CN106681192A - Automatic serving method and system of robot - Google Patents
Automatic serving method and system of robot Download PDFInfo
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- CN106681192A CN106681192A CN201710034331.0A CN201710034331A CN106681192A CN 106681192 A CN106681192 A CN 106681192A CN 201710034331 A CN201710034331 A CN 201710034331A CN 106681192 A CN106681192 A CN 106681192A
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- dish
- robot
- window
- customer
- guide rail
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
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Abstract
The invention provides an automatic serving method and system of a robot. The method comprises the steps of generating a food taking signal and sending the food taking signal to a rail controller, wherein the food taking signal comprises food taking address information and food delivery address information; according to the food taking address information, controlling rail transmission through the rail controller so as to deliver the robot on a rail to a food taking window corresponding to the food taking address information; after the robot arrives at the food taking window, running a preset food taking program and extracting a food delivery tray in the food taking window; after the robot gets the food delivery tray, delivering the robot to a customer window corresponding to the food delivery address information through the rail controller according to the food delivery address information; after the robot arrives at the customer window, running a preset food delivery program to place the food delivery tray at the customer window, so that a customer obtains food on the food delivery tray. The automatic serving method and system can help the robot intelligently and efficiently serve, and the robot is separated from people, so that the human safety is guaranteed.
Description
Technical field
The present invention relates to field of intelligent control, more particularly to a kind of robot passes dish method and system automatically.
Background technology
The competition of current catering industry is more and more fierce, and how food and beverage enterprise attracts traveller, how to leave depth to consumer
Marking is as while control to save labor cost, the important important means as raising food and beverage enterprise competitiveness.
Robot pass ordering system integrate performance with pass dish function, can accompanied by music carry out dancing performance, be that customer helps
It is emerging, the kitchen the inside ready-made vegetable of cook can be automatically sent to customer at one's side again.For example, current conventional selection is that trackless is passed
Dish robot, the working strength of the person that can not lighten one's labor to a certain extent.But, because its working environment flow of the people is big, and disappear
The person of expense takes the same space Same Site, intricate with Consumer relationships.So speed is slow, efficiency is low, it is impossible to entertained
Property performance, and safety coefficient is low, easily causes personal injury.Once the system failure or program go wrong, it is likely that can go out
Existing security incident.
The content of the invention
The shortcoming of prior art, dish method is passed it is an object of the invention to provide a kind of robot automatically in view of the above
And system, for solve the problems, such as in the prior art can not safely and efficiently applied robot.
In order to achieve the above objects and other related objects, the present invention provides a kind of robot and passes dish method, the machine automatically
Device people is placed on a guide rail that can be driven, and the transmission of the guide rail is controlled by a guide rail controller, and methods described includes：It is raw
Dish signal being taken into one and being sent to the guide rail controller, the dish signal that takes includes taking dish address information and send vegetable plot location to believe
Breath；The guide rail controller takes dish address information according to and controls the guide rail transmission, by the machine on the guide rail
Device people is sent to and takes that dish address information is corresponding to take dish window with described；And after dish window is taken described in robot arrival,
Run one it is default take dish program, extract described in take in dish window and send dish pallet；The guide rail controller is in the robot
Extract described in send dish pallet after, according to it is described take dish signal described in send dish address information by the robot be sent to it is described
Send dish address signal corresponding customer's window；After the robot reaches customer's window, operation one is default to send dish journey
Sequence, send dish pallet to be placed in customer's window for sending the vegetable on dish pallet described in customer's acquisition by described.
In a specific embodiment of the invention, after the robot reaches customer's window, customer's window is first judged
Mouthful whether existing one existing pallet, if it is, robot operation is described to take dish program, in extraction customer's window
Existing pallet, after existing pallet is extracted, operation described in send dish program, send dish pallet to be placed in customer's window by described
Mouthful.
In a specific embodiment of the invention, customer's window is additionally provided with safety door, will be described in the robot
Dish pallet is sent to be placed in customer's window, and the robot is sent to after leaving customer's window by the guide rail, to safety
Door controller sends open signal, to make the safety door open, so that customer is extracted in customer's window by the safety door
The vegetable sent on dish pallet, and after the completion of vegetable is obtained, control the safety door to close.
