CN110605723A - Distributed system embedded robot with highly integrated modular design - Google Patents

Abstract

The invention discloses a distributed system embedded robot with a highly integrated modular design, wherein a bearing wheel is positioned at the lowest end of the robot, a tracking system is fixedly arranged at the front end of the bearing wheel, an LCD display screen for displaying information is arranged at the middle position of the robot, a mechanical arm is arranged at the upper end of the robot, a USB camera is arranged on the mechanical arm, and a dish tray is arranged at the middle position between the mechanical arm and the LCD display screen. More effective suggestions are provided for the manager to manage the restaurant.

Description

Distributed system embedded robot with highly integrated modular design

Technical Field

The invention belongs to the field of machinery, and particularly relates to a distributed system embedded robot with a highly integrated modular design.

Background

Robot automation has become a mainstream trend in many fields today, with service robots coming on hand, but service robots often exist as individuals, which makes it difficult for them to perform large collaborative tasks such as large hotel management, market shopping guide, dining room catering services, factory goods handling and medical care, etc. The main reason is that the service robot cannot interact with other robots, and it is well known that human societies can greatly improve the efficiency of work, which brings many impressive curiosity to us, but the nature does not exist in the recent robot system. In addition, most of the functions of the existing robots are single or redundant, for example, a sweeping robot which can only clean garbage and an all-round type robot-like robot are low in price of the former and expensive in price of the latter, and many users may only need two or three functions. Moreover, the existing robot can only complete mechanical tasks, and does not have a complete data sharing platform for large data analysis, so that a distributed system embedded robot with a highly integrated modular design is provided.

Disclosure of Invention

The invention mainly aims to provide a distributed system embedded robot with a highly integrated modular design, which can effectively solve the problems in the background technology.

In order to achieve the purpose, the invention adopts the technical scheme that:

a distributed system embedded robot with highly integrated modular design comprises a mechanical arm, a dish tray, an obstacle avoidance system, a PIXY camera, a sound device, a bearing wheel, a tracking system, a USB camera, a dish placing part and an LCD display screen, wherein the bearing wheel is positioned at the lowest end of the robot, the tracking system is fixedly installed at the front end of the bearing wheel, the LCD display screen for displaying information is installed at the middle position of the robot, the mechanical arm is arranged at the upper end of the robot, the USB camera is installed on the mechanical arm, the dish tray is installed at the middle position between the mechanical arm and the LCD display screen, the dish placing part is arranged on the dish tray, the obstacle avoidance system is installed at the lower end of the dish tray, and the PIXY camera is additionally installed in the middle of the obstacle avoidance system, two sound devices are arranged below the PIXY camera.

Preferably, the number of the bearing wheels is four, and the bearing wheels are of cylindrical structures.

Preferably, the outer surfaces of the four bearing wheels are provided with grooves.

Preferably, the dinner plate placing positions are of concave square structures, and the number of the dinner plate placing positions is three.

Preferably, a rotating shaft penetrates through the center of the inside of the mechanical arm, a stirring sheet is fixedly mounted on the rotating shaft, and the stirring sheet is spiral.

Preferably, the obstacle avoidance systems are respectively located on two sides of the PIXY camera.

Preferably, the robot is internally embedded with a control module, a mobile APP module, an arm module, a vision module, a voice module, a management interface module and a user interface module, and the robot control module, the mobile APP module, the mechanical arm module vision module, the voice module, the administrator interface module, the VIP service module and the user interface module are connected with the FDR robot system, so that the FDR robot has more space to meet the task requirement, the control module contains ardonio, different types of sensors, motors and stable robotic mechanical structures, the vision module is based on OpenCV, and it contains the core code of the USB camera and Raspberry pi, the user interface module contains a GUI, which can show what functions are in the FDR system, and may show the remaining amount of all food items, which may help the user make better ordering choices.

