CN102749918A - All-region intelligent full-automatic service system - Google Patents
All-region intelligent full-automatic service system Download PDFInfo
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- CN102749918A CN102749918A CN2012101192531A CN201210119253A CN102749918A CN 102749918 A CN102749918 A CN 102749918A CN 2012101192531 A CN2012101192531 A CN 2012101192531A CN 201210119253 A CN201210119253 A CN 201210119253A CN 102749918 A CN102749918 A CN 102749918A
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Abstract
The invention discloses an all-region intelligent full-automatic service system. The system comprises a central data bank switching control device, a guest greeting guide robot, a service robot, a conveying and cleaning robot, a direction path control module, an order settlement service module and a conveying and cleaning service module, and the guest greeting guide robot is provided with a face recognition module and a speech recognition module. The system has the advantages that the system is convenient to guide guests to have meals and record guest information; obstacles can be bypassed, work efficiency of walking is improved, the energy is saved, the service for a single area is achieved; information transmission is convenient and rapid; an uplink robot conveying device is arranged in the system, all conveying objects can be conveyed to a designated area through an uplink conveying track, the conveying and cleaning speed is improved in a relative segmentation area; and labor intensity of service staffs is reduced, the labor cost is saved, the service time is prolonged, and the service efficiency is improved.
Description
Technical field
The present invention relates to the full-automatic service system of a kind of whole district intelligence
Background technology
Rising and progress of science and technology along with human cost; Adopt robot to become a reality as the attendant of food and restaurant service industry; For example apply for that the people is that Shanghai Communications University, application number are 200910195432.1, denomination of invention is the patent of invention of multi-robot automatic locating system for robot restaurant; This patent discloses a kind of catering service system that adopts robot as service provider; This system mainly comprises robot dining room central server module, a plurality of service robot positioning system module and wireless communication module; Robot dining room central server module is responsible for that all service robots in the robot dining room are carried out the overall situation and is located, and all the service robot positioning system modules in the robot dining room can both be carried out the communication about locating information through wireless communication module and robot dining room central server module or other service robot positioning system modules.Overall situation locating information comprises service robot sequence number, radio frequency locating information, towards attitude information, current time and duty; Individual locating information comprises service robot sequence number, binocular vision information, infrared locating information, pitch information, radio frequency locating information and towards attitude information and duty.The panoramic vision locating module comprises panorama camera and grid coordinate system; Panorama camera is arranged on roof, robot dining room central authorities and is connected with central server locating information fusion treatment module, and grid coordinate system is fixedly set in the floor in robot dining room and is oppositely arranged with panorama camera.
For example apply for again that the people is that Nanjing Information engineering Univ, application number are 201020617776.5, denomination of invention is the guest-meeting robot system patent of invention; This patent of invention comprises robot carrier and remote interaction platform; Both pass through wireless communication; Robot carrier comprises main control module, human-computer interaction module, wireless communication module, motion module, power module and sensor assembly; Main control module is connected with human-computer interaction module, wireless communication module, motion module, sensor assembly and power module respectively, and the remote interaction platform is used to show guest's demand information, and the user can also consult menu information and self-ordering through LCD and the touch-screen settled in the robot; Dishes ordering information sends to kitchen and cashier through the remote interaction platform, realizes the wireless dish-order function.
Above correlation technique can realize some function to a certain extent; But can find out that prior art does not realize the system automation of whole service simultaneously, and some technology can not well be accomplished its correlation function in practical application; Such as visual information module; Existing visual identity technology is difficult to reach an ideal effect at present, and it is very big to receive the error that actual environment influence produces, and the used location technology bearing accuracy in other positioning systems all about 0.5 meter in addition more than; The integration and the priority of its each coordinate system data do not have absoluteness, in actual motion, very mistake can occur; For another example application number be the function described in 201020617776.5 the patent be the fixed position accomplish can not good real Location based service function requirement, do not have comprehensively a kind of on the whole on the market and system's technical solution accurately.The hall service can also move relatively but relate to relevant cut zone and can't realize its function of service separately.
