CN105807773A - Restaurant service robot system based on iGPS and internal communication - Google Patents
Restaurant service robot system based on iGPS and internal communication Download PDFInfo
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- CN105807773A CN105807773A CN201610314550.XA CN201610314550A CN105807773A CN 105807773 A CN105807773 A CN 105807773A CN 201610314550 A CN201610314550 A CN 201610314550A CN 105807773 A CN105807773 A CN 105807773A
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- 238000004891 communication Methods 0.000 title claims abstract description 28
- 235000012054 meals Nutrition 0.000 claims abstract description 72
- 238000012384 transportation and delivery Methods 0.000 claims abstract description 67
- 230000002452 interceptive effect Effects 0.000 claims abstract description 19
- 238000000034 method Methods 0.000 claims description 8
- 235000013311 vegetables Nutrition 0.000 claims description 5
- 238000013439 planning Methods 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 238000003786 synthesis reaction Methods 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 abstract description 4
- 230000006870 function Effects 0.000 description 9
- 230000006399 behavior Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000012459 cleaning agent Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The invention discloses a restaurant service robot system based on iGPS and internal communication.The system comprises a greeting robot, a meal delivery robot and a cleaning robot and further comprises a terminal host, a single chip microcomputer control system, an indoor global positioning system and a man-machine interactive system.The greeting robot, the meal delivery robot and the cleaning robot are controlled by the single chip microcomputer control system.The single chip microcomputer control system is controlled by the terminal host.According to the restaurant service robot system, a whole background is controlled by the terminal host, and the greeting robot, the meal delivery robot and the cleaning robot achieve positioning through iGPS signals, so that the purpose of accurate positioning is achieved, the automation degree of a restaurant is improved, and one-station full automation can be achieved.
Description
Technical field
The present invention relates to service robot field, particularly relate to a kind of dining room service robot based on iGPS and internal communication.
Background technology
Along with the fast development of economic society, we can often enter dining room for convenient or dinner party, and the requirement of dining room service itself is also more and more higher.Within 2010, domestic first hand robot dining room is after Jinan occurs, Hong Kong, Harbin, Ningbo, Hefei also occurs in that robot dining room in succession, has earned enough the volume of the flow of passengers for dining room, and service robot is more and more applied in restaurant.Current dining room service robot has a great difficult problem: problem is moved in the path being exactly robot, cannot accomplish to be accurately positioned, in order to avoid this problem, present most of dining rooms are all the planning adopting the mode of tracking to carry out path, thus carrying out the mobile route of regulation robot.But the mode of tracking not only can leave obvious lines on ground, and take up room, destroy the attractive in appearance of whole dining room.And existing robot service function is less, many-sided service function perhaps is also had to have to be developed.
Summary of the invention
In order to solve the problems referred to above, the invention provides one can realize being accurately positioned, the dining room service robot system of contexture by self route, end host in this system by the Map in dining room to guest-meeting robot, meal delivery robot, clean robot, above-mentioned three kinds of robots are by the current location of indoor GPS identification oneself and contrast with map, thus arriving appointment position, it is ensured that the accuracy of route.
In order to achieve the above object, the present invention is achieved by the following technical solutions:
nullThe present invention is a kind of dining room service robot system based on iGPS and internal communication，Including guest-meeting robot、Meal delivery robot、Clean robot，It is characterized in that: dining room service robot system also includes being responsible for the computing ordered with settle accounts of reception client and sends dining room map to guest-meeting robot、Meal delivery robot、The end host of clean robot、It is responsible for route planning and to guest-meeting robot、Meal delivery robot、The single-chip computer control system of the path clustering of clean robot、Send guest-meeting robot in real time、Meal delivery robot、The changing coordinates of clean robot is to guest-meeting robot、Meal delivery robot、Clean robot ensures the indoor GPS of the accuracy of route、There is the man-machine interactive system swiped the card checkout and the function ordered of touch screen and the dining information of client is sent to end host，Described guest-meeting robot、Meal delivery robot、Clean robot is controlled by single-chip computer control system，Described single-chip computer control system is controlled by described end host.
