CN105159303B - Aerial Chuan Cai robots and its biography dish method - Google Patents
Aerial Chuan Cai robots and its biography dish method Download PDFInfo
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- CN105159303B CN105159303B CN201510652466.4A CN201510652466A CN105159303B CN 105159303 B CN105159303 B CN 105159303B CN 201510652466 A CN201510652466 A CN 201510652466A CN 105159303 B CN105159303 B CN 105159303B
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Abstract
Aerial Chuan Cai robots, include the double drives being located in transmission track, one end of double drives is connected with servomotor, and the other end is connected by servomotor rotating shaft with connecting rod；Connecting rod is connected with microcontroller circuit, and stepping motor rotating shaft is connected by advance decline line with passing dish container；It passes dish method：1）The service plate filled a bowl with rice is put into and passes dish container, inputs table number, numeral method table number, liquid crystal display name of the dish；2）Microprocessor control stepper motor works, and stepper motor lifting passes dish container；3）Microprocessor control servomotor rotates, so as to drive double transmission wheels to be advanced towards target dining table；4）After detecting magnetic field, dry-reed relay closure, when counter is equal with table number, illustrate that double transmission wheels are gone to above target dining table；5）Stepping motor rotating shaft, which drives, passes the decline of dish container, and after taking dish, vegetable opening is closed；6）Dish container is passed to go up to former height, servomotor return original position；With it is safe efficient, easy to operate, intelligent the characteristics of.
Description
Technical field
The present invention relates to service robot technical field, more particularly to a kind of aerial Chuan Cai robots and its biography dish method.
Background technology
At present, the application of robot of China is quite varied and species is various, including：Industrial robot, amusement robot,
Military robot, service robot etc., service humanoid robot are the robots of a kind of semi-autonomous or full utonomous working, and it can be certain
The mankind are replaced to complete services in degree, therefore very close to the life of people.Hommization, intelligentized restaurant service machine
People has that waiter is distinctive " human interest ", can not only replace the work of waiter, also enhance interactive and recreational.In mistake
Go between more than ten years, the far super GDP of hotel industry development speed development level, keep annual growth more than 20% throughout the year.Service robot
Technically have made great progress, and the robot applied to catering industry is relatively fewer, is not popularized in life,
Mainly there is following two aspects reason：First, such robot price is too high, common dining room is difficult to bear；It is second, competing between dining room
Strive the competition mainly serviced, such as the environment in dining room, efficiency of serving, the service enthusiasm of waiter, for consumer consider week
Congruence, but most of robot impersonality services.For this case, the development and application of dining room service robot, go back
Need to be improved in some functions.Therefore, robot application is of great significance and popularization and application in service trade tool
Value.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, it is an object of the invention to provide aerial Chuan Cai robots, overcome
Ground meal delivery robot needs the deficiency that constantly memory dining room environment, environmental suitability be not high, using aerial a plurality of straight line path,
Without navigation bar, multiple robots are run simultaneously, and operating efficiency is high, the Chuan Cai robots that partial service employee can be replaced to make.
To achieve the above object, the technical solution adopted by the present invention is：Aerial Chuan Cai robots, include and are located at transmission rail
Double drives 1 in road 3, one end of double drives 1 are connected with servomotor 11, and the other end is by taking machine shaft and connecting rod phase
Even；Connecting rod is connected by microcontroller circuit with stepper motor, and the stepping motor rotating shaft of stepper motor passes through advance decline line and biography dish
Container is connected.
The left end of described double drives is provided with balancing weight；Described transmission track is located at the surface at dining table center；Meal
The transmission track of the surface of table is provided with a permanent magnet；Described advance decline line is provided with hand push button.
Described stepper motor, microcontroller and servomotor is connected with power module.
Described microcontroller circuit carry controls servomotor and stepper motor in servomotor rotating shaft.
Described biography dish container includes vegetable opening, service plate, loading detection means, table number input display module, voice message
Device and pressure sensor；Table number input display module includes key circuit, digitron display screen and LCDs；Dish is passed to hold
Device outer wall is followed successively by sound prompt device, charactron and liquid crystal display, key circuit and vegetable opening from top to bottom；Pressure sensing
Device is located at service plate bottom, and loading detection means is located at below pressure sensor, and is connected by wire with pressure sensor.
Described microcontroller circuit includes microcontroller, servomotor, dry-reed relay and stepper motor module, stepping
Motor module includes stepper motor, drive device and encoder.