From above two examples, be not difficult to find out that prior art does not realize the robotization of whole service system, and limited by barrier, can not realize the service in the independent private room.
Summary of the invention
The problem that the present invention will solve is: provide a kind of and do not receive the barrier restriction and can realize the full-automatic service system of whole district's intelligence to independent private room service.
In order to solve the problems of the technologies described above; The full-automatic service system of a kind of whole district intelligence of the present invention; Comprise central database exchange control device, welcome's guided robot, service robot and transport cleaning robot, direction path control module, the clearing service module and transport the cleaning service module of ordering; Said welcome's guided robot is provided with face recognition module and sound identification module; Be connected communication through wireless network between said order settlement module and the service robot; The said cleaning service module that transports is connected communication through wireless network with transporting to clear up between the robot; Said direction path control module and welcome's guided robot, service robot and transport between the cleaning robot and all be connected communication through wireless network; Said direction path control module, the clearing service module and transport between cleaning service module and the central database exchange control device and all be connected communication through wireless network of ordering, said central database exchange control device is cleared up between the robot with welcome's guided robot, service robot and motion and all is connected communication through wireless network.
Further, said wireless network is set up two-way interconnected transmitting data information based on WLAN and Bluetooth 2.1+EDR.
Further, said direction path control module comprises electromagnetic path, and said electromagnetic path is pasted on the floor in dining room.
Further, order clearing service module be connected with the internet.
Further, also comprise dining table, said each dining table is provided with calling module, is connected communication through wireless network between said calling module and the service robot.
Further, be evenly equipped with several pressure transducers on the said dining table, the said cleaning robot that transports is provided with conveyer; Said conveyer comprises the motor frame, is fixed on the motor on the motor frame, the wire reel that links to each other with electric machine main shaft and four joist steel that are parallel to each other; The bottom of said joist steel is provided with fixation steel plate, and the inboard of said four joist steel is provided with slide rail, and said slide rail is provided with main guide rail, lifting device and the transfer bogie that tracks; The said transfer bogie that tracks is fixed on the top of lifting device; Be fixed with a pulley on the said main guide rail, be wound with steel wire on the said wire reel, an end of said steel wire links to each other with lifting device after walking around pulley.
The beneficial effect that the present invention obtains is: (1) welcome's guided robot is provided with face recognition module and sound identification module, thereby is convenient to guide the guest to have dinner and with guest's information record; (2) direction path control module can optimize welcome's guided robot, service robot and transport the cleaning robot track route, thereby can cut-through thing and improve the work efficiency of walking, energy savings; (3) wireless network is set up based on WLAN and Bluetooth 2.1+EDR, two-way interconnected transmitting data information, thereby transmission information is more convenient.
Description of drawings
Fig. 1 is structural framing figure of the present invention.
Fig. 2 is the front view of up robot conveyer.
Fig. 3 is the left view of up robot conveyer.
Among the figure: 1, direction path control module, 2, the clearing service module of ordering, 3, transport the cleaning service module, 4, the recognition of face logging modle, 5, sound identification module; 6, welcome's guided robot, 7, service robot, 8, transport the cleaning robot, 9, central database is exchange control device, 10, joist steel; 11, main guide rail, 12, pulley, 13, the transfer bogie that tracks, 14, lifting device, 15, slide rail; 16, motor frame, 17, motor, 18, steel wire, 19, wire reel.