Preferred: end host is a PC with higher position reason operational capability, end host processes the information of ordering from client and checkout information by wifi communication reception, and sends commands to described guest-meeting robot, meal delivery robot, clean robot execution command adapted thereto by wifi.
nullPreferred: single-chip computer control system is by guest-meeting robot、Meal delivery robot、The main control singlechip composition being respectively embedded in clean robot，Guest-meeting robot、Meal delivery robot、The main control singlechip being respectively embedded in clean robot goes to the desk specified to perform corresponding operating behavior by the wifi order received from end host，Guest-meeting robot、Meal delivery robot、The main control singlechip being respectively embedded in clean robot is all built-in with memorizer，For storing the digital map information received from end host and storing operating system，Guest-meeting robot、Meal delivery robot、The dining room map that changing coordinates and end host send is carried out contrasting the current location identifying oneself by the main control singlechip in clean robot，And send corresponding instruction to moving cell，Moving cell drive motor makes guest-meeting robot、Meal delivery robot、Clean robot moves to appointment position.
Preferred: indoor GPS includes iGPS signal projector and iGPS signal receiver, described iGPS signal projector is arranged in dining room, improve the accuracy of location, described iGPS signal receiver is separately mounted on guest-meeting robot, meal delivery robot, clean robot, the signal received is processed by the main control singlechip embedded in guest-meeting robot, meal delivery robot, clean robot, identifies the current location of oneself.
Preferred: the magnetic card that Checkout Feature of swiping the card described in man-machine interactive system is according to client is settled accounts, magnetic card and bank card binding, how many discounts of concrete VIP grade and corresponding VIP grade is arranged by dining room manager, the touch screen of described man-machine interactive system function of ordering includes line holographic projections and electric resistance touch screen, corresponding vegetable pattern is fed back to client by line holographic projections really, described man-machine interactive system be arranged on each dining table swipe the card Checkout Feature unit and functional unit that touch screen is ordered is carried out processing controls by end host, the communication of information is carried out by wifi and the functional unit swiping the card Checkout Feature unit and touch screen is ordered.
Preferred: the guest-meeting robot fixed area on doorway is touring, described guest-meeting robot is provided with LMS laser sensor, LMS laser sensor detects whether that someone passes through, and the direct of travel in the direction of oneself with client is contrasted, identify client be into or go out, then send welcome or send the voice of guest, described guest-meeting robot front has touch screen to include number of meals and whether parlor option selects for client, described guest-meeting robot and end host communication, and whether the demand and dining table according to client be current at the use optimized dining table of arrangement.
Preferred: meal delivery robot receives the order from end host, realize real-time positioning by iGPS to contrast with the map from end host, eventually through the main control singlechip actuation movement unit that meal delivery robot is embedded in, thus drive motor, before dish end to the dining table specified, voice please slowly, then backtracking is sent after described meal delivery robot arrival dining table.
Preferred: client swipes the card after the information of checkout feeds back to end host by man-machine interactive system, and clean robot receives from the order of end host, goes to sweep corresponding dining table, accurately arrives appointment dining table and sweeps.
Preferred: guest-meeting robot, meal delivery robot, clean robot are equipped with voice module and avoidance module, voice module includes speech recognition and phonetic synthesis, being respectively used to identify the voice of client and send voice, avoidance module prevents from bumping against for the client getting around front.
Preferred: dining room service robot system various piece is fitted with wifi module and communicates.
The invention has the beneficial effects as follows: native system realizes being accurately positioned and the contexture by self in path of robot by iGPS, in the process of walking, robot can accept the data from corner iGPS in the moment, analyze the changing coordinates of oneself, and and the map sent of end host contrast, thus guaranteeing to arrive quickly and accurately to specify destination, simultaneously avoidance module can detect that client actively detours row, pass through guest-meeting robot, meal delivery robot, the one-stop full-automatic service of three kinds of robots of clean robot, decrease cost of labor and facilitate client and have dinner, the management in dining room and run effective more.
The dining room service robot system of the present invention, whole backstage is controlled by end host, guest-meeting robot, meal delivery robot, clean robot is made to position according to the signal of iGPS, thus reaching pinpoint purpose, and strengthen the automaticity in dining room, it may be achieved one-stop full-automation.
Accompanying drawing explanation
Fig. 1 is the present invention is system schematic.
