CN106569494A - Food delivery robot control system based on multi-sensor fusion - Google Patents

Food delivery robot control system based on multi-sensor fusion Download PDF

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Publication number
CN106569494A
CN106569494A CN201610979420.8A CN201610979420A CN106569494A CN 106569494 A CN106569494 A CN 106569494A CN 201610979420 A CN201610979420 A CN 201610979420A CN 106569494 A CN106569494 A CN 106569494A
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China
Prior art keywords
delivery robot
customer
meal
information
meal delivery
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CN201610979420.8A
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Chinese (zh)
Inventor
吴羽
黄文恺
林政杰
林任烦
蔡锦胡
黄沛林
温泉河
伍冯洁
朱静
韩晓英
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Guangzhou University
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Guangzhou University
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Priority to CN201610979420.8A priority Critical patent/CN106569494A/en
Publication of CN106569494A publication Critical patent/CN106569494A/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a food delivery robot control system based on multi-sensor fusion. The food delivery robot control system comprises an industrial personal computer-based ordering system, a background information management system and a food delivery robot, which are connected in sequence. The control method of the food delivery robot control system comprises the following steps: a customer browses the dishes of a restaurant through the industrial personal computer-based ordering system, and completes ordering and online payment; the customer verifies the order, and sends the order to the background information management system; the background information management system prints the order on paper, and transmits the order paper to the kitchen; the kitchen staff makes corresponding dishes, and makes the food delivery robot delivery the dishes to a table where the customer is seated; the food delivery robot informs the customer to take food by voice, and gets the food taking condition of the customer; and the customer takes the food. Smart management and application in the whole life cycle (including 'before sales', 'in-sales' and 'after-sales') of the catering service is realized. Manpower cost is saved effectively. The informatization level and management efficiency of restaurants are improved.

Description

Meal delivery robot control system based on Multi-sensor Fusion
Technical field
The present invention relates to the systems technology field of the motion offer information of robot, more particularly to it is a kind of based on multisensor The meal delivery robot control system of fusion.
Background technology
Intellect service robot system integrates service interaction and the artificial intelligence such as pay the bill, and is aided with by cloud meter Calculate, the Internet of Things application platform of big data process, realize customer from enter shop, order, have dinner, paying, the full life such as service valuation The information process- of cyclic flow.Entertainment orientation, joyful and interesting dining room through the Internet and technology of Internet of things transformation, effectively Human cost is saved, the level of IT application and the efficiency of management in dining room is lifted, is driven customer's self propagation.
The content of the invention
In order to overcome the shortcoming that prior art is present with a kind of not enough, food delivery based on Multi-sensor Fusion of present invention offer Robot control system, can effectively save human cost, lifted dining room the level of IT application and the efficiency of management.
To solve above-mentioned technical problem, the present invention provides following technical scheme:A kind of food delivery based on Multi-sensor Fusion Robot control system, including the industrial computer meal ordering system, background information management system and food delivery machine that are linked in sequence successively People, wherein
The industrial computer meal ordering system is used for ordering dishes and the function that places an order for customer, and for updating often cuisine;
The background information management system is used to receive the order of customer and send kitchen to, and monitor in real time dining room letter Breath;
The meal delivery robot is used to receive vegetable and food delivery is to customer.
Further, the industrial computer meal ordering system includes ordering software based on the interactive mode of visualization touch-screen, its tool There is on-line payment function, the on-line payment includes wechat and Alipay.
Further, background information management system monitor in real time dining room information, the dining room information include robot Status information, flow of restaurant guests, kitchen dish storage and various dish sales volumes;The background information management system is by analysis The information of the information of passing buying and passing sales volume, so as to obtain rational procurement scheme.
Further, the background information management system includes printer, and the printer is used to print order with paper, institute Stating includes bar code information and Customer Information with paper, the bar code information include customer order dish, customer order the time with And robot ambulation route, the Customer Information includes customer's number and customer's seat information.
