addition, drink output unit 160 is when inspection
When measuring stopping output drink, then " drink output is completed " instruction is sent to data processing circuit 130, then data processing circuit
130 continue to control mobile unit 120 to be gone on patrol according to default course.
In one embodiment of the invention, interactive unit 150 also includes player 150_2, microphone 150_3 or pressed
Key 150_4；The control command that microphone 150_3, button 150_4 control command output end connect data processing circuit 130 is defeated
Enter end；The audio signal output end of player 150_2 audio signal input end connection data processing circuit 130.Need to illustrate
, interactive unit 150 also includes audio identification circuit 150_5, audio identification circuit 150_5 audio signal input end connection
Microphone 150_3 audio signal output end, audio identification circuit 150_5 control command output end connection data processing circuit
130 control command input.
For example, it is to be confirmed go out drink distributing equipment nearby when having user, data processing circuit 130 is exported by audio signal
Port sends voice message message " whether exporting drink " to player 150_2, and player 150_2 plays the voice message and disappeared
Breath；After user hears the voice message message of " whether exporting drink " that automatic moving drink distributor sends, both may be used
With direct speech answering " needs " or " not needing ", it can also be operated on touch display screen 150_1, button can also be passed through
150_4 is directly operated.When user speech replys " needing to export drink ", microphone 150_3 recognizes the voice signal, and will
It is defeated that the voice signal by microphone 150_3 audio signal output end sends audio signal to audio identification circuit 150_5
Enter end, audio identification circuit 150_5 is converted into the readable information of data processing circuit 130 to the voice signal, and will change
To readable information send to data processing circuit 130, data processing circuit 130 controls drink output unit according to the information
160 outputs meet the drink of user's request.User operates on touch display screen 150_1, and then causes drink output unit 160
Output meets the process of the drink of user's request, has been described in, will not be repeated here above.In addition, user passes through button
Control drink output unit 160 exports the process of corresponding drink, to the process by the corresponding drink of touch display screen 150_1 outputs
It is similar, simply touch display screen 150_1 virtual key is replaced with physical button 150_4.
In one embodiment of the invention, autonomous formula drink distributor 100 also includes battery 180 and power supply pipe
Circuit 190 is managed, battery 180 is that drink distributing equipment and sports equipment are powered by electric power management circuit 190, electric power management circuit
The control signal output of 190 control signal input connection data processing circuit 130；The power supply of electric power management circuit 190
Signal output part connects the power input of data processing circuit 130.Liquid level is set to pass in the drink case of drink output unit 160
The sensing data input of sensor 160_1, liquid level sensor 160_1 liquid level signal output end connection data processing circuit 130.
Supplied it should be noted that electric power management circuit 190 not only has for each hardware in autonomous formula drink distributor
The function of electricity, but also with the function of the detection electricity of battery 180.The basis of mobile unit 170 is controlled in data processing circuit 130
Before predetermined paths move, the electricity of battery 180 can be detected by electric power management circuit 190, if the electricity of battery 180 fills
Foot, then mobile unit 120 is controlled to move；If the electricity of battery 180 is inadequate, user is prompted as electricity by interactive unit 150
Charge in pond 180.
In addition, before data processing circuit 130 controls mobile unit 170 to be moved according to predetermined paths, it is also necessary to
Whether sufficient detect the drink reserves of drink output unit 160, specifically, liquid is set in 160 drink casees of drink output unit
Level sensor 160_1, drink output unit 160 by detect liquid level sensor 160_1 detect drink case in reserves whether
Abundance, the drink reserves such as fruit beverage output unit 160 are sufficient, then control mobile unit 120 to move；Such as fruit beverage output unit
160 drink reserves are inadequate, then it is that drink output unit 160 adds drink to prompt user by interactive unit 150.Wherein,
The sensing data input of liquid level sensor 160_1 liquid level signal output end connection data processing circuit 130.
In one embodiment of the invention, interactive unit 150 and drink output unit 160 pass through wired mode and number
Connected according to process circuit 130 so that the information transfer of autonomous formula drink distributor is more reliable and more stable.Specifically, drink
Product distributing equipment is arranged at the top of sports equipment by mounting groove, and wire hole, interactive unit 150 and drink are provided with mounting groove
The lead of output unit 160 is connected by wire hole with data processing circuit 130.
In one embodiment of the invention, interactive unit 150 and drink output unit 160 wirelessly with number
Connected according to process circuit 130.The wiring of autonomous formula drink distributor is simplified, is easy to later maintenance.