Detailed description of the invention
In order to deepen the understanding of the present invention, below in conjunction with drawings and Examples, the present invention being described in further detail, this embodiment is only used for explaining the present invention, protection scope of the present invention is not constituted and limits.
nullAs shown in Figure 1，The present invention is a kind of dining room service robot system based on iGPS and internal communication，Including guest-meeting robot、Meal delivery robot、Clean robot，It is characterized in that: dining room service robot system also includes being responsible for the computing ordered with settle accounts of reception client and sends dining room map to guest-meeting robot、Meal delivery robot、The end host of clean robot，Namely end host has map is issued guest-meeting robot、Meal delivery robot、Clean robot，And receive ordering and informational function of settling accounts from touch screen man-machine interaction、It is responsible for route planning and to guest-meeting robot、Meal delivery robot、The single-chip computer control system of the path clustering of clean robot、Send guest-meeting robot in real time、Meal delivery robot、The changing coordinates of clean robot is to guest-meeting robot、Meal delivery robot、Clean robot ensures the indoor GPS of the accuracy of route、There is the man-machine interactive system swiped the card checkout and the function ordered of touch screen and the dining information of client is sent to end host，Described guest-meeting robot、Meal delivery robot、Clean robot is controlled by single-chip computer control system，Described single-chip computer control system is controlled by described end host，Described end host is a PC with higher position reason operational capability，End host processes the information of ordering from client and checkout information by wifi communication reception，And send commands to described guest-meeting robot by wifi、Meal delivery robot、Clean robot performs command adapted thereto，Described single-chip computer control system is by guest-meeting robot、Meal delivery robot、The main control singlechip composition being respectively embedded in clean robot，Guest-meeting robot、Meal delivery robot、The main control singlechip being respectively embedded in clean robot goes to the desk specified to perform corresponding operating behavior by the wifi order received from end host，Guest-meeting robot、Meal delivery robot、The main control singlechip being respectively embedded in clean robot is all built-in with memorizer，For storing the digital map information received from end host and storing operating system，Guest-meeting robot、Meal delivery robot、The dining room map that changing coordinates and end host send is carried out contrasting the current location identifying oneself by the main control singlechip in clean robot，And send corresponding instruction to moving cell，Moving cell drive motor makes guest-meeting robot、Meal delivery robot、Clean robot moves to appointment position，Described indoor GPS includes iGPS signal projector and iGPS signal receiver，Each corner that described iGPS signal projector is arranged in dining room includes ceiling，Improve the accuracy of location，Described iGPS signal receiver is separately mounted to guest-meeting robot、Meal delivery robot、On clean robot，The signal received is by guest-meeting robot、Meal delivery robot、The main control singlechip embedded in clean robot processes，Identify the current location of oneself，The magnetic card that Checkout Feature of swiping the card described in described man-machine interactive system is according to client is settled accounts，Magnetic card and bank card binding，How many discounts of concrete VIP grade and corresponding VIP grade is arranged by dining room manager，The touch screen of described man-machine interactive system function of ordering includes line holographic projections and electric resistance touch screen，Corresponding vegetable pattern is fed back to client by line holographic projections really，Described man-machine interactive system be arranged on each dining table swipe the card Checkout Feature unit and functional unit that touch screen is ordered is carried out processing controls by end host，The communication of information is carried out by wifi and the functional unit swiping the card Checkout Feature unit and touch screen is ordered，The described guest-meeting robot fixed area on doorway is touring，Described guest-meeting robot is provided with LMS laser sensor，LMS laser sensor detects whether that someone passes through，And the direct of travel in the direction of oneself with client is contrasted，Identify client be into or go out，Then send welcome or send the voice of guest，Described guest-meeting robot front has touch screen to include number of meals and whether parlor option selects for client，Described guest-meeting robot and end host communication，And whether the demand and dining table according to client is currently using the optimized dining table of arrangement，Described meal delivery robot receives the order from end host，Realize real-time positioning by iGPS to contrast with the map from end host，Eventually through the main control singlechip actuation movement unit that meal delivery robot is embedded in，Thus drive motor，Before dish end to the dining table specified，Voice please slowly is sent after described meal delivery robot arrival dining table，Then backtracking，Client swipe the card checkout information feed back to end host by man-machine interactive system after，Clean robot receives the order from end host，Go to sweep corresponding dining table，Rely on the iGPS technology the same with described meal delivery robot accurately to arrive appointment dining table to sweep，Described guest-meeting robot、Meal delivery robot、Clean robot is equipped with voice module and avoidance module，Voice module includes speech recognition and phonetic synthesis，It is respectively used to identify the voice of client and send voice，Avoidance module prevents from bumping against for the client getting around front，Dining room service robot system various piece is fitted with wifi module and communicates.