Described key circuit is used to input the information such as table number, name of the dish, numeral method table number, and LCDs shows dish
Name, does not pass menu；Pressure sensor is used for measuring the weight of loading in service plate, and loading detection means is by the data of pressure sensor
Microcontroller is sent to, microcontroller judges whether vegetable is removed, while controls broadcasting voice message.
Described dry-reed relay is used for the magnetic field for detecting transmission track；Described step motor control rotational angle, side
To and turnning circle；The power that described drive device receives pulse number and the action of direction of rotation Driving Stepping Motor for one is put
Big system；Described encoder detection stepper motor rotational angle and direction, feed back to microcontroller；Described microcontroller connects
By coded command, human-computer dialogue is realized, coded command, which is converted into specific pulse number, is transferred to driver.
Described microcontroller is used to control servomotor and stepper motor to run；Dry-reed relay detection transmission track
Magnetic field, by being disconnected to closure, now microprocessor control servomotor stops, and controls stepper motor to run；Encoder is step
The speed of stepper motor is fed back in controller with position, and microcontroller makes decisions according to feedback information and controls stepper motor.
Described microcontroller is provided with expansion interface, and microcontroller is attached by expansion interface and external equipment,
Microcontroller passes through bluetooth, WIFI communication with external equipment.
A kind of biography dish method using aerial Chuan Cai robots, it is characterised in that comprise the following steps：
Step 1, the service plate filled a bowl with rice is put into and passes dish container, press the correlation such as the button on LCDs, input table number
Parameter, OK keys are clicked on, by operation program, numeral method table number, LCDs shows name of the dish, does not pass menu；
Step 2, after microcontroller obtains order, control stepper motor work, stepper motor drives advance decline line to hold biography dish
Device is lifted；
Step 3, when biography dish container rises to predetermined altitude, microprocessor control stepper motor stop motion, control is watched
The double transmission wheels of motor driven are taken to advance towards target dining table in transmission track；
Step 4, after the dry-reed relay in microcontroller circuit detects the magnetic field of magnet below transmission track, dry spring
Relay is by being disconnected to closure, and microcontroller, which produces, interrupts microcontroller generation interruption, and the counter of microcontroller is simultaneously
Count, when double transmission wheels are marched to above target dining table, servomotor is stopped, and transmission wheel stops advancing；
Step 5, microprocessor control stepping motor rotating shaft moves, and after biography dish container is dropped to above dining table, voice carries
Showing device prompting takes dish, and the vegetable opening for passing dish container is automatically opened up, and weight data is uploaded to microprocessor by pressure sensor, when
Vegetable is taken out, after weight saving, and vegetable opening is closed, and sound prompt device sends " wish you have dinner happiness "；
Step 6, microprocessor control stepper motor drives biography dish container to go up to former height, counter O reset afterwards, then
Control servomotor make it that passing dish container returns to original position.
The present invention can use a plurality of linear delivery track path, aerial wall scroll transmission track smoothly operation.
Compared with prior art, beneficial effects of the present invention are：
The high-tech image in present invention lifting dining room, manufactures brand effect, attracts more clients；Instant invention overcomes ground
The problem of meal delivery robot needs continuous memory dining room environment, environmental suitability is not high；Using a plurality of straight line path, aerial transmission
Track smoothly operation, safe, without navigation bar, multiple robots are run simultaneously, improve operating efficiency；Mitigate dining room clothes
Business person's labor intensity, increase the non-peak period volume of the flow of passengers of having dinner in dining room, rational allocation dining room resource；It is easy to operate, easily promote, it is special
Shi He not exclusive restaurant, the use of advanced reception room；
The functions such as the voice message with hommization.In use, input relevant parameter, starts control system, two are controlled
Servomotor rotating simultaneously, drives transmission wheel to rotate, and is accurate to up to directly over dining table；Stepper motor rotating is controlled, is driven
The motion of dish container vertical direction is passed, most service plate 18 is sent to target dining table at last.The high-tech image in present invention lifting dining room, attracts
More clients, it is easy to operate, easily promote, be adapted to exclusive restaurant, advanced reception room to use.
Robot management system obtains the job information of multiple robots using radio communication in the present invention, and keeper only needs
Monitoring picture is checked, operates just will appreciate that each robot working condition on the control panel, improves operating efficiency.Robot can
Realize and pass dish automatically simultaneously for multiple desks, the sound prompt function with hommization.
