CN105563485A - Meal delivery robot control system and motion track control method thereof - Google Patents
Meal delivery robot control system and motion track control method thereof Download PDFInfo
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- CN105563485A CN105563485A CN201510973459.4A CN201510973459A CN105563485A CN 105563485 A CN105563485 A CN 105563485A CN 201510973459 A CN201510973459 A CN 201510973459A CN 105563485 A CN105563485 A CN 105563485A
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- 235000012054 meals Nutrition 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000033001 locomotion Effects 0.000 title claims abstract description 20
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 230000000386 athletic effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000001186 cumulative effect Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 235000013305 food Nutrition 0.000 claims description 3
- 230000004927 fusion Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 5
- 230000004807 localization Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 239000012467 final product Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000002156 mixing Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a meal delivery robot control system and a motion track control method thereof. The meal delivery robot control system comprises a control board, wherein the control board is connected to a motor driver with a mileage calculating function through a serial port; the motor driver can drive a left wheel motor and a right wheel motor of a robot; and the control board is connected to an ultra wide band positioning system, an attitude sensor, and an infrared and ultrasonic module. The meal delivery robot control system has the advantages of being high in precision, good in stability and high in cost performance. A navigation rail is not required to lay, so that the robot can automatically travel according to a preset path; and when the layout of a restaurant is changed, the meal delivery robot can work by only modifying the preset track in software while construction is not required in the method.
Description
Technical field
The invention belongs to technical field of automatic control, specifically just relate to a kind of meal delivery robot control system and control method of motion trace thereof, improve the accuracy of meal delivery robot running orbit.
Background technology
Along with science and technology and industrial expansion, the huge function that intelligent robot has due to it more and more obtains extensive concern, the use industry of intelligent robot progressively develops into some work position alternative people life from industrial production industry, especially in service industry, household service robot, dining room meal delivery robot etc. is subject to the welcome of consumers in general, meal delivery robot is not only and is allowed eater experience advanced Robotics, the more important thing is the intelligent and practicality increasing robot, thus replace waiter, solve the breach of catering industry waiter.
But all adopt tracking control model in the use meal delivery robot overwhelming majority in the market, as the patent No. a kind of meal delivery robot disclosed in 201210180494.7 of continent, Shandong Science and Technology Ltd., comprise the main body can run along guide rail, main body comprises head assembly, trunk assembly and robot arm, robot arm level has lifted service plate, the power set being provided with controller in main body and being connected with controller, drive unit, running gear, wireless signal transmission and voice device, guide rail is magnetic track, main body is provided with tracking positioner and obstacle avoidance apparatus, this kind of meal delivery robot structure is simple, does not need complicated image operation, saves electric energy, adds running time.But this traditional meal delivery robot along the magnetic stripe laid or colour band walking, not only can only can change the existing decoration style in dining room, affect attractive in appearance, too increase installation cost.In order to solve an above-mentioned difficult problem, occurred on the market not relying on fixed guide walking, the meal delivery robot that can independently locate and navigate, it adopts laser or vision location and navigates, although can overcome above-mentioned shortcoming, adds cost, is difficult to promote at catering industry.Although other adopts Zigbee location technology, inertial positioning technology etc. to have the advantages such as cost is low, easy for installation, positioning precision and less stable, can not meet the requirement that meal delivery robot positioning precision is high, good stability, cost are low well.
Summary of the invention
Object of the present invention is exactly low in order to overcome above-mentioned existing meal delivery robot control method of motion trace precision, poor reliability, the technological deficiency that cost is high, provides a kind of meal delivery robot control system and control method of motion trace thereof, has the advantage that precision is high, good stability, cost performance are high.It does not need to lay navigation track, and can realize the autonomous path walking by presetting, when dining room layout changes, the method is not constructed, and only needs to revise desired guiding trajectory in software and gets final product work.
Technical scheme
In order to realize above-mentioned technical purpose, the present invention designs a kind of meal delivery robot control system, it is characterized in that: it comprises control panel, described control panel is connected with the motor driver with mileage calculation function by serial ports, motor driver can the revolver motor of driven machine people and right turbin generator, and described control panel is connected with ultra-wideband positioning system, attitude transducer and infrared and ultrasonic wave module;
Described ultra-wideband positioning system comprises mobile node in reference mode, robot and engine of positioning server, ultra-wideband communications is passed through between mobile node in reference mode and robot, transmit data by wireless data sending mode between mobile node in server and robot, server receives the mileage information of the left and right motor that control panel transmits by wireless data sending mode.
Described control panel, the mobile node in robot and attitude transducer, infrared and ultrasonic wave module and motor driver are powered by battery module.
