CN105034003A - Magnetic navigation automatic meal delivery robot system and automatic meal delivery method - Google Patents
Magnetic navigation automatic meal delivery robot system and automatic meal delivery method Download PDFInfo
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- CN105034003A CN105034003A CN201510473034.7A CN201510473034A CN105034003A CN 105034003 A CN105034003 A CN 105034003A CN 201510473034 A CN201510473034 A CN 201510473034A CN 105034003 A CN105034003 A CN 105034003A
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Abstract
The invention discloses a magnetic navigation automatic meal delivery robot system and an automatic meal delivery method. An inductive transducer inside a robot is used for inducting a magnetic wire around, the position of the robot is obtained, and the robot runs along the track of the magnetic wire. When a reed switch inside the robot inducts a magnet in the stop position, the robot stops running, and accurate stop is realized. When the robot reaches the stop position, a sound prompt is given out, so that a customer can take the meal or give empty dishes back according to the prompt. By means of the scheme, automatic tracking and accurate stop can be realized, and the magnetic navigation automatic meal delivery robot system is convenient to use and high in efficiency.
Description
Technical field
The present invention relates to robot field, particularly relate to the automatic meal delivery robot system of magnetic navigation and automatic food delivery method.
Background technology
Along with the progress of society, the all the more prosperity of science and technology, the grass-roots work personnel in following a lot of field all will replace by robot, in prior art, more existing robots are put into use, the meal delivery robot of such as food and drink circle, but Intelligent meal delivery robot on the market affects larger by extraneous factor, tracking 0 black bar line, adopts infrared detection, affects larger by light; And when have people near time, cannot obstacle be realized, lack sound prompt function simultaneously, and cost is higher.
Therefore, prior art has yet to be improved and developed.
Summary of the invention
In view of above-mentioned the deficiencies in the prior art, the object of the present invention is to provide the automatic meal delivery robot system of a kind of magnetic navigation and automatic food delivery method, be intended to the problem solving the automatic food delivery of robot.
Technical scheme of the present invention is as follows:
The automatic meal delivery robot system of a kind of magnetic navigation, wherein, comprising:
Tracking module, for obtaining the position residing for robot;
Stop module, for determining the position that robot stops, the stop motion when robot arrives stop position;
Voice cue module, for sending voice message to client.
The automatic meal delivery robot system of described magnetic navigation, wherein, also comprises control module, for the startup of control and the speed of travel of control.
The automatic meal delivery robot system of described magnetic navigation, wherein, described tracking module comprises the magnetic wire of laying and is located at the inductance sensor of robot interior, by the inductance sensor induced field of robot interior, the position residing for calculating robot.
The automatic meal delivery robot system of described magnetic navigation, wherein, described stop module comprises tongue tube and magnet composition, detects whether have magnet, has magnet, namely stop robot motion by tongue tube.
The automatic meal delivery robot system of described magnetic navigation, wherein, described voice cue module comprises microphone and loudspeaker and memory cell, is preserved, then control loudspeaker playback by microphone input recording.
The automatic meal delivery robot system of described magnetic navigation, wherein, described control module comprises the steering wheel for control direction of travel, for motor and the encoder of the control speed of travel.
A method for the automatic food delivery of robot, wherein, comprises step:
A, the position of acquisition residing for robot;
B, control move to anchor point, when arriving stop position, and the automatic stop motion of robot;
C, send voice message to client.
The method of the automatic food delivery of described robot, wherein, described step C comprises:
C1, typing information of voice prompt in advance storing;
C2, control export the information of voice prompt prerecorded.
Beneficial effect: the present invention is by the inductance sensor induction magnetic wire around of robot interior, get the position of robot, and the track according to magnetic wire is walked, when the tongue tube of robot interior senses the magnet at stop position place, stop motion, realize accurately stopping, when robot arrives stop position, send voice message, client is according to the desirable meal of prompting or reclaim blank panel, described scheme of the present invention, automatic tracking can be realized, accurate stop, is easy to use, and efficiency is high.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the automatic meal delivery robot system of described magnetic navigation of the present invention.