Further, the meal delivery robot includes the Information Collection System of Multi-sensor Fusion, and described information collects system System includes that the contactless RFID of high frequency reads sensor assembly, HONGGUANG scan module, magnetic navigation sensor module, servo-driver Module, servomotor module, ultrasonic sensor modules, voice playing module, HONGGUANG barcode scanning sensor assembly, pressure transducer Module, Xbee wireless transport modules and the main control chip being connected with each module, each module and main control chip are worked in coordination fortune Data are provided as robot to support, wherein
The contactless RFID of the high frequency reads sensor assembly to be used to recognize meal delivery robot positional information;
The HONGGUANG scan module be used for read background information management system printing=order strip information;
The magnetic navigation sensor module is used to recognize magnetic material and provide positional information for meal delivery robot;
The servo-driver module is used for constant speed ground at regular time and quantity and drives servomotor;
The servomotor module is used for the power for providing meal delivery robot advance;
The ultrasonic sensor modules are used for the barrier for detecting front, so as to the work(of avoidance is provided to meal delivery robot Energy;
The voice playing module is used to carry out speech play, and causes meal delivery robot to carry out interaction with customer;
The pressure sensor module is used to detect whether service plate has thing so that whole food delivery process can more hommization With the raising speed of service;
The Xbee wireless transport modules are used for meal delivery robot and enter the transmission of row information with background information management system.
Further, the main control chip adopt including STM32 for main control chip, 51 single-chip microcomputers or Arduino at least A kind of microcontroller.
Further, the meal delivery robot obtains robot battery by the ADC that includes inside main control chip The electricity of itself, when electricity less than it is a certain amount of when, ADC is to background information management system application cradle position;When When cradle is idle, meal delivery robot is instructed according to background information management system, is charged to specified location.
Further, the industrial computer meal ordering system, its concrete operations include:
S1, customer browse the cuisine in dining room by industrial computer meal ordering system, and by the friendship at industrial computer meal ordering system interface Mutually formula software of ordering completes to order and on-line payment;
S2, industrial computer meal ordering system verify that to order the order after checking is passed and is sent to background information management System;Wherein, described that order is verified, verification method is:Order after wechat or Alipay on-line payment, industry control Machine meal ordering system verified using developer's interface that wechat or Alipay give, and determines whether order pays successfully.
Further, the background information management system, its concrete operations include:
S3, background information management system carry out printing with paper to order, and are sent to kitchen;
S4, kitchen employee obtain the sequence information with paper, and are completed corresponding vegetable according to sequence information;.
Further, the meal delivery robot, its concrete food delivery flow process is:
S5, meal delivery robot receive the vegetable of kitchen employee, and vegetable is sent to customer's seat according to the sequence information with paper Position;
After S6, meal delivery robot reach customer seat, customer's pick-up is informed by speech play;If customer's pick-up, Pick-up information is transmitted to background information management system, food delivery flow process is completed.
After above-mentioned technical proposal, the present invention at least has the advantages that:
(1) present system provides service with can not resting for 24 hours, can automatically food delivery, blank panel reclaim, vegetable introduction with And automatic charging, automatic tracking, Intelligent Recognition table are capable of achieving, are automatically stopped and are started;
(2) present system being capable of intelligent barrier avoiding:Pass through in traveling, ultrasonic sensor modules detection meal delivery robot The obstacle situation in front, and by information back servo-driver module, with the stalling of controlled motor after process, prevent from colliding guest Or staff etc.;
(3) meal delivery robot of the present invention has terminal automatic identification automatic hold function;Voice with hommization is carried Show function:When there is guest in front, guest can be asked to give way by voice message;When sending thing or receiving thing, when arrival required service Before table number, corresponding voice message is carried out to guest or the service personal for tidying up dining table;When starting point is returned to, staff is entered Row is reminded;Industrial computer meal ordering system is ordered design based on the interactive mode of visualization touch-screen, it would be preferable to support on-line payment;
(4) meal delivery robot of the invention can autonomous detection battery electric quantity itself, when electricity is less than certain value, can send out Information informs backstage, Jing after the scheduling of backstage goes to automatically touching formula battery charger cradle recharging;
(5) present invention conveniently and efficiently interacts docking using HONGGUANG scanning with service personal, passes on information rapidly To robot and robot can promptly whereby information be arrived at;The background information management system of the present invention can be realized Collect the vegetable sales situations in dining room, robot trend, dining room location management, the people that operates machine walking, and industrial computer of ordering enter Row information is interactive and information is printed as papery version, uses for kitchen;
(6) whole system of the invention causes the operation in dining room more efficiently and regular so that the service personal in dining room Can greatly reduce, be pushed further into the variation of service occupation.