In one embodiment of the invention, mobile unit 120 is arranged on the bottom of sports equipment, and mobile unit 120 is wrapped
Include two driving wheels and a steering wheel；The control signal output of data processing circuit 130 connects driving wheel and direction respectively
The drive device 170 of wheel.For example, data processing circuit 130 control mobile unit 120 move during, as long as will move
Dynamic control instruction is sent to drive device 120, and then drive device 120 drives two driving wheels and a steering wheel according to default
Route moves.
Embodiment two
Fig. 3 is a kind of flow chart of the method for autonomous formula drink distribution of one embodiment of the invention, such as Fig. 3 institutes
Show,
In step s 110, be provided with the sports equipment the reception server forwarding of drink distributing equipment comes from mobile device
Drink distribution request, the drink distribution request carries the output parameter of target position information and drink；
In the step s 120, the environmental information around itself is scanned, SLAM is built according to the environmental information data scanned
Birds-eye view；
In step s 130, the target position information is converted into the target location coordinate in SLAM birds-eye views；
In step S140, advised according to itself starting position coordinates, the target location coordinate and the SLAM birds-eye views
Itself course is drawn, target position is shifted to according to the course；
In step S150, the drink distributing equipment is controlled to perform corresponding operating according to the output parameter of the drink,
Output meets the drink of the parameter.
Pass through the method shown in Fig. 3, it is known that, technical scheme, moved receiving coming from for server forwarding
During the drink distribution request of equipment, using the environmental information around sensing equipment real time scan itself, based on SLAM technique constructions
SLAM birds-eye views；The target position information that drink distribution request carries is converted into the target location coordinate in SLAM birds-eye views,
Itself course is planned according to itself starting position coordinates, target location coordinate and SLAM birds-eye views, by drink distributing equipment
The position being successfully moved to where target, automatic output drink function is realized, user time is saved, avoids user and connect drink mistake
The occurrence of drink in journey in container splashes out, avoids user from scalding, saving water resource.In addition, the technology of the present invention
The output parameter control drink distributing equipment output for the drink that scheme carries according to drink distribution request meets the drink of user's requirement
Product, the different drink demand of user is met, improves Consumer's Experience.
In order that technical scheme it is clearer, be explained for a specific example below.Fig. 4
It is a kind of particular flow sheet of the method for autonomous formula drink distribution of one embodiment of the invention, as shown in figure 4,
S201, the drink from mobile device for the sports equipment the reception server forwarding for being provided with drink distributing equipment divide
With request, the drink distribution request carries the output parameter of target position information and drink.It should be noted that target position
Confidence breath can correspond to the Position Number in office where each desk.In another embodiment of the presently claimed invention, mesh
Cursor position information can also be the positional information that mobile terminal (such as smart mobile phone) is sent, such as GPS information.
S202, planning course.Specifically, the ring around itself is scanned using sensing equipment (for example, laser radar)
Environment information, SLAM birds-eye views are built according to the environmental information data scanned, the target position information is converted into SLAM birds
Target location coordinate (the x to look down from a height in figure1,y1)；
According to itself starting position coordinates (x0,y0), the target location coordinate (x1,y1) and SLAM birds-eye views rule
Draw itself course.
S203, judge whether drink reserves and electricity are sufficientIf being judged as YES, step S204 is performed so that shift to use
Drink reserves in the drink distributing equipment at family are sufficient, while avoid mobile unit in the process of running due to not enough power supply
And stop motion, ensure that mobile unit is successfully moved to target position.If being judged as NO, step S212 is performed.Need
Illustrate, when whether the drink reserves in judging drink distributing equipment are sufficient, liquid level sensor detection drink point can be used
Liquid level information in drink case with equipment, the drink reserves in drink distributing equipment are determined according to the liquid level information detected.
S204, the position according to where programme path controls mobile unit to shift to target.
S205, real time scan environmental information, continuous iterated revision SLAM birds-eye views.Specifically, sensing equipment is continued with
Environmental information around (for example, laser radar) real time scan itself, according to real time scan to environmental information data constantly change
Generation amendment SLAM birds-eye views,
S206, front obstacle is found, plan course again.Specifically, hinder in real time in mark environmental information data
Hinder the position coordinates (x of thing2,y2)；When finding that there is barrier in front, according to itself current position coordinates (x3,y3), target exists
Position coordinates (x in SLAM birds-eye views1,y1) and barrier position coordinates (x2,y2) itself course is planned again, it is real
Positioning, independent navigation and avoiding obstacles, ensure that drink distributing equipment arrives safely target position when real.