Robot can also be by study, by the type often to plant vegetables, taste, price, sales volume, applicable crowd etc. in the present invention
Information is classified, predicted automatically, and is shown in robot management system, and dining room is liked so as to grasp the dining of different clients
It is good, improve service quality, make restaurant service more hommization.
In summary, the robot have outward appearance is beautiful, safe, the degree of accuracy is high, high efficiency, longevity of service, behaviour
The characteristics of making convenient, intellectuality, hommization.
Brief description of the drawings
Fig. 1 is the front view of aerial Chuan Cai robots of the invention.
Fig. 2 is the side view of aerial Chuan Cai robots of the invention.
Fig. 3 is dining table layout and robot running track figure.
Fig. 4 is the system construction drawing of aerial Chuan Cai robots of the invention.
Fig. 5 is the layout that dish container each several part is passed in the present invention.
Fig. 6 is the connection figure that dish container each several part is passed in the present invention.
Wherein：1 for double drives, 2 it is counterweight, 3 be transmission track, 4 be connecting rod, 5 be servomotor rotating shaft, 6 is micro-control
Device circuit processed, 7 be stepping motor rotating shaft, 8 be hand push button, 9 be advance decline line, 10 be pass dish container, 11 be servomotor, 12 be
Stepper motor, 13 be numeral method, 14 be liquid crystal display, 15 be vegetable opening, 16 be sound prompt device, and 17 be button electricity
Road, 18 be service plate, and 19 be loading detection means.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
Referring to Fig. 1 and Fig. 2, aerial Chuan Cai robots, include the double drives 1 being located in transmission track 3, double drives
1 one end is connected with servomotor 11, and the other end is connected by taking machine shaft 5 with connecting rod 4；Connecting rod 4 passes through microcontroller electricity
Road 6 is connected with stepper motor 12, and the stepping motor rotating shaft 7 of stepper motor 12 is connected by advance decline line 9 with passing dish container 10.
The left end of described double drives 1 is provided with balancing weight 2, in order that being always maintained at putting down during the horizontal movement of Chuan Cai robots
Weighing apparatus, so the opposite side in double drives 1 is provided with the counterweight 2 of certain mass；Described transmission track 3 is located at dining table center
Surface, the transmission track 3 of the surface of dining table are provided with a permanent magnet；Described advance decline line 9 is provided with hand push button 8, hand
The dynamic effect of button 8 is when microcontroller automatically controls failure, and control manually passes the lifting of dish container 10.
Described transmission track 3 is located at the surface at dining table center；The transmission track 3 of the surface of dining table is mounted below
Magnet.
The described carry of microcontroller circuit 6 passes through programme-control servomotor 11 and step in servomotor rotating shaft 5
Stepper motor 12；Described stepper motor 12, microcontroller and servomotor is connected with power module.
Described microcontroller circuit 6 includes microcontroller, servomotor 11, dry-reed relay and stepper motor module,
Stepper motor module includes stepper motor 12, drive device and encoder.
Described microcontroller is provided with expansion interface, and microcontroller can be attached with external equipment, microcontroller with
External equipment passes through bluetooth, WIFI communication.
Described biography dish container 10 has spinfunction, facilitates different table number guests to take dish；Passing dish container 10 includes taking dish
Mouth 15, service plate 18, loading detection means 19, table number input display module, sound prompt device 16 and pressure sensor；Table number is defeated
Entering display module includes key circuit 17, digitron display screen 13 and LCDs 14；Pass the outer wall of dish container 10 from top to bottom
It is followed successively by sound prompt device 16, digitron display screen 13 and LCDs 14, key circuit 17 and vegetable opening 15；Pressure
The adjacent bottom of service plate 18 of sensor is set, and loading detection means 19 is located at below pressure sensor, and passes through wire and pressure
Sensor is connected.
Described biography dish container 10 is semi-enclosed using automating, and is detected according to pressure sensor and takes weight before and after dish
Difference, loading detection means 19 feed back information to microcontroller circuit 6, and microcontroller operation program control vegetable opening 15 is beaten
It is open and close, while there is the sound prompt function of hommization.Before food reaches the table number of required service, to guest or tidy up
The attendant of dining table carries out corresponding voice message；When returning to out meal mouth, staff is reminded；Robot realizes
Path Recognition, table number identification, terminal identification, are obtained between robot management system and multiple robots using communication
The job information of multiple robots, keeper need to only check monitoring picture, operate just will appreciate that each machine on the control panel
People's working condition, including operating time, the inventory for passing dish（The information such as name of the dish, unit price, quantity）, dump energy, electricity cost, from
And realize the monitoring to robot.In addition, robot can be by study, by the type often to plant vegetables, taste, price, sales volume, suitable
Classified automatically with information such as crowds, predicted, and shown in robot management system, dining room is so as to grasping different clients
Dining hobby, improve service quality, make restaurant service more hommization.