Embodiment
Like Fig. 1-shown in Figure 3; The full-automatic service system of a kind of whole district intelligence of the present invention; Comprise central database exchange control device 9, welcome's guided robot 6, service robot 7 and transport the cleaning robot 8, direction path control module 1, order clearing service module 2 and transport the cleaning service module 3; Said welcome's guided robot 6 is provided with face recognition module 4 and sound identification module 5; Be connected communication through wireless network between said order settlement module 2 and the service robot 7; The said cleaning service module 3 that transports is connected communication through wireless network with transporting to clear up between the robot 8; Said direction path control module 1 and welcome's guided robot 6, service robot 7 and transport between the cleaning robot 8 and all be connected communication through wireless network; Said direction path control module 1, the clearing service module 2 and transport between cleaning service module 3 and the central database exchange control device 9 and all be connected communication through wireless network of ordering, said central database exchange control device 9 are with welcome's guided robot 6, service robot 7 and move to clear up between the robot 8 and all be connected communication through wireless network; Said wireless network is set up two-way interconnected transmitting data information based on WLAN and Bluetooth 2.1+EDR; Said direction path control module 1 comprises electromagnetic path, and said electromagnetic path is pasted on the floor in dining room; The clearing service module 2 of ordering is connected with the internet; Also comprise dining table, said each dining table is provided with calling module, is connected communication through wireless network between said calling module and the service robot 7; : be evenly equipped with several pressure transducers on the said dining table; Also comprise up robot conveyer; Said up robot conveyer comprises motor frame 16, is fixed on the motor 17 on the motor frame 16, the wire reel 19 that links to each other with motor 17 main shafts and four joist steel that are parallel to each other 10; The bottom of said joist steel 10 is provided with fixation steel plate 16, and the inboard of said four joist steel 10 is provided with slide rail 15, and said slide rail 15 is provided with main guide rail 11, lifting device 14 and the transfer bogie 13 that tracks; The said transfer bogie 13 that tracks is fixed on the top of lifting device 14; Be fixed with a pulley 12 on the said main guide rail 11, be wound with steel wire 18 on the said wire reel 19, an end of said steel wire 18 is walked around pulley 12 backs and is linked to each other with lifting device 14.
In the time of concrete the use; Welcome's guided robot 6 is accomplished the guest and is met to the work that arrives the predetermined area; Guest-meeting robot 6 passes through sound identification module 5 and recognition of face logging modle 4, quick identification, record and retrieval guest's demand, and realize that it guides to the predetermined area.Carry out related service by service robot 7 again, comprise order, introduce, recommend, work such as clearing, by transporting cleaning robot 8 required article are transported to assigned address, the having dinner back cleaning dining table that finishes.
Central database exchange control device 9 is storing all data informations in all robots and the shop; All there are corresponding robot sequence number, recognition device, initial position in each robot; The initial bit of robot is equipped with charging device; The automatic after hours at every turn assigned address of robot charges, and uploads all record data in the section at the appointed time.And share central database exchange control device 1 all relevant informations between each robot; Information in the central database exchange control device 1 presets relevant information at the use initial stage and accomplishes certain preliminary regulation work; Along with increasing of record amount, can discern guest's relevant information for the second time, comprise guest's essential information; Characteristic, consumptive characteristics or the like, and it is carried out personalized service through guest-meeting robot 6, service robot 7.