nullThe map in dining room can be passed through wifi communications to guest-meeting robot by the end host of this dining room service robot system、Meal delivery robot、Main control chip in the main control singlechip of clean robot，And preserve in memory，Guest-meeting robot enclose on map according to end host carry out in the scope of picture touring，This scope is by dining room manager's sets itself，May be provided at the doorway in dining room，Guest-meeting robot is built-in with LMS laser sensor，Can detect whether that someone passes through，And the direct of travel in the direction of oneself with client is contrasted，By default algorithm identification client be into or go out，Then send welcome or send the voice of guest，Specifically can be arranged voluntarily by dining room manager，Guest-meeting robot front have touch screen include number of meals and whether the option such as parlor be available for client and select，After client has selected，The main control singlechip of guest-meeting robot passes data to end host and processes，End host obtains best table in conjunction with table situation and the customer demand in current dining room，And feed back to guest-meeting robot，After guest-meeting robot receives feedback，Client is led to go to the dining table of correspondence；Dining table is provided with man-machine interactive system and has the function that checkout of swiping the card is ordered with touch screen, described checkout of swiping the card is that the magnetic card according to client is settled accounts, described magnetic card and bank card binding, how many discounts of concrete VIP grade and corresponding VIP grade can be arranged by dining room manager voluntarily, described touch screen is ordered and is included line holographic projections and electric resistance touch screen, and corresponding vegetable pattern can be fed back to client by line holographic projections really；Client puts after the meal, the information of ordering of client is transferred to end host by man-machine interactive system, the dining table of client can be told meal delivery robot by end host, before the vegetable that client selects can be delivered to dining table by meal delivery robot and send please slow voice, if client additionally has by temporary requirements such as drinks beverages, the voice module carried may be made that corresponding reply after decoding, and meet the demand of client as far as possible；When client have dinner swipe the card checkout after, end host obtains the table of having dinner of client by the man-machine interactive system very first time, and corresponding dining table positional information is passed to clean robot, clean robot will go to corresponding dining table to sweep after receiving message, the mode of sweeping of described clean robot can be various, it is possible not only to sweep appointment desktop and can also sweep the ground near dining table, such as can penetrate moisture at cleaning machine human hand equipped with sponge, can wiping desktop, gray-scale sensor is arranged on hands portion simultaneously, detect sponge dirty to a certain extent after can automatically open up camera bellows replace one piece of clean sponge prestored, foot is provided with hairbrush and cleaning agent flusher, arrive after specifying region, automatically turn on and sweep unit and carry out sweeping of ground；Indoor GPS includes iGPS signal projector and iGPS signal receiver, iGPS signal projector is arranged on each corner in dining room and includes ceiling, iGPS signal receiver installs guest-meeting robot, meal delivery robot, in three kinds of robots of clean robot, described three kinds of robots utilize iGPS signal identification and determine himself position, contrasted by the map sent with end host, determine the accuracy of oneself walking path, described three kinds of robots all have voice module, including speech recognition identification module and voice synthetic module, can simply exchange with client, the described common dialogue storage exchanged with client is called in order to robot in memory, described memorizer also can brush the operating system into similar linux, facilitate realization and the coordination of the various function of robot；Described three kinds of robots are fitted with avoidance module, detect that client can independently avoid in the process of walking, detour and go, designated destination still can be found under the location of iGPS without wandering off, the transmission of above-mentioned all data messages is all communicated by wifi and realizes, it is ensured that the distance of communication and the stability of communication data.
Native system realizes being accurately positioned and the contexture by self in path of robot by iGPS, in the process of walking, robot can accept the data from corner iGPS in the moment, analyze the changing coordinates of oneself, and and the map sent of end host contrast, thus guaranteeing to arrive quickly and accurately to specify destination, simultaneously avoidance module can detect that client actively detours row, pass through guest-meeting robot, meal delivery robot, the one-stop full-automatic service of three kinds of robots of clean robot, decrease cost of labor and facilitate client and have dinner, the management in dining room and run effective more.
Claims (10)
- null1. the dining room service robot system based on iGPS and internal communication，Including guest-meeting robot、Meal delivery robot、Clean robot，It is characterized in that: dining room service robot system also includes being responsible for the computing ordered with settle accounts of reception client and sends dining room map to guest-meeting robot、Meal delivery robot、The end host of clean robot、It is responsible for route planning and to guest-meeting robot、Meal delivery robot、The single-chip computer control system of the path clustering of clean robot、Send guest-meeting robot in real time、Meal delivery robot、The changing coordinates of clean robot is to guest-meeting robot、Meal delivery robot、Clean robot ensures the indoor GPS of the accuracy of route、There is the man-machine interactive system swiped the card checkout and the function ordered of touch screen and the dining information of client is sent to end host，Described guest-meeting robot、Meal delivery robot、Clean robot is controlled by single-chip computer control system，Described single-chip computer control system is controlled by described end host.