Preferably, the robot realizes independent interaction between the user and the FDR system by means of artificial intelligence and cloud computing, the robot is provided with an obstacle avoidance system based on real-time motor current feedback and a conveying device capable of simultaneously conveying a plurality of dishes, the conveying device comprises a dish tray and a bearing wheel, and the artificial intelligence and cloud computing comprise the following steps:

step one, according to a cloud computing algorithm, the intensity of force measured by a robot on each robot wheel and the robot larger than a threshold value determine the motion track of the wheels, an FDR individual performs a clustering task under each situation, searches for a special customer, is known by a restaurant, and arranges a reserved seat for a user in a crowded environment to serve as a guide to lead the customer to the specified seat;

and step two, memorizing the eating habits and hobbies of the customer and searching and identifying the food by using machine learning according to the music, pictures, speech, slang and laughing data liked by the customer by using the cloud computing principle.

Preferably, the administrator interface module comprises a website, displays user ordering information and feedback content to an administrator, monitors the restaurant environment through a camera of the FDR robot, the network formed by the administrator interface module comprises three parts, sends data, receives data, is placed in a database, interconnects all equipment, uses the raspberry group as a communication center of an internal network, and is connected to the android app, the android app is connected to the robot, and the database is connected through a WiFi network of the same raspberry group.

Preferably, the steps of the FDR robotic method are as follows:

a. a user logs in a mobile phone APP to order;

b. the user enters the movement range of the FDR robot;

detecting the human face in the feasible range by the FDR robot;

d. when the FDR detects a person, the robot sends a voice message and requests a user to show the mobile phone of the user;

e. if the FDR robot recognizes this color from the cell phone, it speaks the relevant instruction;

f. after the user finishes ordering, the mobile phone APP pushes the data to the FDR server background.

Compared with the prior art, the invention has the following beneficial effects: the distributed system embedded robot with highly integrated modular design,

A. convenient and efficient

It is not certain that manual work is the best thing in the world, but people feel tired when in a long and tedious process. Moreover, for things that are repeated many times, people do not do the same things, such as food, one time and another. Efficiency decreases when people are tired, otherwise it is very important for automatic staff to be in the nearest canteen. If the power is not cut off, the robot will not feel tired and monotonous, and can always keep high precision and high efficiency.

B. Highly integrated modularization

The FDR system is a highly integrated modular robotic system consisting of a raspberry pi center and a number of modules that can be easily connected to the raspberry pi to perform their tasks. Now, the functions of the robot are too redundant. Sometimes one may want the robot to clean a room, but it takes a long time to find it in the function menu. The FDR solves the problem, and if people want to use the FDR in a dining room to help a user to order, the robot control module, the mobile phone APP module, the mechanical arm module, the visual module, the voice module, the administrator interface module and the GUI module are connected with a module core (a raspberry pie carrying the FDR system); if we want to use it in a hotel to help the customer navigate, connect the robot control module, navigation module, cell phone APP module, vision module, voice module, administrator interface module, GUI module, and module core (raspberry pie hosting FDR system).

By simple calculation we can easily implement some functions:

a xxx robot is a core module (a raspberry carrying an FDR system) + xxx module +.

This idea is similar to a building block, giving the user more space. The customer is not hesitant to choose which robot to buy, but only needs to buy the core and any modules they want to meet the customer's needs. Under the concept, people only need to purchase a core module (a raspberry pie carrying the FDR system) and required modules to form the robot capable of realizing different functions.

C. Robot collaboration platform

The FDR system consists of a service and a plurality of robots with the FDR system, and provides a way for improving the service quality for the interaction between the FDR robots. The platform can dynamically plan the work (a series of methods which can improve the working efficiency of robot groups such as an optimization algorithm, a path planning algorithm, machine learning and the like are applied), so that the efficiency of completing the work is maximized.

D. Data sharing platform

The platform can carry out big data analysis on the data of the FDR server for the manager, and the management of the manager on the restaurant is facilitated, such as forecasting of the types of dishes, the number of dishes and the taste of food needed to be prepared by the restaurant in different seasons and different dates.