(7) background information management system of the invention can be realized collecting the vegetable sales situations in dining room, robot trend, meal Room location management, the people that operates machine walking, and industrial computer of ordering carry out information interaction and information be printed as into papery version, for kitchen Room is used;
(8) whole system of the invention causes the operation in dining room more efficiently and regular so that the service personal in dining room Can greatly reduce, be pushed further into the variation of service occupation;
(9) background information management system of the invention can give operator's analysis and suggestion, help operator to reduce buying Waste, reach the effect that daily food materials have just been sold, so as to increase the profit of operator;Background information management system can be with Allow operator's monitor in real time dining room, operator can be allowed to manage dining room well;Background information management system adopts original algorithm Planning map, robot can quickly food delivery to specified dining table.
Description of the drawings
Fig. 1 is structural representation of the present invention based on the meal delivery robot control system of Multi-sensor Fusion;
Fig. 2 is control flow chart of the present invention based on the meal delivery robot control system of Multi-sensor Fusion;
Fig. 3 is inside meal delivery robot of the present invention based on the meal delivery robot control system of Multi-sensor Fusion sensing more The Information Collection System schematic diagram of device fusion;
Fig. 4 is substantially flow chart of the present invention based on the meal delivery robot control method of Multi-sensor Fusion;
Fig. 5 is embodiment of the present invention meal delivery robot track route figure at the parting of the ways;
Fig. 6 is the dining room map that embodiment of the present invention background information management system shows.
Specific embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase Mutually combine, the application is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, the present invention provides a kind of meal delivery robot control system based on Multi-sensor Fusion, including industry control Machine meal ordering system, background information management system and meal delivery robot, meal delivery robot include that the information of Multi-sensor Fusion is received Collecting system;Industrial computer meal ordering system is used for ordering for customer, and generates order order, further, industrial computer meal ordering system energy It is enough that cuisine renewal is carried out according to Restaurant Operation person;Background information management system receives order of ordering, and meal delivery robot is managed, Including location management, Charge Management, transport management and environmental management etc..
The industrial computer meal ordering system dynamic generates menu, the dish stored by dynamic load background server;It is described Background information management system can be the information of information and passing sales volume that operator analyzes passing buying, so as to draw rationally buying Scheme;The meal delivery robot can by multiple ultrasound wave layback information and fusion finally realize meal delivery robot walk Scheduling, make the traveling of meal delivery robot safer;By HONGGUANG scanning module, quickly scanning is carried the meal delivery robot Dish information and dining table information, quick obtaining information are removed from and being manually entered.
As shown in Fig. 2 customer can browse the cuisine in dining room by the industrial computer of ordering of industrial computer meal ordering system, by handing over Mutually formula touch screen completes to order with after on-line payment, and the order after checking will send background information management to by network Corresponding informance will be printed and be sent to kitchen for system, background information management system, and kitchen just can be direct after getting out cuisine Information is obtained by HONGGUANG barcode scanning by meal delivery robot with paper.And robot is become and can be read and magnetic navigation standard by high-frequency RF ID Vegetable is sent to into each seat really, then informs that backstage is sent to situation by Xbee.The running of robot is by servo-drive Device is driving, and carries ultrasonic sensor, can actively avoid the safety that customer has ensured customer;Robot it is detailed Operational factor can be updated with Xbee communications by background information management system, and the parameter such as industrial computer each cuisine price of ordering can Timely updated with allowing background information management system to give by wifi;Robot can obtain machine by microcontroller ADC People's battery electricity of itself, when less than it is a certain amount of when, will with background information management system application cradle position, when filling When electric seat is idle, just can go to specified location and be charged.
It is that touching formula charges that robot charges, and facilitates the operation of robot autonomous charging.And robot charging system band There is defencive function, only when arrival specified location charging hole is just connected to the external world, to protect the safety of contact customer, prevent what is got an electric shock Occur.
Robot is reached after giving directions place, is informed customer's pick-up by speech play, and is known by pressure transducer The pick-up situation of customer, transmits unreachable message by Xbee after taking, completes whole food delivery flow process.