The control mode of direction path control module 1 mainly contains following several kinds, and the first, in indoor and relative fixed coverage, pass through electromagnetic path; Utilize electromagnetic path to set up its course; Electromagnetic path is pasted on the what floor, and the message that the correlation machine people then follows electromagnetic path and brought moves and action, and electromagnetic path can be according to service location situation design single cycle road or multiloop crossedpath; The single cycle path is circular flow; Run into the people that wants to shut down and move wait voluntarily in front, multiloop crossedpath, robot are judged path, the place ahead and the whole robot traffic nearest in-position of selection automatically voluntarily; And it is preferential to carry out certain path, and the path is judged back and forth.Be higher than cleaning power such as the right of priority of serving, follow the preferential selection first path principle.In all built-in radar scanner and the human body sensor autoscan travel clear is arranged in each machine human body; And barrier judged whether to be the mankind or other; As judge artificial human characteristic; To send the information of to give way that lets, report to the police automatically, clear up by the information desk manual work if any barrier.All built-in path deviation correcting device in each machine human body through deviation correcting device, prevents that the unexpected robot path that causes because of collision from departing from; Automatically seek the electromagnetic path path; And will continue to accomplish its work, the electromagnetic path positioning system can realize accurate location, bearing accuracy can reach the millimeter level.The second, the control of indoor on-fixed locality path, robot interior is equipped with the impulse radio electronic tag, ultrasonic transmitter, electronic compass, RFID recognizer.Install through 4 and more impulse radio (Impulse Radio) transmitter and a plurality of ultrasonic receivers are installed in the zone in the related service zone.After robot receives the service position instruction; Robot is according to the position that is built in the electronic chart and the coverage internal fixation article of robot interior; Calculate and estimate to arrive route; Constantly revise traffic direction by electronic compass, received pulse radio subtab received pulse signal is installed on one's body, thereby realize that through receiving calculating relative distance accurately the location orientation distance is the 30cm level through robot; Start ultrasonic transmitter to the nearest accurate location of ultrasonic transmitter emission ultrasonic signal continuation after reaching relative position; This moment, orientation distance reached the 1cm level, and in continuous correction position, whether the identification of RFID recognizer is to need service position to do last affirmation.The 3rd; The path control of outdoor large tracts of land coverage; Built-in Big Dipper position service system or GPS positioning service system in the outdoor large tracts of land coverage; After realizing 10 meter levels location, move the location level that the Wi-Fi positioning service realizes 3-5 rice immediately, thereby the starting impulse radio positioning system realizes the accurate location of large tracts of land coverage then.
The clearing service module 2 of ordering links to each other with the internet, and the reservation of can have dinner in advance position, time, vegetable directly informs welcome's guided robot 6 and extremely predetermined seats in a restaurant behind the shop.The service call module that has on each dining table; In the time of all kinds of demand, carry out call service robot 7; Service receiver is installed or placed to each service robot 7 at relevant position; Mainly accomplish through the man-machine interaction relative program in the server, guests can confirm according to demand centering vegetable, service content information automatically, can not understand information in the service robot 7 and transfer to information desk through recording device; Serve affirmation by information desk, transport cleaning robot 8 after the affirmation and transport.
Transport cleaning service module 3; When receiving dishes ordering information, and after the permission that obtains to serve, transport cleaning robot 8 article of eating are transported to the appointment dining table; Each pressure transducer all above the dining table; Carry out exchanges data with this dining table when transporting cleaning robot 8 after running to this dining table, judge that which no position can put tableware, and put the priority ranking rule through tableware and put.Transport cleaning robot 8 built-in tablewares and promote grabber, the article of will eating automatically after the judgement submit to dining table from transfer cart, accomplish food delivery.Guests' individual demand in the process of having dinner by such as napkin paper, sample tableware etc., transports cleaning robot 8 and delivers to voluntarily before and after the dining table, gives guests voice suggestion, and guests take voluntarily.Transport cleaning robot 8 and place article positions and be furnished with pressure transducer, after guests take away, transport cleaning robot 8 acquiescences and finish the work and return.Have dinner accomplish after, transport cleaning robot 8 and receive behind the checkout signals automatically and to come dining table from initial position and carry out tableware and collect.
In order in relative cut zone, to transport cleaning speed for raising; Native system also is provided with up robot conveyer; All transport article and are transported to the appointed area through up robot conveyer, take out and deliver to assigned address by transporting the cleaning robot then.
Claims (7)
1. the full-automatic service system of whole district intelligence; It is characterized in that: comprise central database exchange control device (9), welcome's guided robot (6), service robot (7) and transport cleaning robot (8), direction path control module (1), the clearing service module (2) of ordering clears up service module (3) with transporting; Said welcome's guided robot (6) is provided with face recognition module (4) and sound identification module (5); Be connected communication through wireless network between the said settlement module of ordering (2) and the service robot (7); The said cleaning service module (3) that transports is connected communication through wireless network with transporting to clear up between the robot (8); Said direction path control module (1) and welcome's guided robot (6), service robot (7) and transport between the cleaning robot (8) and all be connected communication through wireless network; Said direction path control module (1), the clearing service module (2) of ordering all are connected communication through wireless network with transporting between cleaning service module (3) and the central database exchange control device (9), said central database exchange control device (9) and welcome's guided robot (6), service robot (7) and move to clear up between the robot (8) and all be connected communication through wireless network.
