CN105159303A - Air food-passing robot and food-passing method thereof - Google Patents
Air food-passing robot and food-passing method thereof Download PDFInfo
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- CN105159303A CN105159303A CN201510652466.4A CN201510652466A CN105159303A CN 105159303 A CN105159303 A CN 105159303A CN 201510652466 A CN201510652466 A CN 201510652466A CN 105159303 A CN105159303 A CN 105159303A
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Abstract
An Air food-passing robot comprises two transmission wheels arranged in a transmission track. One end of each transmission wheel is connected with a servo motor, and the other end is connected with a connecting rod through a servo motor rotation shaft. The connecting rods are in circuit connection with a microcontroller. A stepping motor rotation shaft is connected with a food-passing container through a lifting line. The food-passing method comprises the steps of: 1) a service plate containing food is put into the food-passing container, a table number is input, a digital tube displays the table number, and a liquid crystal displays the food name; 2) the microcontroller controls a stepping motor to work, and the stepping motor lifts the food-passing container; 3) the microcontroller controls the servo motors to work so as to drive the two wheels to move towards a target dining table; 4) after a magnetic field, a reed relay is closed, and when the value of a counter is equal to the table number, the two wheels arrives the part above the target dining table; 5) the stepping motor rotation shaft drives the food-passing container to decrease, and a food taking port is closed of the food is taken out; and 6) the food-passing container rises to the original height again, and servo motors return to the original positions. The food-passing robot is safe, highly-efficient, convenient to operate and intelligent.
Description
Technical field
The present invention relates to service robot technical field, particularly the aerial Chuan Cai robot of one and biography dish method thereof.
Background technology
At present, the application of robot of China is very extensive and of a great variety, comprise: industrial robot, amusement robot, military robot, service robot etc., service type robot is a kind of robot of half autonomous or full utonomous working, it can replace the mankind to complete services to a certain extent, therefore presses close to very much the life of people.Hommization, intelligentized dining room service robot have waiter's distinctive " human interest ", can not only replace the work of waiter, also enhance interactive and recreational.In the past between more than ten years, the development level of the far super GDP of hotel industry development speed, keeps annual growth more than 20% throughout the year.Service robot has achieved very much progress technically, and the robot being applied to catering industry is relatively less, does not popularize in life, mainly contains following two reasons: one is that this type of robot price is too high, and common dining room is difficult to bear; Two is competitions that the competition between dining room is mainly served, and the service enthusiasm of the environment in such as dining room, efficiency of serving, waiter, considers week congruence for consumer, but the impersonalityization service of most of robots.For this situation, the development of dining room service robot and application, also need functionally to be improved at some.Therefore, robot application is of great significance and application value in service sector tool.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the object of the present invention is to provide aerial Chuan Cai robot, overcome ground meal delivery robot and need constantly memory dining room environment, deficiency that environmental suitability is not high, adopt many straight line paths in the air, without the need to navigation bar, multiple robot runs simultaneously, and work efficiency is high, can replace the Chuan Cai robot that partial service employee does.
For achieving the above object, the technical solution used in the present invention is: aerial Chuan Cai robot, and include the two power wheels 1 be located in transmission track 3, one end of two power wheel 1 is connected with servomotor 11, and the other end is connected with connecting rod by taking machine shaft; Connecting rod is connected with stepper motor by microcontroller circuit, and the stepping motor rotating shaft of stepper motor is connected with biography dish container by advance decline line.
The left end of described two power wheels is provided with balancing weight; Described transmission track is positioned at directly over dining table center; Transmission track directly over dining table is provided with a permanent magnet; Described advance decline line is provided with hand push button.
Described stepper motor, microcontroller and servomotor are all connected with power module.
Described microcontroller circuit carry in servomotor rotating shaft, and controls servomotor and stepper motor.
Described biography dish container comprises vegetable opening, service plate, loading pick-up unit, table number input display module, sound prompt device and pressure transducer; A table number input display module comprises key circuit, digitron display screen and LCDs; Pass dish container outer wall and be followed successively by sound prompt device from top to bottom, charactron and liquid crystal display, key circuit and vegetable opening; Pressure transducer is located at bottom service plate, and loading pick-up unit is positioned at below pressure transducer, and is connected with pressure transducer by wire.
Described microcontroller circuit comprises microcontroller, servomotor, dry-reed relay and stepper motor module, and stepper motor module comprises stepper motor, drive unit and scrambler.