As shown in figure 3, meal delivery robot includes the Information Collection System of Multi-sensor Fusion, described information collection system bag Include the contactless RFID of high frequency and read sensor assembly, HONGGUANG scan module, magnetic navigation sensor module, servo-driver mould Block, servomotor module, ultrasonic sensor modules, voice playing module, HONGGUANG barcode scanning sensor assembly, pressure transducer mould Block, Xbee wireless transport modules and the main control chip being connected with each module, each module and main control chip are worked in coordination running Data support is provided for robot.
Embodiment
Customer receives customer instructions by the touch screen of industrial computer of ordering, and triggers life of the meal ordering system to backstage transmission data Order, so as to reach and backstage real-time, interactive.
Meal ordering system has a self-defining control, has picturebox controls and show dish above self-defined control Picture, label controls show price, have put quantity, the information that dish is introduced.Start meal ordering system every time all first to ask to backstage The dish information stored inside data, then ergodic data storehouse is sought, finally dynamic load menu again, so as to realize that Real-time and Dynamic is changed The function of menu.
As shown in figure 4, after the complete meal of meal ordering system point pays success, menu information is sent to background server, backstage letter Dish information is printed by printer by breath management system by the content of background server.
Company management person obtains Alipay interface by contracting immediately to account function with Alipay company, and meal ordering system is adjusted The function that Alipay barcode scanning pays is realized with Alipay interface.
The bar code that printer is printed be eight front two storage be seat number, three to seven is robot row Route information is walked, the 8th is check bit.
As shown in figure 5, in meal delivery robot food delivery way, when meal delivery robot crossroad is run into, 8 will be read Walking planning information in the middle of bar code, reads 1 byte information and just turns left, and reads 0 information and just directly walks.It is wherein available to deposit Storage track route information has 5 bytes, and each byte can have 8 positions, and each control is turned left or directly walked.Therefore, each Bar code can store up to 40 node processing information.If 40 nodes are not enough, background information management system can change 13 into The bar code of position, the node processing information of storage up to 80.
As shown in fig. 6, the dining room map that this figure is background information management system to be shown.Map planning algorithm is first to judge mesh The coordinate of cursor position just is not first judging whether to have node in terms of transverse axis if just finding out the right or not above node First node, and with Dynamic Array n [] record 1, after finding out, look for the plotted in primary nodal point uppermost again The interstitial content a of process is first found out after finding out second node by node location, at 1 a added behind 0, along with one 1;If the abscissa of second node is not equal to 0, repeatedly aforesaid operations, if equal to 0, then inquire about the node apart from kitchen If b, then again 1 b added behind 0.Resulting array is overturn, so send dish to the route of specified dining table with regard to structure Build and complete, then just build can kitchen route, first determine whether or not dining table position or not above node vertical pivot, if , then the interstitial content from target location to bottom node is inquired about, then adds c 0 again plus one 1 in array n if c, Then the number of rightmost node is inquired again, is then added d 0 again plus one 1 in array n if d, is finally being inquired most The number e of the node on top, adds d 0 in array n.Finally array is changed into char [] and is stored into lane database by traversal array Face.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with It is understood by, can these embodiments be carried out with various equivalent changes without departing from the principles and spirit of the present invention Change, change, replace and modification, the scope of the present invention is limited by claims and its equivalency range.

Claims (10)

1. a kind of meal delivery robot control system based on Multi-sensor Fusion, it is characterised in that including what is be linked in sequence successively Industrial computer meal ordering system, background information management system and meal delivery robot, wherein
The industrial computer meal ordering system is used for ordering dishes and the function that places an order for customer, and for updating often cuisine;
The background information management system is used to receive the order of customer and send kitchen to, and monitor in real time dining room information;
The meal delivery robot is used to receive vegetable and food delivery is to customer.
2. the meal delivery robot control system based on Multi-sensor Fusion as claimed in claim 1, it is characterised in that the work Control machine meal ordering system includes ordering software based on the interactive mode of visualization touch-screen, and which has on-line payment function, described online Payment includes wechat and Alipay.
3. the meal delivery robot control system based on Multi-sensor Fusion as claimed in claim 1, it is characterised in that after described Station information management system monitor in real time dining room information, the dining room information include robotary information, flow of restaurant guests, kitchen Dish storage and various dish sales volumes;Information and passing sales volume of the background information management system by the passing buying of analysis Information, so as to obtain rational procurement scheme.