The control method of motion trace of above-mentioned meal delivery robot control system, is characterized in that, it comprises following step:
(1) position coordinates of each dining table and the coordinate interval of meal delivery robot run trace is determined according to dining room layout;
(2) the target table determination object coordinate selected according to operating personnel of robot, then selectes walking path according to object coordinate;
(3) athletic posture information is read from attitude transducer, setting in motion after adjustment athletic posture;
(4) perform location algorithm and obtain present position coordinate, judge position coordinates whether within the scope of desired trajectory, if in the operation of projected path scope, then keep this attitude to walk on, if exceed projected path scope, then adjust operation attitude.
Further, described step (4) is if the concrete grammar of middle adjust operation attitude exceeds desired trajectory left, then revolver speed strengthens, if exceed estimation range to the right, then right wheel speed strengthens; With off-centered displacement and current course angle for input, with the speed difference of left and right wheels for exporting, realize online-forum system.
Further, performing the concrete steps that location algorithm obtains present position coordinate in described step (4) is:
A () initializes odometer position location getting meal place, eliminate the cumulative errors in food delivery process each time.
B () adopts odometer location algorithm to obtain positional increment and the position coordinates of instant meal delivery robot;
C by robot movement velocity and displacement, () then judges that whether ultra-wideband positioning system work is normal, if robot speed is greater than zero, and displacement changed compared with last control cycle, but the distance that ultra-wideband positioning system turns back to each reference mode does not become, then be judged as that ultra broadband positioning work is abnormal, then the positional increment adopting odometer to obtain and previous position information are current present position coordinate; If ultra-broadband signal is working properly, then adopts the result of ultra broadband location and odometer positioning result to carry out fusion by Kalman filtering algorithm and obtain current present position coordinate.
Beneficial effect
The invention provides a kind of meal delivery robot control system and control method of motion trace thereof, there is the advantage that precision is high, good stability, cost performance are high.It does not need to lay navigation track, and can realize the autonomous path walking by presetting, when dining room layout changes, the method is not constructed, and only needs to revise desired guiding trajectory in software and gets final product work.
Accompanying drawing explanation
Accompanying drawing 1 is Control system architecture figure in the present invention.
Accompanying drawing 2 is that in the present invention, movement locus controls control flow chart.
Accompanying drawing 3 is location algorithm flow charts in the present invention.
Accompanying drawing 4 is auditory localization cues schematic diagrames in the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention will be further described.
Embodiment
As shown in Figure 1, a kind of meal delivery robot control system, it comprises control panel 1, described control panel 1 is connected with the motor driver 2 with mileage calculation function by serial ports, motor driver 2 can the revolver motor 3 of driven machine people and right turbin generator 4, and described control panel 1 is connected with ultra-wideband positioning system 5, attitude transducer 6 and infrared and ultrasonic wave module 7;
Described ultra-wideband positioning system 5 comprises mobile node 502 in reference mode 501, robot and engine of positioning server 503, ultra-wideband communications is passed through between mobile node 502 in reference mode 501 and robot, transmit data by wireless data sending mode between movable joint 502 in engine of positioning server 503 and robot, engine of positioning server 503 receives the mileage information of revolver motor 3 that control panel 1 transmits and right turbin generator 4 by wireless data sending mode.
Described control panel 1, the mobile node 502 in robot and attitude transducer 6, infrared and ultrasonic wave module 7 and motor driver 2 are powered by battery module.
As shown in Figure 2, the control method of motion trace of meal delivery robot control system, is characterized in that, it comprises following step:
The first step, determines the position coordinates of each dining table and the coordinate interval of meal delivery robot run trace according to dining room layout;
Second step, the target table determination object coordinate that robot selectes according to operating personnel, then selectes walking path according to object coordinate;
3rd step, reads athletic posture information from attitude transducer, setting in motion after adjustment athletic posture;
4th step, performs location algorithm and obtains present position coordinate, judge position coordinates whether within the scope of desired trajectory, if in the operation of projected path scope, then keep this attitude to walk on, if exceed projected path scope, then and adjust operation attitude.If the concrete grammar of adjust operation attitude exceeds desired trajectory left, then revolver speed strengthens, if exceed estimation range to the right, then right wheel speed strengthens; With off-centered displacement and current course angle for input, with the speed difference of left and right wheels for exporting, realize online-forum system.
As shown in Figure 3, performing the concrete steps that location algorithm obtains present position coordinate in described 4th step is:
The first step, initializes odometer position location getting meal place, eliminates the cumulative errors in food delivery process each time.