Drawings

Fig. 1 is a schematic overall structure diagram of a distributed system embedded robot with a highly integrated modular design according to the present invention.

Fig. 2 is a front view of a distributed system embedded robot of a highly integrated modular design according to the present invention.

Fig. 3 is a side view of a distributed system embedded robot of a highly integrated modular design according to the present invention.

Fig. 4 is a top view of a distributed system embedded robot with a highly integrated modular design according to the present invention.

Fig. 5 is a diagram showing an individual structure of the FDR robot.

Fig. 6 is an APP page structure diagram.

FIG. 7 Mobile phone application use method.

Figure 8 robot arm work flow diagram.

FIG. 9 is a visual module map.

FIG. 10 is a block diagram of an administrator interface.

FIG. 11FDR GUI work flow diagram.

FIG. 12 is a Demo legend.

FIG. 13 is a schematic diagram illustrating the use of artificial intelligence and cloud computing to enable individual interaction between a user and an FDR system.

In the figure: arm 1, dish tray 2, keep away barrier system 3, PIXY camera 4, stereo set 5, bearing wheel 6, tracking system 7, USB camera 8, dinner plate place 9, LCD display screen 10.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1-13, a distributed system embedded robot with highly integrated modular design is composed of a mechanical arm 1, a dish tray 2, an obstacle avoidance system 3, a PIXY camera 4, a sound 5, a bearing wheel 6, a tracking system 7, a USB camera 8, a dish placing part 9 and an LCD display screen 10, wherein the bearing wheel 6 is located at the lowest end of the robot, the tracking system 7 is fixedly installed at the front end of the bearing wheel 6, the LCD display screen 10 for displaying information is installed at the middle position of the robot, the mechanical arm 1 is arranged at the upper end of the robot, the USB camera 8 is installed on the mechanical arm 1, the dish tray 2 is installed at the middle position between the mechanical arm 1 and the LCD display screen 10, the dish placing part 9 is arranged on the dish tray 2, the obstacle avoidance system 3 is installed at the lower end of the dish tray 2, and the PIXY camera 4 is additionally installed in the middle of the obstacle avoidance system 3, two sound boxes 5 are arranged below the PIXY camera 4.

The number of the bearing wheels 6 is four, and the bearing wheels are of cylindrical structures; the outer surfaces of the four bearing wheels 6 are provided with grooves; the dinner plate placing positions 9 are of concave square structures, and the number of the dinner plate placing positions is three; a rotating shaft penetrates through the center of the interior of the mechanical arm 1, a stirring sheet is fixedly mounted on the rotating shaft, and the stirring sheet is spiral; the obstacle avoidance systems 3 are respectively positioned on two sides of the PIXY camera 4.

It should be noted that, as shown in fig. 5 to 6, the robot control module, the mobile APP module, the robot arm module vision module, the voice module, the administrator interface module, the VIP service module, and the user interface module are connected to the FDR robot system, so that the FDR robot has more space to meet the task requirement, and the FDR robot method is applied in the following steps:

a. user logs in mobile phone APP to order food

b. User entering FDR robot range of motion

FDR robot detection of faces within a feasible range

d. When the FDR detects a person, the robot may speak something and request the user to present their cell phone

e. If the FDR robot can recognize this color from the cell phone, it may say "thank you! ", then give the user the desired food with the arm, otherwise it would say" where you are! ".

f. After the user finishes ordering, the mobile phone APP pushes data to the FDR server background.

Currently, there are six modules available for FDR robots; these are respectively a robot control module, a mobile APP module, an arm module, a vision module, a speech module, a management interface module and a user interface module.

Robot control module

The module is an FDR robot motion module and comprises Ardunio, sensors of different types, motors and a stable robot mechanical structure. There is a system running independently in the module and an interface from the module to the Raspberry pi for communication between the FDR core and the individual modules. The module can accurately control the speed and the direction, and the movement direction and the speed of the whole FDR robot cluster are arranged at the rear end of the FDR server through data sent by the sensor, so that the FDR is ensured not to interfere with people, and the integral working efficiency of the FDR robot cluster is improved.