S207, the position being moved to according to the route planned again where target so that drink distributing equipment arrives safely
Target position.
S208, control drink distributing equipment output meet the drink of user's request, that is to say, that drink distributing equipment according to
The output parameter of drink in drink distribution request performs corresponding operating, and output meets the drink of the parameter.Need what is illustrated
It is that the output parameter of drink includes the output quantity, output temperature, the species of output liquid that are determined by user by mobile terminal
Deng.In one embodiment of the invention, use is inquired by way of voice, word, video, indicator lamp flicker or its combination
Family drink demand.For example, the automatic moving drink distributor includes display screen, show Yes/No on the display screen " press
Button, user click on the button of " Yes/No " to be confirmed whether to need to export drink on screen, can also shown on a display screen certainly
The information such as temperature displaying function, liquid measure, drink type, user determine the drink of output by touching respective keys.Such as automatic moving
Drink distributor includes speech recognition equipment, asks whether to need by the speech recognition equipment to export drink, when recognizing
During the related voice information such as " needing to export drink " or "Yes", automatic moving drink distributor control drink distributing equipment
The information such as drink, the drink temperature, liquid measure, drink type for needing drink alternatively, it is also possible to speech recognition user is exported, is that user is defeated
Go out satisfactory drink, lift Consumer's Experience.
S209, judge whether drink has connectIf being judged as YES, step S210 is performed；If being judged as NO, step is performed
S211。
S210, return to fixed position.It should be noted that during control mobile unit is back to fixed position,
When receiving the drink distribution request of server transmission, in the case of judging itself drink reserves and electricity abundance, directly
Connect control drink distributing equipment and be moved to target position, without returning to fixed position.
S211, original place wait, and after user has connect drink, return to fixed position, realize the design of more hommization, lifting
Consumer's Experience.
S212, prompting user add drink and/or charging.Specifically, if drink reserves are sufficient and electricity is inadequate, send out
Send prompting charge information；If drink reserves are inadequate and electricity is sufficient, prompting addition drink information is sent；If drink reserves and
Electricity does not fill, then sends prompting charging and addition drink information simultaneously.
In one embodiment of the invention, annular microphone array is provided with sports equipment, the annular microphone array
Row electrically connect with processor, and for collected sound signal, the annular microphone array is using auditory localization algorithm to acoustic information
Handled, determine the positional information of sound source, and the positional information of the sound source is sent to processor, processor is according to the sound source
Positional information control mobile unit be moved to sound source position.
In one embodiment of the invention, in order to strengthen the accuracy of auditory localization, increase in annular microphone array
Add speech recognition algorithm, increase keyword and positional information corresponding table, such as following table within a processor：
Table 1：Keyword and positional information corresponding table
| Keyword | Positional information |
| Xiao Ming | (x1, y1) |
| Meeting room | (x2, y2) |
| Window | (x3, y3) |
For example, annular microphone array collects a voice signal, the voice signal is carried out by speech recognition algorithm
Analyzing and processing, determines that the keyword that the voice signal includes is " Xiao Ming ", then sends the keyword " Xiao Ming " to processor, place
Reason device is matched the keyword with keyword with positional information corresponding table, matches that " positional information is corresponding to Xiao Ming
(x1, y1) ", then processor control mobile unit be moved to " Xiao Ming " position (x1, y1), for " Xiao Ming " provide meet it is " small
It is bright " drink of drink demand.It should be noted that the positional information in table 1 marks on slam maps in advance, the position
Information is stored in the memory of data processing circuit.
In one embodiment of the invention, in order to strengthen the accuracy of auditory localization, increase in annular microphone array
Add voiceprint recognition algorithm, the vocal print of each user is stored in the memory of processor in advance, and create vocal print and believe with position
The corresponding table of breath, as shown in table 2：
Table 2：Vocal print and positional information corresponding table
| Vocal print | Positional information |
| Xiao Ming | (x1, y1) |
| It is small red | (x2, y2) |
| It is small beautiful | (x3, y3) |
For example, annular microphone array collects a voice signal, the voice signal is carried out by voiceprint recognition algorithm
Analyzing and processing, determines voiceprint, then sends the voiceprint to processor, and processor is by the voiceprint and voiceprint
Matched with positional information corresponding table, match " vocal print is small red, and small red corresponding positional information is (x2, y2) ",
Then processor control mobile unit is moved to " small red " position (x2, y2), and meeting " small red " drink for " small red " offer needs
The drink asked.It should be noted that the positional information in table 2 marks on slam maps in advance, the positional information preserves
In the memory of data processing circuit.