Described key circuit is for inputting the information such as table number, name of the dish, numeral method table number, and LCDs display name of the dish, does not pass menu; Pressure transducer is used for measuring the weight of loading in service plate, and the data of pressure transducer are sent to microcontroller by loading pick-up unit, and microcontroller judges that whether vegetable is removed, control broadcasting voice message simultaneously.
Described dry-reed relay is for detecting the magnetic field of transmission track; Described step motor control rotational angle, direction and the rotation number of turns; Described drive unit is a power amplifying system accepting pulse number and the action of sense of rotation Driving Stepping Motor; Described scrambler detects stepper motor rotational angle and direction, feeds back to microcontroller; Described microcontroller accepts coded order, realizes man-machine conversation, coded order is converted to concrete pulse number and is transferred to driver.
Described microcontroller is for controlling servomotor and stepper motor operation; Dry-reed relay detects the magnetic field of transmission track, closed by being disconnected to, and now microprocessor controls servomotor stops, and control step motor runs; Scrambler feeds back to the speed of stepper motor and position in controller, and microcontroller to make decisions control step motor according to feedback information.
Described microcontroller is provided with expansion interface, and microcontroller is connected with external unit by expansion interface, and microcontroller and external unit are by bluetooth, WIFI communication.
Utilize a biography dish method for aerial Chuan Cai robot, it is characterized in that, comprise the following steps:
Step 1, puts into the service plate of filling a bowl with rice and passes dish container, press the button in LCDs, and input table number waits correlation parameter, hit OK key, by working procedure, and numeral method table number, LCDs display name of the dish, does not pass menu;
Step 2, after microcontroller obtains order, control step machine operation, stepper motor drives advance decline line will pass dish container and promotes;
Step 3, when passing dish container and rising to predetermined altitude, the stop motion of microprocessor controls stepper motor, controls servomotor and drives two delivery wheel to advance towards target dining table in transmission track;
Step 4, when the dry-reed relay in microcontroller circuit detects behind the magnetic field of magnet below transmission track, dry-reed relay is closed by being disconnected to, microcontroller produces and interrupts microcontroller generation interruption, the counter of microcontroller counts simultaneously, when above two delivery wheel marches to target dining table, servomotor quits work, and delivery wheel stops advancing;
Step 5, microprocessor controls stepping motor rotating shaft moves, biography dish container is dropped to after above dining table, dish is got in sound prompt device prompting, the vegetable opening passing dish container is opened automatically, and weight data is uploaded to microprocessor by pressure transducer, when after vegetable taking-up, weight saving, vegetable opening is closed, and sound prompt device sends " wish you have dinner happiness ";
Step 6, microprocessor controls stepper motor drives and passes dish container and go up to former height afterwards, counter O reset, then controls servomotor and make to pass the reposition of dish container.
The present invention can adopt many linear delivery track paths, the smoothly operation of aerial wall scroll transmission track.
Compared with prior art, beneficial effect of the present invention is:
The present invention promotes the high-tech image in dining room, manufactures brand effect, attracts more clients; Instant invention overcomes ground meal delivery robot and need constantly memory dining room environment, problem that environmental suitability is not high; Adopt many straight line paths, aerial transmission track smoothly operation, security is high, and without the need to navigation bar, multiple robot runs simultaneously, increases work efficiency; Alleviate table steward's labour intensity, increase the non-peak period volume of the flow of passengers of having dinner in dining room, rational allocation dining room resource; Easy to operate, easily promote, be particularly suitable for exclusive restaurant, senior reception room uses;
There is the functions such as the voice message of hommization.During use, input correlation parameter, starts control system, controls the rotating simultaneously of two servomotors, drives delivery wheel to rotate, and accurately arrives directly over dining table; Control step motor positive and inverse, drive and pass the motion of dish container vertical direction, target dining table delivered to by service plate 18 the most at last.The present invention promotes the high-tech image in dining room, attracts more clients, easy to operate, easily promotes, is applicable to exclusive restaurant, senior reception room uses.
In the present invention, robot management system utilizes radio communication to obtain the job information of multiple robot, and keeper only need check monitoring image, and operation just can understand each robot working condition on the control panel, increases work efficiency.Robot can realize automatically passing dish for multiple desk simultaneously, has the sound prompt function of hommization.
In the present invention, robot can also by study, the information such as the type often planted vegetables, taste, price, sales volume, applicable crowd are carried out classifying, predicting automatically, and show in robot management system, dining room thus can grasp different client dining hobby, improve service quality, make restaurant service hommization more.