- 2. a kind of dining room service robot system based on iGPS and internal communication according to claim 1, it is characterized in that: described end host is a PC with higher position reason operational capability, end host processes the information of ordering from client and checkout information by wifi communication reception, and sends commands to described guest-meeting robot, meal delivery robot, clean robot execution command adapted thereto by wifi.
- null3. a kind of dining room service robot system based on iGPS and internal communication according to claim 1，It is characterized in that: described single-chip computer control system is by guest-meeting robot、Meal delivery robot、The main control singlechip composition being respectively embedded in clean robot，Guest-meeting robot、Meal delivery robot、The main control singlechip being respectively embedded in clean robot goes to the desk specified to perform corresponding operating behavior by the wifi order received from end host，Guest-meeting robot、Meal delivery robot、The main control singlechip being respectively embedded in clean robot is all built-in with memorizer，For storing the digital map information received from end host and storing operating system，Guest-meeting robot、Meal delivery robot、The dining room map that changing coordinates and end host send is carried out contrasting the current location identifying oneself by the main control singlechip in clean robot，And send corresponding instruction to moving cell，Moving cell drive motor makes guest-meeting robot、Meal delivery robot、Clean robot moves to appointment position.
- 4. a kind of dining room service robot system based on iGPS and internal communication according to claim 1, it is characterized in that: described indoor GPS includes iGPS signal projector and iGPS signal receiver, described iGPS signal projector is arranged in dining room, improve the accuracy of location, described iGPS signal receiver is separately mounted on guest-meeting robot, meal delivery robot, clean robot, the signal received is processed by the main control singlechip embedded in guest-meeting robot, meal delivery robot, clean robot, identifies the current location of oneself.
- 5. a kind of dining room service robot system based on iGPS and internal communication according to claim 1, it is characterized in that: the magnetic card that Checkout Feature of swiping the card described in described man-machine interactive system is according to client is settled accounts, magnetic card and bank card binding, how many discounts of concrete VIP grade and corresponding VIP grade is arranged by dining room manager, the touch screen of described man-machine interactive system function of ordering includes line holographic projections and electric resistance touch screen, corresponding vegetable pattern is fed back to client by line holographic projections really, described man-machine interactive system be arranged on each dining table swipe the card Checkout Feature unit and functional unit that touch screen is ordered is carried out processing controls by end host, the communication of information is carried out by wifi and the functional unit swiping the card Checkout Feature unit and touch screen is ordered.
- 6. a kind of dining room service robot system based on iGPS and internal communication according to claim 3, it is characterized in that: the described guest-meeting robot fixed area on doorway is touring, described guest-meeting robot is provided with LMS laser sensor, LMS laser sensor detects whether that someone passes through, and the direct of travel in the direction of oneself with client is contrasted, identify client be into or go out, then send welcome or send the voice of guest, described guest-meeting robot front has touch screen to include number of meals and whether parlor option selects for client, described guest-meeting robot and end host communication, and whether the demand and dining table according to client is currently using the optimized dining table of arrangement.
- 7. a kind of dining room service robot system based on iGPS and internal communication according to claim 3, it is characterized in that: described meal delivery robot receives the order from end host, realize real-time positioning by iGPS to contrast with the map from end host, eventually through the main control singlechip actuation movement unit that meal delivery robot is embedded in, thus drive motor, before dish end to the dining table specified, after described meal delivery robot arrival dining table, send voice please slowly, then backtracking.
- 8. a kind of dining room service robot system based on iGPS and internal communication according to claim 3, it is characterized in that: client swipe the card checkout information feed back to end host by man-machine interactive system after, clean robot receives the order from end host, go to sweep corresponding dining table, accurately arrive and specify dining table to sweep.
- 9. a kind of dining room service robot system based on iGPS and internal communication according to any one of claim 6-8, it is characterized in that: described guest-meeting robot, meal delivery robot, clean robot are equipped with voice module and avoidance module, voice module includes speech recognition and phonetic synthesis, being respectively used to identify the voice of client and send voice, avoidance module prevents from bumping against for the client getting around front.
- 10. a kind of dining room service robot system based on iGPS and internal communication according to any one of claim 1-9, it is characterised in that: dining room service robot system various piece is fitted with wifi module and communicates.
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| CN107024932A (en) * | 2017-03-01 | 2017-08-08 | 上海师范大学 | The control method of intelligent four-wheel drive serving trolley |
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