In a specific embodiment of the invention, also including a closing quotation program, the closing quotation program is run in the robot
When, the guide rail controller controls the operation of the guide rail to make the robot reach the customer's window with existing pallet successively
Mouth collects the pallet.
In a specific embodiment of the invention, the robot runs the closing quotation program according to the default time cycle,
Or the robot, according to a closing quotation signal, bring into operation the closing quotation program.
In a specific embodiment of the invention, entertainment program is also preset with the robot, and when the robot connects
When receiving an amusement open signal, the entertainment program is run.
In a specific embodiment of the invention, before the amusement open signal is sent to the robot, to all institutes
State safety door and send shutdown signal, to make all safety doors be closed.
In a specific embodiment of the invention, by being arranged at the pressure sensor of customer's window, the Gu is judged
With the presence or absence of existing pallet in objective window.
In order to achieve the above objects and other related objects, the present invention also provides a kind of robot and passes ordering system automatically, described
Robot is placed on a guide rail that can be driven, and the transmission of the guide rail is controlled by a guide rail controller, and the system includes：
Top control module, is used to generate one and takes dish signal and sent to the guide rail controller, and the dish signal that takes includes taking vegetable plot location letter
Dish address information is ceased and send, the guide rail controller communicates with the top control module, to take dish address information control according to
Guide rail transmission is made, the robot on the guide rail is sent to and is taken that dish address information is corresponding to take dish window with described
Mouthful；The robot, to its arrival is described take dish window after, operation one is default to take dish program, and dish window is taken described in extraction
Intraoral send dish pallet；And the guide rail controller is also used to after dish pallet is sent described in robot extraction, according to described
The described of dish signal is taken to send dish address information to be sent to the robot to send dish address signal corresponding customer's window with described；
The robot is also used to after customer's window is reached, and operation one is default to send dish program, send dish pallet to be placed in by described
Customer's window for customer obtain described in send vegetable on dish pallet.
As described above, robot of the invention passes dish method and system automatically, wherein method includes：Generation one takes dish signal
And sent to the guide rail controller, the dish signal that takes includes taking dish address information and send dish address information；The guide rail control
Device processed takes dish address information according to and controls the guide rail transmission, and the robot on the guide rail is sent to and institute
State and take that dish address information is corresponding to take dish window；And after dish window is taken described in robot arrival, operation one is default to be taken
Dish program, extract described in take in dish window and send dish pallet；The guide rail controller send dish support described in being extracted in the robot
After disk, according to it is described take dish signal described in send dish address information to be sent to the robot to send dish address signal pair with described
The customer's window answered；After the robot reaches customer's window, operation one is default to send dish program, and dish support is sent by described
Disk is placed in customer's window for sending the vegetable on dish pallet described in customer's acquisition.The present invention can help intelligent robot high
The biography dish of effect, and machine person to person is separated, it is ensured that the safety of people.
Brief description of the drawings
Fig. 1 is shown as robot of the invention and passes dish method schematic flow sheet in one embodiment automatically.
Fig. 2 is shown as robot of the invention and passes ordering system composition schematic diagram in one embodiment automatically.
Component label instructions
10 methods
11~15 steps
20 robots pass ordering system automatically
21 top control modules
22 guide rail controllers
23 robots
Specific embodiment
Embodiments of the present invention are illustrated below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages of the invention and effect easily.The present invention can also be by specific realities different in addition
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that, in the case where not conflicting, following examples and implementation
Feature in example can be mutually combined.
It should be noted that the diagram provided in following examples only illustrates basic structure of the invention in a schematic way
Think, component count, shape and size when only display is with relevant component in the present invention rather than according to actual implementation in illustrating then
Draw, it is actual when the implementing kenel of each component, quantity and ratio can be a kind of random change, and its assembly layout kenel
It is likely more complexity.