2. the full-automatic service system of the whole district according to claim 1 intelligence, it is characterized in that: said wireless network is set up two-way interconnected transmitting data information based on WLAN and Bluetooth 2.1+EDR.
3. the full-automatic service system of the whole district according to claim 1 intelligence, it is characterized in that: said direction path control module (1) comprises electromagnetic path, and said electromagnetic path is pasted on the floor in dining room.
4. the full-automatic service system of the whole district according to claim 1 intelligence, it is characterized in that: the clearing service modules (2) of ordering are connected with the internet.
5. the full-automatic service system of the whole district according to claim 1 intelligence, it is characterized in that: also comprise dining table, said each dining table is provided with calling module, is connected communication through wireless network between said calling module and the service robot (7).
6. the full-automatic service system of the whole district according to claim 5 intelligence is characterized in that: be evenly equipped with several pressure transducers on the said dining table.
7. the full-automatic service system of the whole district according to claim 1 intelligence; It is characterized in that: also comprise up robot conveyer; Said up robot conveyer comprises motor frame (16), is fixed on the motor (17) on the motor frame (16), wire reel (19) and four joist steel that are parallel to each other (10) that link to each other with motor (17) main shaft; The bottom of said joist steel (10) is provided with fixation steel plate (16); The inboard of said four joist steel (10) is provided with slide rail (15); Said slide rail (15) is provided with main guide rail (11), lifting device (14) and the transfer bogie that tracks (13), and the said transfer bogie that tracks (13) is fixed on the top of lifting device (14), is fixed with a pulley (12) on the said main guide rail (11); Be wound with steel wire (18) on the said wire reel (19), an end of said steel wire (18) is walked around pulley (12) back and is linked to each other with lifting device (14).
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103839341A (en) * | 2014-03-19 | 2014-06-04 | 大连理工大学 | Intelligent mobile payment system |
| CN103955672A (en) * | 2014-04-29 | 2014-07-30 | 王美金 | Face recognition and sound guide method and system of bank business hall |
| CN104021506A (en) * | 2014-06-24 | 2014-09-03 | 河海大学常州校区 | Intelligent restaurant ordering management system and intelligent restaurant ordering management method based on human face recognition technology |
| CN105046597A (en) * | 2015-07-03 | 2015-11-11 | 上海宏梭信息科技有限公司 | Internet-based intelligent restaurant system |
| CN105807773A (en) * | 2016-05-13 | 2016-07-27 | 南京工程学院 | Restaurant service robot system based on iGPS and internal communication |
| CN106157186A (en) * | 2015-04-14 | 2016-11-23 | 合硕科技股份有限公司 | Intelligence pick-up lane system |
| CN106647766A (en) * | 2017-01-13 | 2017-05-10 | 广东工业大学 | Robot cruise method and system based on complex environment UWB-vision interaction |
| CN107132845A (en) * | 2017-06-07 | 2017-09-05 | 慈溪锐恩电子科技有限公司 | A kind of electromagnetism intelligent carriage food delivery system |
| CN107203213A (en) * | 2017-07-12 | 2017-09-26 | 深圳市普渡科技有限公司 | A kind of multirobot food delivery system based on timesharing remote operating |
| CN109062224A (en) * | 2018-09-06 | 2018-12-21 | 深圳市三宝创新智能有限公司 | Robot food delivery control method, device, meal delivery robot and automatic food delivery system |