4. the meal delivery robot control system based on Multi-sensor Fusion as described in claim 1 or 3, it is characterised in that institute Stating background information management system includes printer, and the printer is used to print order with paper, described to include that bar code is believed with paper Breath and Customer Information, the bar code information include that customer has order dish, customer and ordered time and robot ambulation route, institute Stating Customer Information includes customer's number and customer's seat information.
5. the meal delivery robot control system based on Multi-sensor Fusion as claimed in claim 1, it is characterised in that described to send Meal robot includes the Information Collection System of Multi-sensor Fusion, and described information collection system includes that the contactless RFID of high frequency reads Take sensor assembly, HONGGUANG scan module, magnetic navigation sensor module, servo-driver module, servomotor module, ultrasound wave Sensor assembly, voice playing module, HONGGUANG barcode scanning sensor assembly, pressure sensor module, Xbee wireless transport modules with And the main control chip being connected with each module, each module and main control chip work in coordination running and provide data for robot and support, Wherein
The contactless RFID of the high frequency reads sensor assembly to be used to recognize meal delivery robot positional information;
The HONGGUANG scan module be used for read background information management system printing=order strip information;
The magnetic navigation sensor module is used to recognize magnetic material and provide positional information for meal delivery robot;
The servo-driver module is used for constant speed ground at regular time and quantity and drives servomotor;
The servomotor module is used for the power for providing meal delivery robot advance;
The ultrasonic sensor modules are used for the barrier for detecting front, so as to the function of avoidance is provided to meal delivery robot;
The voice playing module is used to carry out speech play, and causes meal delivery robot to carry out interaction with customer;
The pressure sensor module is used to detect whether service plate has thing so that whole food delivery process more hommization and can be carried The high speed of service;
The Xbee wireless transport modules are used for meal delivery robot and enter the transmission of row information with background information management system.
6. the meal delivery robot control system based on Multi-sensor Fusion as claimed in claim 5, it is characterised in that the master Control chip is adopted including STM32 as at least one of main control chip, 51 single-chip microcomputers or Arduino microcontroller.
7. the meal delivery robot control system based on Multi-sensor Fusion as claimed in claim 5, it is characterised in that described to send Meal robot obtains the electricity of robot battery itself by the ADC that includes inside main control chip, when electricity is less than one When quantitative, ADC is to background information management system application cradle position;When cradle is idle, meal delivery robot Instructed according to background information management system, be charged to specified location.
8. the meal delivery robot control system based on Multi-sensor Fusion as claimed in claim 2, it is characterised in that the work Control machine meal ordering system, its concrete operations include:
S1, customer browse the cuisine in dining room by industrial computer meal ordering system, and by the interactive mode at industrial computer meal ordering system interface Software of ordering completes to order and on-line payment;
S2, industrial computer meal ordering system verify that to order the order after checking is passed and is sent to background information management system; Wherein, described that order is verified, verification method is:Order after wechat or Alipay on-line payment, industrial computer point Meal system verified using developer's interface that wechat or Alipay give, and determines whether order pays successfully.
9. the meal delivery robot control system based on Multi-sensor Fusion as claimed in claim 8, it is characterised in that after described Station information management system, its concrete operations include:
S3, background information management system carry out printing with paper to order, and are sent to kitchen;
S4, kitchen employee obtain the sequence information with paper, and are completed corresponding vegetable according to sequence information;.
10. the meal delivery robot control system based on Multi-sensor Fusion as claimed in claim 9, it is characterised in that described Meal delivery robot, its concrete food delivery flow process is:
S5, meal delivery robot receive the vegetable of kitchen employee, and vegetable is sent to customer seat according to the sequence information with paper;
After S6, meal delivery robot reach customer seat, customer's pick-up is informed by speech play;If customer's pick-up, backward Station information management system transmits pick-up information, completes food delivery flow process.
CN201610979420.8A 2016-11-08 2016-11-08 Food delivery robot control system based on multi-sensor fusion Pending CN106569494A (en)

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CN109754338A (en) * 2017-11-08 2019-05-14 成都星环科技有限公司 A kind of meal ordering system based on WIFI speaker
CN109886839A (en) * 2019-01-11 2019-06-14 杭州火小二科技有限公司 A kind of intelligence food delivery system and method
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