In order that the narration of the present invention it is more detailed with it is complete, can refer to accompanying drawing and various embodiments as described below.But
The embodiment that there is provided simultaneously is not used to the scope that the limitation present invention is covered；The description of step is also not used to limit the suitable of its execution
Sequence, it is any by reconfiguring, it is produced with it is equal the effects such as device, be all the scope that is covered of the present invention.
In implementation method and claim, unless be particularly limited to for article in interior text, otherwise " one " with "
Should " single or a plurality of can be referred to.It will be further appreciated that, "comprising" used herein, " including ", " having " and
Similar vocabulary, indicates feature described in it, region, integer, step, operation, component and/or component, but be not excluded for described in it
Or extra one or more further feature, region, integer, step, operation, component, component, and/or group wherein.
Fig. 1 is referred to, robot of the invention is shown as and is passed the flow signal in one embodiment of dish method automatically
Figure.Wherein, the robot is placed on a guide rail that can be driven, and the transmission of the guide rail is controlled by a guide rail controller,
Methods described 10 includes：
11：Generation one takes dish signal and is sent to the guide rail controller, and the dish signal that takes includes taking dish address information
With send dish address information；For example there is an electronic equipment for being arranged at cook end, by click on formed on electronic equipment take dish
Icon, generation described in take dish signal.
12：The guide rail controller takes dish address information according to and controls the guide rail transmission, by the guide rail
The robot be sent to and take that dish address information is corresponding to take dish window with described；
13：And the robot reach it is described take dish window after, operation one is default to take dish program, and dish is taken described in extraction
Dish pallet is sent in window；
14：The guide rail controller the robot extract described in send dish pallet after, according to the institute for taking dish signal
State and send dish address information to be sent to the robot to send dish address signal corresponding customer's window with described；
15：After the robot reaches customer's window, operation one is default to send dish program, and dish pallet is sent by described
Customer's window is placed in for sending the vegetable on dish pallet described in customer's acquisition.
Preferably, the tow-armed robot of artificial 15 axle of machine of the invention, it is each for performing on the guide rail
The action of the demand of kind.Robot includes terminal device, and on the flange of robot body, the terminal device uses apery hand
Function, can compress pallet by thumb, prevent midway from dropping.And realize compressing support using pneumatic or electronic execution component
The function of disk and release pallet, and the part of contact pallet uses flexible material, to protect pallet injury-free.
And, being taken described in operation in dish program process, after the pallet, this takes dish program control to the terminal device of robot
Thumb processed compresses the edge of pallet, and the pallet is captured to certain height.
And, operation is described to send dish program process, the terminal device of robot will crawl pallet with default moving rail
Mark is placed to corresponding window, and the pallet is placed to the default pallet placement location of the window, and this send dish programme-control thumb
Loosen the edge of pallet, and leave the pallet.
Further, robot head equipment, installed in the surface of tow-armed robot main body, plays role in decoration, and makes this
Robot has body shape from profile.The head is also preferably provided with the LED for playing role in decoration, can be with certain frequency
Enter line flicker to simulate the blink function of human eye.
In a specific embodiment of the invention, after the robot reaches customer's window, customer's window is first judged
Mouthful whether existing one existing pallet, if it is, taking dish program described in robot operation, carried by the arm in both arms
The existing pallet in customer's window is taken, after existing pallet is extracted, dish program is sent described in operation, by another in both arms
One arm send dish pallet to be placed in customer's window by described.Preferably, by being arranged at the pressure sensor of customer's window,
Judge with the presence or absence of existing pallet in customer's window, i.e., when pressure sensor judges the pressure of customer's window table top default
Pressure limit threshold value in when, judge there is empty pallet, the pressure limit is corresponding with the weight range of empty pallet.