Mobile phone application module

The cell phone application provides a menu of dishes that the user can select and place in the shopping cart. Meanwhile, the APP can generate a monochromatic picture containing ordering information and table number information and can be detected by the FDR robot. In addition, APP and FDR server back end are connected, can conveniently send data to administrator interface module.

As shown in fig. 7, when the mobile phone application is used, the mobile phone APP is opened, a meal ordering page is entered, some pages are provided for people to select food, such as breakfast, lunch, dinner and the like, favorite dishes are added into the shopping cart, the page is entered into the meal ordering page, the login page is entered after the meal ordering is finished, and the demand information is the mobile phone number, the table number and the food after meal ordering of the customer. When the correct number is entered, a "success! | A "go back to the last page, if wrongly written," please check and retry! | A ".

Monochromatic picture page, this page has contained user's content of ordering, table number, cell-phone number etc. for FDR robot discernment to in transferring the dishes to user's hand, the user goes to FDR robot department and gets to eat, and the user carries out the evaluation after having eaten, and feedback content can include: satisfaction of dishes, suggestions of dishes and the like, and the APP returns to the main page;

figure 8 is a robot arm workflow diagram providing a smart robot arm to perform delicate tasks such as grasping a given object and placing it in a given position. In addition, the mechanical arm can jump with music when idle. In this version, this module is used to deliver a particular dinner tray to the user.

FIG. 9 is a working diagram of a visual module, which is based on OpenCV and contains core codes of a USB camera and Raspberrypi, and provides a wide range of environments for meeting the requirements of different users. In this version, the main function of the module is to detect faces and feed back to the raspberry pie. In the future, some functions, such as machine vision, diagnosis systems and the like, are added;

fig. 10 is a diagram of an administrator interface, which includes a website for displaying the user ordering information and feedback content to the administrator, and the restaurant environment can be monitored by the camera of the FDR robot. The website also provides a data visualization tool that can display meal ordering data in a graphical format and predict which food and meal size should be cooked for the user population next time. In the future, we will add some big data analysis tools and trained neural networks to make accurate predictions.

Up to now, the whole network consists of three parts. One to send data, one to receive data and put it into the database, and the last one is the interconnection of all devices. Here our raspberry pi acts as the communication center for the internal network, connecting to the android app. This app is connected to the robot, while our database is also connected through the WiFi network of the same raspberry pie. In the flow chart we see that the mobile device communicates with the database by receiving orders and comments as feedback information. The MySQL database contains two different databases, data 1 and data 2. Data 1 handles orders from users and data 2 handles feedback from food users. On the other hand, a USB camera on the rotating machine controlled by Arduino is also connected to the raspberry pi, and the image he has acquired can be uploaded from the network interface to the FDR server. For the actual structure of the HTML-PHP site, the first page we see and the site are both index pages, where there is both an app download link and a control page link. If there is no problem with the login data, the operation to be performed by the administrator may be:

ordering frequency page (JSON format)

Ordering frequency page (graph format)

Master view page

Feedback data page

Monitoring center

Where the main view page has a reset option, which functions to export existing data or to empty the database, once we click on the reset option we will have a 15 second window to complete our tasks, then we are sent back to the main index page to kick out our session, once this happens we need to log in again.

Fig. 11 is a work flow diagram of the FDR GUI, in which the module is divided into another main interface and a plurality of sub-interfaces, the main interface includes all functions currently owned by the robot, it is necessary to ensure that the corresponding module is connected before selecting the function, and after selecting the function, the module can exit to the main interface to be reselected. The interface design occupies an important position in the product, the main interface is like a mobile phone, the sub-interfaces (functions) are like applications, and the user can select whether to install or not, so that the operation of the user and the worry (single function or redundancy) of the user when purchasing the product can be greatly simplified.