Fig. 2 is robot motion's schematic diagram of the automatic meal delivery robot system of described magnetic navigation of the present invention.
Fig. 3 is the flow chart of steps of the automatic food delivery method of described robot of the present invention.
Fig. 4 is the flow chart of steps of the voice message of the automatic food delivery method of described robot of the present invention.
Detailed description of the invention
The invention provides the automatic meal delivery robot system of a kind of magnetic navigation and automatic food delivery method, for making object of the present invention, technical scheme and effect clearly, clearly, the present invention is described in more detail below.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Refer to Fig. 1, the automatic meal delivery robot system of a kind of magnetic navigation, wherein, comprising:
Tracking module 100, for obtaining the position residing for robot;
Stop module 200, for determining the position that robot stops, the stop motion when robot arrives stop position;
Voice cue module 300, for sending voice message to client.
The automatic meal delivery robot system of described magnetic navigation of the present invention, comprise tracking module, stop module, voice cue module, described tracking module is used for the position of positioning robot and limiting robot tracks, when robot moves to stop position, the automatic stop motion of robot, and voice cue module sends voice message to client, user is facilitated to carry out getting meal or reclaiming blank panel.Described robot system of the present invention, can realize automatic stop, and attach voice message, more intelligent, less by ectocine, efficiency is higher simultaneously.
Further, the automatic meal delivery robot system of described magnetic navigation, wherein, also comprises control module 400, for the startup of control and the speed of travel of control.The automatic meal delivery robot system of described magnetic navigation of the present invention, be used in the positions such as dining room, when the stream of people is large, need to arrive client place fast, therefore, described robot system of the present invention also comprises control module, the startup of control, and the speed of travel of control, the speed of travel of robot can be determined, when in dining room, people is more according to current flow of the people, need to get meal frequently, therefore need robot pick up speed, and time not busy, adaptability regulates the speed of travel of robot.
Further, the automatic meal delivery robot system of described magnetic navigation, wherein, described tracking module 100 comprises the magnetic wire of laying and is located at the inductance sensor of robot interior, by the inductance sensor induced field of robot interior, the position residing for calculating robot.The automatic meal delivery robot system of described magnetic navigation of the present invention, in dining room, movement locus as required, lays magnetic wire, is provided with inductance sensor in robot interior, robot can according to the concrete path trace tracking of magnetic wire, accurately to walk, in prior art, employing be infrared ray tracking, error by ectocine is larger, and when there being people, cannot obstacle, described robot system of the present invention, have people near time, signal interruption, cannot tracking, automatically stops, avoid directly hitting people, safe ready more.
Further, the automatic meal delivery robot system of described magnetic navigation, wherein, described stop module 200 comprises tongue tube and magnet composition, detects whether have magnet, has magnet, namely stop robot motion by tongue tube.The automatic meal delivery robot system of described magnetic navigation of the present invention, when arriving stop position, the automatic stop motion of meeting, the present invention adopts and places magnet at stop position, such as in dining room, magnet is provided with before the dining table of client, robot interior is provided with tongue tube, when arriving before dining table, tongue tube senses the magnet before dining table, control stop motion, realize accurately stopping, described system of the present invention, adopts the advantage of tongue tube to be that its volume is little, lightweight, and this makes them be easy to install and unobtrusively.Because console switch volume is very little, thus without the need to cam or the crank of complexity, so there will not be metal fatigue phenomenon, ensure that almost unlimited service life.And can be arranged in limited space, be well suited for for micromodule equipment.Magnetic reed switch and suitable magnet low price and easily obtain.Tongue tube is a kind of contactless enclosed switch most importantly.The switching component of magnetic reed switch is sealed in inert gas, does not contact with external environment, so just greatly reduces contact oxidation and carbonization that contact causes due to contact spark in open and close process.And prevent the erosion of the impurity docking points such as extraneous steam and dust.Long working life.Reed is thin and short, has higher intrinsic frequency, improves the break-make speed of contact, faster than general electromagnetic relay 5 ~ 10 times of its switching speed.Therefore the present invention adopts tongue tube, and accuracy is high, and long service life, as shown in Figure 2, robot can run according to certain track described robot running orbit figure of the present invention, automatically stops after stop position place detects magnet.