Second step, adopts odometer location algorithm to obtain positional increment and the position coordinates of instant meal delivery robot;
3rd step, then judge that whether ultra-wideband positioning system work is normal by robot movement velocity and displacement, if robot speed is greater than zero, and displacement changed compared with last control cycle, but the distance that ultra-wideband positioning system turns back to each reference mode does not become, then be judged as that ultra broadband positioning work is abnormal, then the positional increment adopting odometer to obtain and previous position information are current present position coordinate; If ultra-broadband signal is working properly, then adopts the result of ultra broadband location and odometer positioning result to carry out fusion by Kalman filtering algorithm and obtain current present position coordinate.
In the present embodiment, revolver motor 3 and right turbin generator 4 realize the speed of service and the course changing control of robot; 24V DC voltage conversion becomes adjustable voltage to control the running of revolver motor 3 and right turbin generator 4 by motor driver 2, calculates the number of turns that motor rotates simultaneously, the number of turns that the concurrent power transmission machine of control instruction receiving control panel 1 by serial ports rotates.The method that navigation system adopts ultra broadband and odometer location to merge, the computing in engine of positioning server 503 of ultra broadband location algorithm; Engine of positioning server 503 receives the mileage information of the left and right motor that control panel transmits and the positions calculations done based on odometer by wireless data sending mode simultaneously; Then obtained the real-time location coordinates of robot by blending algorithm, and positioning result is passed to the control panel 1 in robot by wireless data sending mode.Infrared and ultrasonic wave module 7 realizes detection of obstacles, can detect the barrier of differing heights in real time, robot stop motion when running into barrier, and voice broadcast.
Further, the present embodiment adopts concrete model connect according to the method described above and control, revolver motor 3 and right turbin generator 4 select 100W brshless DC motor, join 100W two-way motor driver 2, motor driver 2 is by RS-232 and control panel 1 communication, motor start-stop and the speed of service can being controlled by instruction, the number of turns of motor rotation can being returned for calculating walking displacement simultaneously.Control panel 1 adopts STM32 system to realize, with RS-232 and wireless data sending mode communication interface.Infrared and ultrasonic wave module 7 sends into control panel 1 for avoidance obstacle by I/O port.First battery module 8 is powered and the second battery module 9 adopts 24V lithium battery.Ultra-wideband positioning system 5 adopts four stationary nodes and a mobile node, and location algorithm realizes in the server, and position refreshing frequency is that 2 ~ 30Hz is optional.
Four fixed reference nodes 501 of ultra-wideband positioning system 5 are placed in four angles in the space of 20 × 20m respectively, and setting height(from bottom) is 2.5m.Mobile node is placed on wheeled robot, and setting height(from bottom) is 1.3m.Between robot two-wheeled, spacing is 390mm, and wheel diameter is 200mm.The position refreshing frequency of ultra-wideband positioning system 5 gets 10Hz, and the odometer sampling period gets 50Hz, and the TRAJECTORY CONTROL cycle gets 200ms; Motor speed is set to 1000rpm, and being converted into the robot speed of service is 0.28m/s.When Robot straight line X=10m walks (direction increased from Y=1m along Y is run), the auditory localization cues of the localization method adopting separately UWB localization method and employing UWB to combine with odometer as shown in Figure 4.
As can be seen from Figure 4, when adopting separately ultra-wideband positioning system 5 to locate, positioning result fluctuation is comparatively large, substantially fluctuates in ± 10cm, this maloperation that robot trajectory may be caused to control, thus causes robot controlling stationarity and tracking deterioration in accuracy.When adopt realize location based on UWB and odometer blending algorithm time, position error fluctuation is less, substantially within ± 4cm, meets the requirement of meal delivery robot TRAJECTORY CONTROL completely.
Claims (5)
1. a meal delivery robot control system, it is characterized in that: it comprises control panel, described control panel is connected with the motor driver with mileage calculation function by serial ports, motor driver can the revolver motor of driven machine people and right turbin generator, and described control panel is connected with ultra-wideband positioning system, attitude transducer and infrared and ultrasonic wave module;
Described ultra-wideband positioning system comprises mobile node in reference mode, robot and engine of positioning server, ultra-wideband communications is passed through between mobile node in reference mode and robot, transmit data by wireless data sending mode between mobile node in server and robot, server receives the mileage information of the left and right motor that control panel transmits by wireless data sending mode.
2. a kind of meal delivery robot control system as claimed in claim 1, is characterized in that: described control panel, the mobile node in robot and attitude transducer, and infrared and ultrasonic wave module and motor driver are powered by battery module.
3. the control method of motion trace of the meal delivery robot control system described in above-mentioned any one claim, is characterized in that, it comprises following step:
(1) position coordinates of each dining table and the coordinate interval of meal delivery robot run trace is determined according to dining room layout;
(2) the target table determination object coordinate selected according to operating personnel of robot, then selectes walking path according to object coordinate;
(3) athletic posture information is read from attitude transducer, setting in motion after adjustment athletic posture;
(4) perform location algorithm and obtain present position coordinate, judge position coordinates whether within the scope of desired trajectory, if in the operation of projected path scope, then keep this attitude to walk on, if exceed projected path scope, then adjust operation attitude.