The VIP service is one of functions to be added to the FDR robot, and its main function is to provide a better user experience for a special population. The main implementation function of the VIP service is the visual module, which requires the module to have the function of accurate face recognition (in a recently published article in the project group, a computationally inexpensive method is shown, which may have an effect on face recognition). In this mode, the FDR robot, like a customer friend, may tell the customer's child a story, and may talk about his favorite topics. The VIP service can provide functions such as: the functions of table reservation, user companion, dish explanation and recommendation, chatting, song ordering and the like. The realization of the functions requires that the VIP user registers in advance, inputs related biological information such as human face characteristics, fingerprints and other characteristics, and provides personal information such as member numbers, mobile phone numbers and the like. When the FDR robot cooperation platform detects that a VIP user accesses, arranging seats for the VIP user in advance, providing sufficient dishes for selection, and recommending the daily taste of the VIP user to meet higher user requirements of the VIP user;

the robot control module, the mobile APP module, the mechanical arm module vision module, the voice module, the administrator interface module, the VIP service module and the user interface module are connected with the FDR robot system, so that the FDR robot has more space to meet task requirements. The steps of applying the FDR robot method are as follows:

a. user logs in mobile phone APP to order food

b. User entering FDR robot range of motion

FDR robot detection of faces within a feasible range

d. When the FDR detects a person, the robot may speak something and request the user to present their cell phone

e. If the FDR robot can recognize this color from the cell phone, it may say "thank you! ", then give the user the desired food with the arm, otherwise it would say" where you are! "

f. After the user finishes ordering, the mobile phone APP pushes data to the FDR server background.

Fig. 13 is a schematic view of realizing independent interaction between a user and an FDR system by using artificial intelligence and cloud computing, and the robot has a novel obstacle avoidance system based on real-time motor current feedback and a conveying device capable of simultaneously conveying a plurality of dishes. According to the algorithm, the strength of the force measured by the robot on each robot wheel and the robots larger than the threshold value decide whether to turn or continue to move, in the design, the idea of artificial intelligence and cloud computing means that the user and the FDR system are independently interacted, the FDR individuals perform clustering tasks under various situations, find special customers and are known by restaurants (common customers), the users are arranged with reserved seats under crowded environments to serve as guides to lead the clients to the specified seats, and by applying the cloud computing principle, the eating habits and the hobbies of the customers are memorized, and the machines are used for learning and finding and identifying food according to the data of music, pictures, speech, slang, jokes and the like which the customers like;

the VIP service is one of functions to be added to the FDR robot, and its main function is to provide a better user experience for a special population. The main implementation function of the VIP service is the visual module, which requires the module to have the function of accurate face recognition (in a recently published article in the project group, a computationally inexpensive method is shown, which may have an effect on face recognition). In this mode, the FDR robot, like a customer friend, may tell the customer's child a story, and may talk about his favorite topics. The VIP service can provide functions such as: the functions of table reservation, user companion, dish explanation and recommendation, chatting, song ordering and the like. The realization of the functions requires that the VIP user registers in advance, inputs related biological information such as human face characteristics, fingerprints and other characteristics, and provides personal information such as member numbers, mobile phone numbers and the like. When the FDR robot cooperation platform detects that a VIP user accesses, the seat is arranged for the VIP user in advance, sufficient dishes are provided for selection, and the daily taste of the VIP user is recommended, so that the higher user requirements of the VIP user are met.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. A distributed system embedded robot with a highly integrated modular design is composed of a mechanical arm (1), a dish tray (2), an obstacle avoidance system (3), a PIXY camera (4), a sound (5), a bearing wheel (6), a tracking system (7), a USB camera (8), a dish placing part (9) and an LCD display screen (10), and is characterized in that the bearing wheel (6) is positioned at the lowest end of the robot, the tracking system (7) is fixedly installed at the front end of the bearing wheel (6), the LCD display screen (10) for displaying information is installed at the middle position of the robot, the mechanical arm (1) is arranged at the upper end of the robot, the USB camera (8) is installed on the mechanical arm (1), the dish tray (2) is installed at the position between the mechanical arm (1) and the LCD display screen (10), the dish tray (9) is arranged on the dish tray (2), obstacle avoidance system (3) is installed to the lower extreme of dish tray (2), and keeps away the centre of obstacle avoidance system (3) and add and be equipped with a PIXY camera (4), two stereo sets (5) are installed to the below of PIXY camera (4).