Described key circuit 17 is used to input the information such as table number, name of the dish, numeral method table number, and LCDs is shown
Name of the dish, menu is not passed；After vegetable opening 15 is opened, food is put on service plate 18, pressure sensor is used for measuring carrying in service plate 18
The data of pressure sensor are sent to microcontroller by the weight of thing, loading detection means 19, and whether microcontroller judges vegetable
Taken away by guest, if not being removed, control vegetable opening 15 is opened, if being removed, is closed, while control voice part plays
Voice message guest.
Described dry-reed relay is used for the magnetic field for detecting transmission track 3；Described stepper motor for control rotational angle,
Direction and the performer of turnning circle；Described drive device receives pulse number and direction of rotation Driving Stepping Motor for one
The power amplifying system of action；Described encoder detection stepper motor rotational angle and direction, feed back to microcontroller；It is described
Microcontroller have and receive the function of coded command, realize human-computer dialogue, and coded command is converted into specific pulse number
It is transferred to the central device of driver.
Described microcontroller is used to control servomotor 11 and stepper motor 12 to run；There is magnetic below transmission track 3
During iron, dry-reed relay detects magnetic field, and by being disconnected to closure, now microprocessor control servomotor 11 stops, and controls
Stepper motor 12 is run；Stepper motor is executing agency, driver as power drive, encoder the speed of stepper motor with
Position is fed back in controller, and microcontroller makes decisions according to feedback information and then controls stepper motor again, thus forms
One closed-loop control system, is connected each other.
The present invention has terminal automatic identification and automatic hold function；Described microcontroller is provided with expansion interface, micro-
Controller can be with external equipment（External memory storage, flash memory memory）Be attached, microcontroller and external equipment by bluetooth,
WIFI communication.
Referring to Fig. 3, exemplified by dining table is arranged and put by 3 rows × 4, often capable dining table is all from left to right numbered, and is followed successively by one,
Two, three, four；A, B, C are three kinds of different paths of robot operation, there is rectilinear(-al) per paths, and arrow represents robot
Traffic direction；Robot drops to necessarily from the surface for going out opening's edge of eating and different paths and running to dining table, then by dish container is passed
Highly, it is easy to customer to take dish.
Referring to Fig. 4, the present invention shows the information of key-press input on liquid crystal, charactron, power module to microcontroller,
Servomotor 11, stepper motor 12, sound prompt device 16 are powered, microprocessor control servomotor 11, the band of servomotor 11
Dynamic double transmission wheels rotate, and carry out horizontal movement, and microcontroller controls stepper motor 12 again, and stepper motor 12, which drives, to be passed on dish container
Lower motion, dining table position is specified when reaching, sound prompt device 16 is prompted guest.
Referring to Fig. 5, pass the outer wall of dish container 10 and be followed successively by sound prompt device 16, digitron display screen 13 and liquid from top to bottom
Crystal display screen 14, key circuit 17 and vegetable opening 15；The adjacent bottom of service plate 18 of pressure sensor, loading detection means 19 are located at
Below pressure sensor, and it is connected by circuit connection.
Referring to Fig. 6, the power module in dish container 10 is passed to microcontroller, table number input display module, voice message dress
16 and the power supply of loading detection module are put, microcontroller detects with table number input display module, sound prompt device 16, loading respectively
Module is connected by circuit connection.