| CN111192419A (en) * | 2019-12-20 | 2020-05-22 | 南京景玉信息科技有限公司 | Intelligent dining table service method and system based on big data and information technology |
| CN111426325A (en) * | 2020-06-12 | 2020-07-17 | 北京云迹科技有限公司 | Positioning method and device, robot, storage medium and positioning system |
| CN112918381A (en) * | 2019-12-06 | 2021-06-08 | 广州汽车集团股份有限公司 | Method, device and system for welcoming and delivering guests by vehicle-mounted robot |
| CN114003036A (en) * | 2021-10-28 | 2022-02-01 | 广州赛特智能科技有限公司 | Robot obstacle avoidance control method, device, equipment and medium |
| CN114102668A (en) * | 2021-11-03 | 2022-03-01 | 佛山科学技术学院 | Feedback buffer chassis applied to track robot and control method thereof |
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2012
- 2012-04-23 CN CN2012101192531A patent/CN102749918A/en active Pending
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103839341A (en) * | 2014-03-19 | 2014-06-04 | 大连理工大学 | Intelligent mobile payment system |
| CN103839341B (en) * | 2014-03-19 | 2016-03-09 | 大连理工大学 | Intelligence flowing cash collecting system |
| CN103955672A (en) * | 2014-04-29 | 2014-07-30 | 王美金 | Face recognition and sound guide method and system of bank business hall |
| CN104021506A (en) * | 2014-06-24 | 2014-09-03 | 河海大学常州校区 | Intelligent restaurant ordering management system and intelligent restaurant ordering management method based on human face recognition technology |
| CN106157186A (en) * | 2015-04-14 | 2016-11-23 | 合硕科技股份有限公司 | Intelligence pick-up lane system |
| CN105046597A (en) * | 2015-07-03 | 2015-11-11 | 上海宏梭信息科技有限公司 | Internet-based intelligent restaurant system |
| CN105807773A (en) * | 2016-05-13 | 2016-07-27 | 南京工程学院 | Restaurant service robot system based on iGPS and internal communication |
| CN106647766A (en) * | 2017-01-13 | 2017-05-10 | 广东工业大学 | Robot cruise method and system based on complex environment UWB-vision interaction |
| CN107132845A (en) * | 2017-06-07 | 2017-09-05 | 慈溪锐恩电子科技有限公司 | A kind of electromagnetism intelligent carriage food delivery system |
| CN107203213A (en) * | 2017-07-12 | 2017-09-26 | 深圳市普渡科技有限公司 | A kind of multirobot food delivery system based on timesharing remote operating |
| CN109062224A (en) * | 2018-09-06 | 2018-12-21 | 深圳市三宝创新智能有限公司 | Robot food delivery control method, device, meal delivery robot and automatic food delivery system |
| CN112918381A (en) * | 2019-12-06 | 2021-06-08 | 广州汽车集团股份有限公司 | Method, device and system for welcoming and delivering guests by vehicle-mounted robot |
| CN112918381B (en) * | 2019-12-06 | 2023-10-27 | 广州汽车集团股份有限公司 | Vehicle-mounted robot welcome method, device and system |
| CN111192419A (en) * | 2019-12-20 | 2020-05-22 | 南京景玉信息科技有限公司 | Intelligent dining table service method and system based on big data and information technology |
| CN111192419B (en) * | 2019-12-20 | 2021-12-24 | 广东铄金科技有限公司 | Intelligent dining table service method and system based on big data and information technology |
| CN111426325A (en) * | 2020-06-12 | 2020-07-17 | 北京云迹科技有限公司 | Positioning method and device, robot, storage medium and positioning system |
| CN111426325B (en) * | 2020-06-12 | 2020-11-27 | 北京云迹科技有限公司 | Positioning method and device, robot, storage medium and positioning system |
| CN114003036A (en) * | 2021-10-28 | 2022-02-01 | 广州赛特智能科技有限公司 | Robot obstacle avoidance control method, device, equipment and medium |
| CN114102668A (en) * | 2021-11-03 | 2022-03-01 | 佛山科学技术学院 | Feedback buffer chassis applied to track robot and control method thereof |
| CN114102668B (en) * | 2021-11-03 | 2024-04-16 | 佛山科学技术学院 | Control method of feedback buffer chassis applied to track robot |
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Application publication date: 20121024 |