In sum, this robot have that outward appearance is beautiful, security is high, accuracy is high, high-level efficiency, longevity of service, easy to operate, intelligent, hommization feature.
Accompanying drawing explanation
Fig. 1 is the front view of the aerial Chuan Cai robot of the present invention.
Fig. 2 is the side view of the aerial Chuan Cai robot of the present invention.
Fig. 3 is dining table layout and robot orbit figure.
Fig. 4 is the system construction drawing of the aerial Chuan Cai robot of the present invention.
Fig. 5 is the layout passing dish container each several part in the present invention.
Fig. 6 is the connection layout passing dish container each several part in the present invention.
Wherein: 1 be two power wheel, 2 being counterweight, 3 being transmission track, 4 be connecting rod, 5 be servomotor rotating shaft, 6 be microcontroller circuit, 7 be stepping motor rotating shaft, 8 be hand push button, 9 be advance decline line, 10 being servomotor for passing dish container, 11,12 be stepper motor, 13 be numeral method, 14 be liquid crystal display, 15 be vegetable opening, 16 is sound prompt device, 17 is key circuit, 18 is service plate, and 19 is loading pick-up unit.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
See Fig. 1 and Fig. 2, aerial Chuan Cai robot, includes the two power wheels 1 be located in transmission track 3, and one end of two power wheel 1 is connected with servomotor 11, and the other end is connected with connecting rod 4 by taking machine shaft 5; Connecting rod 4 is connected with stepper motor 12 by microcontroller circuit 6, and the stepping motor rotating shaft 7 of stepper motor 12 is connected with biography dish container 10 by advance decline line 9.
The left end of described two power wheels 1 is provided with balancing weight 2, in order to keep balance during the robot tangential movement of Shi Chuan dish always, so be provided with the counterweight 2 of certain mass at the opposite side of two power wheel 1; Described transmission track 3 is positioned at directly over dining table center, and the transmission track 3 directly over dining table is provided with a permanent magnet; Described advance decline line 9 is provided with hand push button 8, and hand push button 8 effect is when microcontroller controls malfunctioning automatically, and Non-follow control passes the lifting of dish container 10.
Described transmission track 3 is positioned at directly over dining table center; Transmission track 3 directly over dining table is provided with magnet below.
Described microcontroller circuit 6 carry in servomotor rotating shaft 5, and passes through programmed control servomotor 11 and stepper motor 12; Described stepper motor 12, microcontroller and servomotor are all connected with power module.
Described microcontroller circuit 6 comprises microcontroller, servomotor 11, dry-reed relay and stepper motor module, and stepper motor module comprises stepper motor 12, drive unit and scrambler.
Described microcontroller is provided with expansion interface, and microcontroller can be connected with external unit, and microcontroller and external unit are by bluetooth, WIFI communication.
Described biography dish container 10 has spinfunction, and convenient not deskmate guest gets dish; Pass dish container 10 and comprise vegetable opening 15, service plate 18, loading pick-up unit 19, table number input display module, sound prompt device 16 and pressure transducer; A table number input display module comprises key circuit 17, digitron display screen 13 and LCDs 14; Pass dish container 10 outer wall and be followed successively by sound prompt device 16 from top to bottom, digitron display screen 13 and LCDs 14, key circuit 17 and vegetable opening 15; Arrange bottom the adjacent service plate 18 of pressure transducer, loading pick-up unit 19 is positioned at below pressure transducer, and is connected with pressure transducer by wire.
Described biography dish container 10 adopts robotization semi-enclosed, the difference of getting weight before and after dish is detected according to pressure transducer, loading pick-up unit 19 by information feed back to microcontroller circuit 6, microcontroller working procedure controls the opening and closing of vegetable opening 15, has the sound prompt function of hommization simultaneously.When food arrives before the table number of required service, corresponding voice message is carried out to guest or the attendant that tidies up dining table; When getting back to out meal mouth, staff is reminded; Robot realizing route identification, table number identify, terminal identification, communication is adopted to obtain the job information of multiple robot between robot management system and multiple robot, keeper only need check monitoring image, operation just can understand each robot working condition on the control panel, comprise operating time, pass inventory information such as () name of the dish, unit price, quantity of dish, dump energy, electricity cost, thus realize the monitoring to robot.In addition, robot can by study, the information such as the type often planted vegetables, taste, price, sales volume, applicable crowd are carried out classifying, predicting automatically, and show in robot management system, dining room thus can grasp different client dining hobby, improve service quality, make restaurant service hommization more.