Claims (1)
1. aerial Chuan Cai robots, it is characterised in that include and be located at transmission track（3）Interior double drives（1）, double drives
（1）One end and servomotor（11）It is connected, the other end passes through servomotor rotating shaft（5）With connecting rod（4）It is connected；Connecting rod（4）It is logical
Cross microcontroller circuit（6）With stepper motor（12）It is connected, stepper motor（12）Stepping motor rotating shaft（7）Pass through advance decline line
（9）With passing dish container（10）It is connected；
Described double drives（1）Left end be provided with balancing weight（2）；Described transmission track（3）Positioned at dining table center just on
Side, the transmission track of the surface of dining table（3）It is provided with a permanent magnet；Described advance decline line（9）It is provided with hand push button（8）；
Described microcontroller circuit（6）Carry is in servomotor rotating shaft（5）On, and control servomotor（11）And stepper motor
（12）；
Described biography dish container（10）Including vegetable opening（15）, service plate（18）, loading detection means（19）, table number input show mould
Block, sound prompt device（16）And pressure sensor；Table number input display module includes key circuit（17）, digitron display screen
（13）And LCDs（14）；Pass dish container（10）Outer wall is followed successively by sound prompt device from top to bottom（16）, charactron and
Liquid crystal display, key circuit（17）And vegetable opening（15）；Pressure sensor is located at service plate（18）Bottom, loading detection means
（19）It is connected below pressure sensor, and by wire with pressure sensor；
Described microcontroller circuit（6）Including microcontroller, servomotor（11）, dry-reed relay and stepper motor module,
Stepper motor module includes stepper motor（12）, drive device and encoder；
Described key circuit（17）For inputting the information such as table number, name of the dish, numeral method table number, LCDs shows dish
Name, does not pass menu；Pressure sensor is used for measuring service plate（18）The weight of middle loading, loading detection means（19）By pressure sensing
The data of device are sent to microcontroller, and microcontroller judges whether vegetable is removed, while controls broadcasting voice message；
Described dry-reed relay is used to detect transmission track（3）Magnetic field；Described step motor control rotational angle, direction
And turnning circle；Described drive device is a power amplification for receiving pulse number and the action of direction of rotation Driving Stepping Motor
System；Described encoder detection stepper motor rotational angle and direction, feed back to microcontroller；Described microcontroller receives
Coded command, human-computer dialogue is realized, coded command, which is converted into specific pulse number, is transferred to driver；
Described microcontroller is used to control servomotor（11）And stepper motor（12）Operation；Dry-reed relay detection transmission rail
Road（3）Magnetic field, by being disconnected to closure, now microprocessor control servomotor（11）Stop, and control stepper motor（12）
Operation；Encoder feeds back to the speed of stepper motor in controller with position, and microcontroller makes decisions according to feedback information
Control stepper motor；
Described microcontroller is provided with expansion interface, and microcontroller is attached by expansion interface and external equipment, micro-control
Device processed passes through bluetooth, WIFI communication with external equipment；
The job step of biography dish machine is in the air：
Step 1, the service plate that will be filled a bowl with rice（18）It is put into and passes dish container（10）, press the button on LCDs, input table number etc.
Relevant parameter, OK keys are clicked on, by operation program, numeral method table number, LCDs shows name of the dish, does not pass menu；
Step 2, after microcontroller obtains order, control stepper motor work, stepper motor drives advance decline line to be carried dish container is passed
Rise；
Step 3, when biography dish container rises to certain altitude, microprocessor control stepper motor stop motion, control servo electricity
Machine drives double transmission wheels in transmission track（3）It is interior to be advanced towards target dining table；
Step 4, microcontroller circuit（6）In dry-reed relay detect transmission track（3）Below behind the magnetic field of magnet, dry spring
Relay produces interruption by being disconnected to closure, microcontroller, and the counter of microcontroller counts simultaneously, when double transmission wheel rows
When proceeding to above target dining table, servomotor is stopped, and transmission wheel stops advancing；
Step 5, then microprocessor control stepping motor rotating shaft moves, and after biography dish container is dropped to above dining table, voice carries
Showing device（16）Prompting takes dish, and weight data is uploaded to microprocessor by pressure sensor, after vegetable taking-up, weight saving,
Vegetable opening（15）Close, sound prompt device（16）Send " wish you have dinner happiness "；
Step 6, microprocessor control stepper motor, which drives, passes dish container（10）Go up to former height, counter O reset, then control
Servomotor to pass dish container（10）Return in situ.
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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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| CN201510652466.4A CN105159303B (en) | 2015-10-10 | 2015-10-10 | Aerial Chuan Cai robots and its biography dish method |
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| CN105159303B true CN105159303B (en) | 2018-02-06 |
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| CN105965517A (en) * | 2016-06-08 | 2016-09-28 | 李麟飞 | Intelligent restaurant system based on food delivering robot |
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| 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 |
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| CN105159303A (en) | 2015-12-16 |
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