4. the control method of motion trace of meal delivery robot control system as claimed in claim 3, it is characterized in that: described step (4) is if the concrete grammar of middle adjust operation attitude exceeds desired trajectory left, then revolver speed strengthens, if exceed estimation range to the right, then right wheel speed strengthens; With off-centered displacement and current course angle for input, with the speed difference of left and right wheels for exporting, realize online-forum system.
5. the control method of motion trace of meal delivery robot control system as claimed in claim 3, is characterized in that: the concrete steps that described step (4) middle execution location algorithm obtains present position coordinate are:
A () initializes odometer position location getting meal place, eliminate the cumulative errors in food delivery process each time.
B () adopts odometer location algorithm to obtain positional increment and the position coordinates of instant meal delivery robot;
C by robot movement velocity and displacement, () then judges that whether ultra-wideband positioning system work is normal, if robot speed is greater than zero, and displacement changed compared with last control cycle, but the distance that ultra-wideband positioning system turns back to each reference mode does not become, then be judged as that ultra broadband positioning work is abnormal, then the positional increment adopting odometer to obtain and previous position information are current present position coordinate; If ultra-broadband signal is working properly, then adopts the result of ultra broadband location and odometer positioning result to carry out fusion by Kalman filtering algorithm and obtain current present position coordinate.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106227219A (en) * | 2016-09-28 | 2016-12-14 | 深圳市普渡科技有限公司 | A kind of cafeteria based on meal delivery robot food delivery method |
| CN106272332A (en) * | 2016-09-24 | 2017-01-04 | 成都创慧科达科技有限公司 | A kind of meal delivery robot based on indoor positioning technologies and control system and control method |
| CN107024932A (en) * | 2017-03-01 | 2017-08-08 | 上海师范大学 | The control method of intelligent four-wheel drive serving trolley |
| CN107041634A (en) * | 2017-03-01 | 2017-08-15 | 上海师范大学 | Intelligent four-wheel drive serving trolley |
| CN107357291A (en) * | 2017-07-12 | 2017-11-17 | 旗瀚科技有限公司 | A kind of food delivery system based on magnetic navigation robot |
| CN108613671A (en) * | 2018-04-25 | 2018-10-02 | 东南大学 | A kind of intelligent grass-removing positioning device and method based on UWB positioning and flight path positioning |
| CN109725642A (en) * | 2019-01-25 | 2019-05-07 | 深圳普思英察科技有限公司 | Self-service machine system and its air navigation aid and device |
| CN111381586A (en) * | 2018-12-11 | 2020-07-07 | 深圳市优必选科技有限公司 | Robot and movement control method and device thereof |
| CN113329333A (en) * | 2021-05-27 | 2021-08-31 | 中国工商银行股份有限公司 | Indoor positioning method and device, computer equipment and storage medium |
| WO2021227459A1 (en) * | 2020-05-14 | 2021-11-18 | 特斯联科技集团有限公司 | Guidance control method and device, and storage medium and service robot |
| CN114012738A (en) * | 2021-12-10 | 2022-02-08 | 北京云迹科技有限公司 | Meal delivery robot control method and related equipment |
| WO2024055369A1 (en) * | 2022-09-14 | 2024-03-21 | 江苏科技大学 | Speed-position dual-working mode switching method and apparatus for meal delivery robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272332A (en) * | 2016-09-24 | 2017-01-04 | 成都创慧科达科技有限公司 | A kind of meal delivery robot based on indoor positioning technologies and control system and control method |
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| CN111381586A (en) * | 2018-12-11 | 2020-07-07 | 深圳市优必选科技有限公司 | Robot and movement control method and device thereof |
| CN109725642A (en) * | 2019-01-25 | 2019-05-07 | 深圳普思英察科技有限公司 | Self-service machine system and its air navigation aid and device |
| WO2021227459A1 (en) * | 2020-05-14 | 2021-11-18 | 特斯联科技集团有限公司 | Guidance control method and device, and storage medium and service robot |
| CN113329333A (en) * | 2021-05-27 | 2021-08-31 | 中国工商银行股份有限公司 | Indoor positioning method and device, computer equipment and storage medium |
| CN114012738A (en) * | 2021-12-10 | 2022-02-08 | 北京云迹科技有限公司 | Meal delivery robot control method and related equipment |
| WO2024055369A1 (en) * | 2022-09-14 | 2024-03-21 | 江苏科技大学 | Speed-position dual-working mode switching method and apparatus for meal delivery robot |
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