Described key circuit 17 is for inputting the information such as table number, name of the dish, numeral method table number, and LCDs display name of the dish, does not pass menu; After vegetable opening 15 is opened, food is put on service plate 18, pressure transducer is used for measuring the weight of loading in service plate 18, the data of pressure transducer are sent to microcontroller by loading pick-up unit 19, and microcontroller judges whether vegetable is taken away by guest, if not removed, then control vegetable opening 15 to open, if removed, then close, control phonological component simultaneously and play voice message guest.
Described dry-reed relay is for detecting the magnetic field of transmission track 3; Described stepper motor is the performer controlling rotational angle, direction and the rotation number of turns; Described drive unit is a power amplifying system accepting pulse number and the action of sense of rotation Driving Stepping Motor; Described scrambler detects stepper motor rotational angle and direction, feeds back to microcontroller; Described microcontroller has the function accepting coded order, realizes man-machine conversation, and coded order is converted to the central device that concrete pulse number is transferred to driver.
Described microcontroller is for controlling servomotor 11 and stepper motor 12 runs; When having magnet below transmission track 3, dry-reed relay detects magnetic field, closed by being disconnected to, and now microprocessor controls servomotor 11 stops, and control step motor 12 runs; Stepper motor is topworks, driver is as power drive, and scrambler feeds back to the speed of stepper motor and position in controller, and microcontroller makes decisions according to feedback information and then control step motor, so just constitute a closed-loop control system, connect each other.
The present invention has terminal and automatically identifies and automatic hold function; Described microcontroller is provided with expansion interface, and microcontroller can be connected with external unit (external memory storage, flash memory memory), and microcontroller and external unit are by bluetooth, WIFI communication.
See Fig. 3, dining table is put for 3 row × 4 row, and the dining table of often going all from left to right is numbered, and is followed successively by one, two, three, four; A, B, C are three kinds of different paths that robot runs, and every paths has rectilinear(-al), and arrow represents robot traffic direction; Robot different path from the opening's edge that goes out to eat and runs to directly over dining table, then biography dish container is dropped to certain altitude, is convenient to client and gets dish.
See Fig. 4, the information of key-press input shows by the present invention on liquid crystal, charactron, power module is powered to microcontroller, servomotor 11, stepper motor 12, sound prompt device 16, microprocessor controls servomotor 11, servomotor 11 drives two delivery wheel to rotate, and carries out tangential movement, microcontroller is control step motor 12 again, stepper motor 12 drives biography dish container to move up and down, and when dining table position is specified in arrival, sound prompt device 16 couples of guests point out.
See Fig. 5, pass dish container 10 outer wall and be followed successively by sound prompt device 16 from top to bottom, digitron display screen 13 and LCDs 14, key circuit 17 and vegetable opening 15; Bottom the adjacent service plate 18 of pressure transducer, loading pick-up unit 19 is positioned at below pressure transducer, and is connected by circuit connection.
See Fig. 6, the power module passed in dish container 10 is powered to microcontroller, table number input display module, sound prompt device 16 and a loading detection module, and microcontroller inputs display module respectively with table number, sound prompt device 16, loading detection module are connected by circuit connection.
Claims (10)
1. aerial Chuan Cai robot, it is characterized in that, include the two power wheels (1) be located in transmission track (3), one end of two power wheel (1) is connected with servomotor (11), and the other end is connected with connecting rod (4) by servomotor rotating shaft (5); Connecting rod (4) is connected with stepper motor (12) by microcontroller circuit (6), and the stepping motor rotating shaft (7) of stepper motor (12) is connected with biography dish container (10) by advance decline line (9).
2. aerial Chuan Cai robot according to claim 1, is characterized in that, the left end of described two power wheels (1) is provided with balancing weight (2); Described transmission track (3) is positioned at directly over dining table center, and the transmission track (3) directly over dining table is provided with a permanent magnet; Described advance decline line (9) is provided with hand push button (8).
3. aerial Chuan Cai robot according to claim 1, is characterized in that, described microcontroller circuit (6) carry in servomotor rotating shaft (5), and controls servomotor (11) and stepper motor (12).
4. aerial Chuan Cai robot according to claim 1, it is characterized in that, described biography dish container (10) comprises vegetable opening (15), service plate (18), loading pick-up unit (19), table number input display module, sound prompt device (16) and pressure transducer; A table number input display module comprises key circuit (17), digitron display screen (13) and LCDs (14); Pass dish container (10) outer wall and be followed successively by sound prompt device (16) from top to bottom, charactron and liquid crystal display, key circuit (17) and vegetable opening (15); Pressure transducer is located at service plate (18) bottom, and loading pick-up unit (19) is positioned at below pressure transducer, and is connected with pressure transducer by wire.