2. The distributed system embedded robot with highly integrated modular design according to claim 1, wherein: the number of the bearing wheels (6) is four, and the bearing wheels are of cylindrical structures.

3. A highly integrated and modularly designed distributed system embedded robot as claimed in claim 1 or 2, characterized in that: the outer surfaces of the four bearing wheels (6) are provided with grooves.

4. The distributed system embedded robot with highly integrated modular design according to claim 1, wherein: the dinner plate placing positions (9) are of concave square structures, and the number of the dinner plate placing positions is three.

5. The distributed system embedded robot with highly integrated modular design according to claim 1, wherein: the inner center of the mechanical arm (1) is provided with a rotating shaft in a penetrating mode, a stirring sheet is fixedly mounted on the rotating shaft, and the stirring sheet is spiral.

6. The distributed system embedded robot with highly integrated modular design according to claim 1, wherein: and the obstacle avoidance systems (3) are respectively positioned at two sides of the PIXY camera (4).

7. The distributed system embedded robot with highly integrated modular design according to claim 1, wherein: the robot is internally embedded with a control module, a mobile APP module, an arm module, a vision module, a voice module, a management interface module and a user interface module, wherein the robot control module, the mobile APP module, the mechanical arm module, the vision module, the voice module, an administrator interface module, a VIP service module and a user interface module are connected with the FDR robot system, so that the FDR robot has more spaces to meet task requirements, the control module comprises Ardunio, sensors of different types, a motor and a stable robot mechanical structure, the vision module is based on OpenCV and comprises core codes of a USB camera and Raspberry pi, and the user interface module comprises a GUI (graphical user interface) which can display the functions in the FDR system and can display the residual quantity of all foods, so that a user can be helped to make better ordering selection.

8. The distributed system embedded robot with highly integrated modular design according to claim 1, which uses artificial intelligence and cloud computing to realize individual interaction between users and FDR system, characterized in that: the robot is provided with an obstacle avoidance system (3) based on real-time motor current feedback and a conveying device capable of simultaneously conveying a plurality of dishes, the conveying device comprises a dish tray (2) and a bearing wheel (6), and the artificial intelligence and cloud computing comprise the following steps:

step one, according to a cloud computing algorithm, the intensity of force measured by a robot on each robot wheel and the robot larger than a threshold value determine the motion track of the wheels, an FDR individual performs a clustering task under each situation, searches for a special customer, is known by a restaurant, and arranges a reserved seat for a user in a crowded environment to serve as a guide to lead the customer to the specified seat;

and step two, memorizing the eating habits and hobbies of the customer and searching and identifying the food by using machine learning according to the music, pictures, speech, slang and laughing data liked by the customer by using the cloud computing principle.

9. The administrator interface module of claim 7, wherein the administrator interface module comprises a website for displaying user ordering information and feedback content to an administrator, and a camera of the FDR robot monitors restaurant environment, and a network formed by the administrator interface module comprises three parts, and the three parts are used for sending data, receiving data, and interconnecting all devices put in a database, and the raspberry pi is used as a communication center of an internal network and connected to the android app, which is connected to the robot, and the database is connected through a WiFi network of the same raspberry pi.

10. Use of an embedded robot according to claim 1, characterized in that the FDR robot method comprises the following steps:

a. a user logs in a mobile phone APP to order;

b. the user enters the movement range of the FDR robot;

detecting the human face in the feasible range by the FDR robot;

d. when the FDR detects a person, the robot sends a voice message and requests a user to show the mobile phone of the user;

e. if the FDR robot recognizes this color from the cell phone, it speaks the relevant instruction;

f. after the user finishes ordering, the mobile phone APP pushes the data to the FDR server background.