Embodiment three
Fig. 5 is a kind of schematic diagram of the system of autonomous formula drink distribution of one embodiment of the invention, such as Fig. 5 institutes
Show, the system 300 includes：Server 320 and one or more autonomous formula drink distributors 100 as shown in Figure 2,
The server 320 and each autonomous formula drink distributor 100 are wirelessly communicated；
The server 320, the drink distribution request wirelessly sent for receiving mobile terminal 310 are described
Drink distribution request carries the output parameter of target position information and drink, obtains each autonomous formula drink distributor
300 idle condition and current location, a suitable autonomous formula drink distribution dress is determined by algorithm globally optimal
300 are put, and the drink distribution request is forwarded to the autonomous formula drink distributor 100 determined；
The autonomous formula drink distributor 100, for receiving the drink distribution request, is scanned around itself
Environmental information, SLAM birds-eye views are built according to the environmental information data scanned；By the target position in the drink distribution request
Confidence breath is converted into the target location coordinate in SLAM birds-eye views, according to itself starting position coordinates, the target location coordinate
Itself course is planned with the SLAM birds-eye views, target position is shifted to according to the course；And for root
According to the output parameter of the drink in the drink distribution request, the distributing equipment output of control drink meets the drink of the parameter.
It should be noted that shown in the course of work of autonomous formula drink distributor 100 and Fig. 3 or Fig. 4 from
The implementation steps of main portable drink distribution method correspond to identical or partly correspondence is identical, and identical content repeats no more.
Pass through the system shown in Fig. 5, it is known that, technical scheme passes through mobile terminal, server and autonomous
The intelligent interaction of formula drink distributor, realize it is automatic send water function, save user time, avoid during user connects drink
The occurrence of drink in container easily splashes out, lift Consumer's Experience.
In one embodiment of the invention, mobile terminal is fixed on the table, and user manually inputs or scanned
The mode of Quick Response Code obtains the drink distribution request for carrying target position information and drink output parameter, and please by drink distribution
Transmission is asked to server.
It should be noted that when autonomous formula drink distributor 100 only has one, server is autonomous without judging
The idle condition of portable drink distributor 100；When autonomous formula drink distributor 100 is multiple, server needs
The idle condition of autonomous formula drink distributor 100 is determined whether, is drunk to the autonomous formula in idle condition
Product distributor 100 sends drink distribution request, improves data utilization rate.
In summary, technical scheme, the distribution of the drink from mobile device of server forwarding is being received
During request, using the environmental information around sensing equipment real time scan itself, based on SLAM technique construction SLAM birds-eye views；Will drink
The target position information that product distribution request carries is converted into the target location coordinate in SLAM birds-eye views, according to itself original position
Coordinate, target location coordinate and SLAM birds-eye views plan itself course, and drink distributing equipment is successfully moved into target institute
Position, realize automatic output drink function, save user time, avoid user and connect drink during drink in container
The occurrence of splashing out, user is avoided to scald, saving water resource.In addition, technical scheme is distributed according to drink
The output parameter control drink distributing equipment output for the drink for asking to carry meets the drink of user's requirement, meets user's difference
Drink demand, improve Consumer's Experience.
The foregoing is only a specific embodiment of the invention, under the above-mentioned teaching of the present invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of above-described embodiment.It will be understood by those skilled in the art that above-mentioned tool
The purpose of the present invention is simply preferably explained in body description, and protection scope of the present invention is defined by scope of the claims.
Claims (10)
1. a kind of autonomous formula drink distributor, it is characterised in that the autonomous formula drink distributor includes drink
Product distributing equipment and sports equipment, the drink distributing equipment are arranged at the top of the sports equipment；
The sports equipment includes data processing circuit, wireless communication unit, transducing signal Acquisition Circuit and mobile unit；It is described
Drink distributing equipment is provided with interactive unit, drink output unit；
The wireless communication unit wireless connection service device, the drink distribution for receiving the user terminal that the server is sent please
Ask, and idle state information and current location information are sent to the server；
The signal input part of the wireless communication unit connects the signal output part of the data processing circuit, the radio communication
The signal output part of unit connects the signal input part of the data processing circuit；
The transducing signal output end of the transducing signal Acquisition Circuit connects the transducing signal input of the data processing circuit；
The control signal input of the mobile unit and the control signal input of the drink output unit connect institute respectively
State the control signal output of data processing circuit；
The control command output end of the interactive unit connects the control command input of the data processing circuit, the interaction
The video/audio signal input of unit connects the video/audio signal output end of the data processing circuit.