5. aerial Chuan Cai robot according to claim 3, it is characterized in that, described microcontroller circuit (6) comprises microcontroller, servomotor (11), dry-reed relay and stepper motor module, and stepper motor module comprises stepper motor (12), drive unit and scrambler.
6. aerial Chuan Cai robot according to claim 4, is characterized in that, described key circuit (17) is for inputting the information such as table number, name of the dish, numeral method table number, and LCDs display name of the dish, does not pass menu; Pressure transducer is used for measuring the weight of loading in service plate (18), and the data of pressure transducer are sent to microcontroller by loading pick-up unit (19), and microcontroller judges that whether vegetable is removed, control broadcasting voice message simultaneously.
7. aerial Chuan Cai robot according to claim 5, is characterized in that, described dry-reed relay is for detecting the magnetic field of transmission track (3); Described step motor control rotational angle, direction and the rotation number of turns; Described drive unit is a power amplifying system accepting pulse number and the action of sense of rotation Driving Stepping Motor; Described scrambler detects stepper motor rotational angle and direction, feeds back to microcontroller; Described microcontroller accepts coded order, realizes man-machine conversation, coded order is converted to concrete pulse number and is transferred to driver.
8. aerial Chuan Cai robot according to claim 5, is characterized in that, described microcontroller is for controlling servomotor (11) and stepper motor (12) operation; Dry-reed relay detects the magnetic field of transmission track (3), closed by being disconnected to, and now microprocessor controls servomotor (11) stops, and control step motor (12) runs; Scrambler feeds back to the speed of stepper motor and position in controller, and microcontroller to make decisions control step motor according to feedback information.
9. aerial Chuan Cai robot according to claim 5, it is characterized in that, described microcontroller is provided with expansion interface, and microcontroller is connected with external unit by expansion interface, and microcontroller and external unit are by bluetooth, WIFI communication.
10. utilize aerial Chuan Cai robot to pass a method for dish, it is characterized in that, comprise the following steps:
Step 1, puts into the service plate of filling a bowl with rice (18) and passes dish container (10), press the button in LCDs, and input table number waits correlation parameter, hit OK key, by working procedure, and numeral method table number, LCDs display name of the dish, does not pass menu;
Step 2, after microcontroller obtains order, control step machine operation, stepper motor drives advance decline line will pass dish container and promotes;
Step 3, when passing dish container and rising to certain altitude, the stop motion of microprocessor controls stepper motor, controls servomotor and drives two delivery wheel to advance towards target dining table in transmission track (3);
Step 4, after dry-reed relay in microcontroller circuit (6) detects the magnetic field of magnet below transmission track (3), dry-reed relay is closed by being disconnected to, microcontroller produces and interrupts, the counter of microcontroller counts simultaneously, when above two delivery wheel marches to target dining table, servomotor quits work, and delivery wheel stops advancing;
Step 5, then microprocessor controls stepping motor rotating shaft motion, biography dish container is dropped to after above dining table, dish is got in sound prompt device (16) prompting, weight data is uploaded to microprocessor by pressure transducer, when vegetable take out, after weight saving, vegetable opening (15) is closed, sound prompt device (16) sends " wish you have dinner happiness ";
Step 6, microprocessor controls stepper motor drives and passes dish container (10) and go up to former height, counter O reset, then controls servomotor and make to pass dish container (10) reposition.
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| CN201510652466.4A CN105159303B (en) | 2015-10-10 | 2015-10-10 | Aerial Chuan Cai robots and its biography dish method |
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| CN110622083A (en) * | 2018-04-25 | 2019-12-27 | 深圳市大疆创新科技有限公司 | Positioning method, positioning device, robot, positioning system and storage medium |
| WO2019205032A1 (en) * | 2018-04-25 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Positioning method, device, robot, system, and storage medium |
| CN108665382A (en) * | 2018-07-12 | 2018-10-16 | 深圳市艾唯尔科技有限公司 | A kind of full-automatic intelligent food delivery System and method for of ordering |
| CN108861403A (en) * | 2018-08-05 | 2018-11-23 | 严忠耀 | A kind of intelligent track passes ordering system and its working method |
| CN113156974A (en) * | 2021-05-14 | 2021-07-23 | 广东智源机器人科技有限公司 | Carrier transport control method, carrier transport control system, and storage medium |
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