Further, the automatic meal delivery robot system of described magnetic navigation, wherein, described voice cue module 300 comprises microphone and loudspeaker and memory cell, is preserved, then control loudspeaker playback by microphone input recording.The automatic meal delivery robot system of described magnetic navigation of the present invention, when robot arrives stop position, need client to get meal or reclaim blank panel, therefore, described robot system of the present invention also comprises voice cue module, described voice cue module comprises the microphone for inputting information of voice prompt, for exporting the loudspeaker of information of voice prompt, simultaneously, also comprise a memory cell, when user needs to play the information of voice prompt pre-entered, need to pre-enter information of voice prompt, store, when playing, can according to the demand of current customer, play different information of voice prompt, such as, prompting client gets meal, blank panel reclaims by prompting client.
Further, the automatic meal delivery robot system of described magnetic navigation, wherein, described control module 400 comprises the steering wheel for control direction of travel, for motor and the encoder of the control speed of travel.The automatic meal delivery robot system of described magnetic navigation of the present invention, described control module is used for startup and the speed of travel of control, simultaneously, also can according to the operation of user, switch direction of travel, therefore described control module of the present invention also comprises steering wheel, for the direction of travel of control, the speed of travel of motor and encoder control, the automatic meal delivery robot system of described magnetic navigation of the present invention can automatic tracking, automatic stop, automatic speech is play, also user can control its motion simultaneously, user-friendly, make food delivery more accurate, improve machine task efficiency.
Further, the present invention also provides the method for the automatic food delivery of a kind of robot, wherein, comprises step:
S1, the position of acquisition residing for robot;
S2, control move to anchor point, when arriving stop position, and the automatic stop motion of robot;
S3, send voice message to client.
The concrete implementing procedure of described automatic food delivery method of the present invention is described in detail in systems in which, therefore does not repeat at this.
Further, the method for the automatic food delivery of described robot, wherein, described step S3 comprises:
S301, typing information of voice prompt in advance storing;
S302, control export the information of voice prompt prerecorded.
In sum, the present invention is by the inductance sensor induction magnetic wire around of robot interior, get the position of robot, and the track according to magnetic wire is walked, when the tongue tube of robot interior senses the magnet at stop position place, stop motion, realize accurately stopping, when robot arrives stop position, send voice message, client is according to the desirable meal of prompting or reclaim blank panel, described scheme of the present invention, can realize automatic tracking, accurately stop, be easy to use, efficiency is high.。
Should be understood that, application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.
Claims (8)
1. the automatic meal delivery robot system of magnetic navigation, is characterized in that, comprising:
Tracking module, for obtaining the position residing for robot;
Stop module, for determining the position that robot stops, the stop motion when robot arrives stop position;
Voice cue module, for sending voice message to client.
2. the automatic meal delivery robot system of the magnetic navigation according to claim, is characterized in that, also comprise control module, for the startup of control and the speed of travel of control.
3. the automatic meal delivery robot system of magnetic navigation according to claim 1, it is characterized in that, described tracking module comprises the magnetic wire of laying and is located at the inductance sensor of robot interior, by the inductance sensor induced field of robot interior, and the position residing for calculating robot.
4. the automatic meal delivery robot system of magnetic navigation according to claim 1, is characterized in that, described stop module comprises tongue tube and magnet composition, detects whether have magnet, has magnet, namely stop robot motion by tongue tube.
5. the automatic meal delivery robot system of magnetic navigation according to claim 1, is characterized in that, described voice cue module comprises microphone and loudspeaker and memory cell, is preserved, then control loudspeaker playback by microphone input recording.