2. autonomous formula drink distributor as claimed in claim 1, it is characterised in that the interactive unit includes touching
Display screen, player, microphone, and/or button；The control command output end connection of the touch display screen, microphone, button
The control command input of the data processing circuit；The video signal input terminal of the touch display screen is connected at the data
Manage the VT of circuit；The audio signal input end of the player connects the audio letter of the data processing circuit
Number output end.
3. autonomous formula drink distributor as claimed in claim 2, it is characterised in that the interactive unit also includes sound
Frequency identification circuit, the audio signal input end of the audio identification circuit connect the audio signal output end of the microphone, institute
The control command output end for stating audio identification circuit connects the control command input of the data processing circuit.
4. the autonomous formula drink distributor as described in claim 1 or 2 or 3, it is characterised in that the drink output is single
Liquid level sensor is set in the drink case of member, and the liquid level signal output end of the liquid level sensor connects the data processing circuit
Sensing data input.
5. autonomous formula drink distributor as claimed in claim 1, it is characterised in that the transducing signal Acquisition Circuit
Including infrared sensor and/or laser radar.
6. autonomous formula drink distributor as claimed in claim 1, it is characterised in that the mobile unit is arranged on institute
The bottom of sports equipment is stated, the mobile unit includes two driving wheels and a steering wheel；
The control signal output of the data processing circuit connects the drive device of the driving wheel and steering wheel respectively.
7. a kind of autonomous formula drink distribution method, it is characterised in that methods described includes：
The drink distribution request from mobile device of the sports equipment the reception server forwarding of drink distributing equipment, institute are installed
State the output parameter that drink distribution request carries target position information and drink；
Environmental information in scanning room, SLAM birds-eye views are built according to the environmental information data scanned；
The target position information is converted into the target location coordinate in SLAM birds-eye views；
Itself course, root are planned according to itself starting position coordinates, the target location coordinate and the SLAM birds-eye views
Target position is shifted to according to the course；
The drink distributing equipment is controlled to perform corresponding operating according to the output parameter of the drink, output meets the parameter
Drink.
8. method as claimed in claim 7, it is characterised in that the mistake of target position is being shifted to according to the course
Cheng Zhong, the environmental information in real time scan room；
The continuous iterated revision SLAM birds-eye views of environmental information data arrived according to real time scan, mark and are included in the scan data
Barrier position coordinates；
When finding that there is barrier in front, sat according to the position of itself current position coordinates, target in the SLAM birds-eye views
The position coordinates of mark and the barrier plans itself course again, to realize avoidance.
9. method as claimed in claim 8, it is characterised in that
Before target position is shifted to according to the course, detect drink reserves and whether electricity is sufficient, if described
Drink reserves and the electricity are sufficient, then shift to target position according to the course；
If the drink reserves are sufficient and the electricity is inadequate, prompting charge information is sent；
If the drink reserves are inadequate and the electricity is sufficient, prompting output information is sent；
If the drink reserves and the electricity do not fill, prompting charging and addition drink information are sent simultaneously；
And
After the target position is moved to, after preset time, judge whether drink has connect, fixed if so, then returning
Position；Waited if it is not, then continuing original place.
10. a kind of autonomous formula drink distribution system, it is characterised in that the system includes：Server and one or more
Autonomous formula drink distributor described in claim any one of 1-6, the server and each autonomous formula
Drink distributor is wirelessly communicated；
The server, the drink distribution request wirelessly sent for receiving mobile terminal, the drink distribution please
The output parameter for carrying target position information and drink is sought, obtains the idle condition of each autonomous formula drink distributor
And current location, determine a suitable autonomous formula drink distributor by algorithm globally optimal, and to determining
The autonomous formula drink distributor forward the drink distribution request；
The autonomous formula drink distributor, for receiving the drink distribution request, the environmental information in scanning room, root
SLAM birds-eye views are built according to the environmental information data scanned；Target position information in the drink distribution request is converted into
Target location coordinate in SLAM birds-eye views, according to itself starting position coordinates, the target location coordinate and the SLAM birds
Figure of looking down from a height plans itself course, and target position is shifted to according to the course；And for according to the drink point
Output parameter with the drink in request, the distributing equipment output of control drink meet the drink of the parameter.
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| CN201711205664.1A CN107817805A (en) | 2017-11-27 | 2017-11-27 | A kind of autonomous formula drink distributor, method and system |
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| CN201711205664.1A CN107817805A (en) | 2017-11-27 | 2017-11-27 | A kind of autonomous formula drink distributor, method and system |
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