6. the automatic meal delivery robot system of magnetic navigation according to claim 2, it is characterized in that, described control module comprises the steering wheel for control direction of travel, for motor and the encoder of the control speed of travel.
7. a method for the automatic food delivery of robot, is characterized in that, comprise step:
A, the position of acquisition residing for robot;
B, control move to anchor point, when arriving stop position, and the automatic stop motion of robot;
C, send voice message to client.
8. the method for the automatic food delivery of robot according to claim 7, is characterized in that, described step C comprises:
C1, typing information of voice prompt in advance storing;
C2, control export the information of voice prompt prerecorded.
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| CN201510473034.7A CN105034003A (en) | 2015-08-05 | 2015-08-05 | Magnetic navigation automatic meal delivery robot system and automatic meal delivery method |
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| CN201510473034.7A CN105034003A (en) | 2015-08-05 | 2015-08-05 | Magnetic navigation automatic meal delivery robot system and automatic meal delivery method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994691A (en) * | 2017-05-17 | 2017-08-01 | 长春大学 | One kind helps meal method of servicing, one kind to help meal service system and a kind of dining assistant robot |
| 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 |
| CN107175663A (en) * | 2017-06-07 | 2017-09-19 | 杭州派尼澳电子科技有限公司 | A kind of intelligent robot food delivery method of electromagnetic tracking |
| CN107967500A (en) * | 2017-10-18 | 2018-04-27 | 旗瀚科技有限公司 | A kind of scheduling system of more magnetic navigation meal delivery robots |
| CN108539858A (en) * | 2018-05-02 | 2018-09-14 | 国家电网公司 | It is a kind of for automation of transformation substations intelligent patrol detection device |
| CN110232456A (en) * | 2018-03-06 | 2019-09-13 | 阿里巴巴集团控股有限公司 | Food and drink office system and food and drink order information processing method, device |
| CN112562402A (en) * | 2020-11-12 | 2021-03-26 | 深圳优地科技有限公司 | Position determination method, device, terminal and storage medium |
| CN114227683A (en) * | 2021-12-23 | 2022-03-25 | 江苏木盟智能科技有限公司 | Robot control method, system, terminal device and storage medium |
-
2015
- 2015-08-05 CN CN201510473034.7A patent/CN105034003A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994691A (en) * | 2017-05-17 | 2017-08-01 | 长春大学 | One kind helps meal method of servicing, one kind to help meal service system and a kind of dining assistant robot |
| 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 |
| CN107175663A (en) * | 2017-06-07 | 2017-09-19 | 杭州派尼澳电子科技有限公司 | A kind of intelligent robot food delivery method of electromagnetic tracking |
| CN107175663B (en) * | 2017-06-07 | 2019-08-30 | 杭州派尼澳电子科技有限公司 | A kind of intelligent robot food delivery method of electromagnetic tracking |
| CN107967500A (en) * | 2017-10-18 | 2018-04-27 | 旗瀚科技有限公司 | A kind of scheduling system of more magnetic navigation meal delivery robots |
| CN110232456A (en) * | 2018-03-06 | 2019-09-13 | 阿里巴巴集团控股有限公司 | Food and drink office system and food and drink order information processing method, device |
| CN108539858A (en) * | 2018-05-02 | 2018-09-14 | 国家电网公司 | It is a kind of for automation of transformation substations intelligent patrol detection device |
| CN112562402A (en) * | 2020-11-12 | 2021-03-26 | 深圳优地科技有限公司 | Position determination method, device, terminal and storage medium |
| CN114227683A (en) * | 2021-12-23 | 2022-03-25 | 江苏木盟智能科技有限公司 | Robot control method, system, terminal device and storage medium |
| CN114227683B (en) * | 2021-12-23 | 2024-02-09 | 江苏木盟智能科技有限公司 | Robot control method, system, terminal device and storage medium |
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Application publication date: 20151111 |