Preferably, customer's window is additionally provided with safety door, and in the robot, to send dish pallet to be placed in described by described
Customer's window, and the robot is sent to after leaving customer's window by the guide rail, is sent to safe door controller and opened
Signal, to make the safety door open, the dish sent on dish pallet in customer's window is extracted for customer by the safety door
After the completion of product, and vegetable acquisition, the safety door is controlled to close.And only when robot leaves the safety door position, peace
Air cock is just opened, the effective safety for ensureing customer.And, it is preferred that the safety door uses safety glass framework, is fixed on and leads
It is pneumatic or electronic execution component on rail.The safety door is arranged at customer's window, it is ensured that customer's safety.Preferably,
Customer is taking the vegetable
In a specific embodiment of the invention, also including a closing quotation program, the closing quotation program is run in the robot
When, the guide rail controller controls the operation of the guide rail to make the robot reach the customer's window with existing pallet successively
Mouth collects the pallet.
Preferably, the robot runs the closing quotation program according to the default time cycle, or the robot according to
One closing quotation signal, bring into operation the closing quotation program.The button of one " key closing quotation " is set for example in robot, should in touch-control
When button, the program of closing quotation is opened by robot.
In a specific embodiment of the invention, entertainment program is also preset with the robot, and when the robot connects
When receiving an amusement open signal, the entertainment program is run.
In a specific embodiment of the invention, before the amusement open signal is sent to the robot, to all institutes
State safety door and send shutdown signal, to make all safety doors be closed.Ensure that robot is carrying out entertainment
While, it is ensured that the safety of customer.The entertainment for example includes performing conjuring tricks, dancing etc..
Fig. 2 is referred to, robot of the invention is shown as and is passed ordering system module signal in one embodiment automatically
Figure.Wherein, the robot is placed on a guide rail that can be driven, and the transmission of the guide rail is controlled by a guide rail controller,
The robot passes ordering system 20 automatically, including：
Top control module 21, is used to generate one and takes dish signal and sent to the guide rail controller, and the dish signal that takes includes
Take dish address information and send dish address information；
The guide rail controller 22, communicates with the top control module, described to take the control of dish address information according to
Guide rail is driven, and the robot on the guide rail is sent to and takes that dish address information is corresponding to take dish window with described；
The robot 23, dish program is taken to after dish window is taken described in its arrival, operation one is default, extracts described
Take in dish window and send dish pallet；And the guide rail controller is also used to after dish pallet is sent described in robot extraction, root
According to it is described to take sent described in dish signal dish address information and be sent to the robot send dish address signal corresponding Gu with described
Objective window；The robot is also used to after customer's window is reached, and operation one is default to send dish program, and dish support is sent by described
Disk is placed in customer's window for sending the vegetable on dish pallet described in customer's acquisition.
In sum, robot of the invention passes dish method and system automatically, and wherein method includes：Generation one takes dish signal
And sent to the guide rail controller, the dish signal that takes includes taking dish address information and send dish address information；The guide rail control
Device processed takes dish address information according to and controls the guide rail transmission, and the robot on the guide rail is sent to and institute
State and take that dish address information is corresponding to take dish window；And after dish window is taken described in robot arrival, operation one is default to be taken
Dish program, extract described in take in dish window and send dish pallet；The guide rail controller send dish support described in being extracted in the robot
After disk, according to it is described take dish signal described in send dish address information to be sent to the robot to send dish address signal pair with described
The customer's window answered；After the robot reaches customer's window, operation one is default to send dish program, and dish support is sent by described
Disk is placed in customer's window for sending the vegetable on dish pallet described in customer's acquisition.The present invention can help intelligent robot high
The biography dish of effect, and machine person to person is separated, it is ensured that the safety of people.So, the present invention effectively overcomes in the prior art
Various shortcoming and have high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
The personage for knowing this technology all can carry out modifications and changes under without prejudice to spirit and scope of the invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete with institute under technological thought without departing from disclosed spirit such as
Into all equivalent modifications or change, should be covered by claim of the invention.
Claims (9)
1. a kind of robot passes dish method automatically, it is characterised in that the robot is placed on a guide rail that can be driven, institute
The transmission for stating guide rail is controlled by a guide rail controller, and methods described includes：
Generation one takes dish signal and is sent to the guide rail controller, and the dish signal that takes includes taking dish address information and send vegetable plot
Location information；
The guide rail controller takes dish address information according to and controls the guide rail transmission, by the machine on the guide rail
Device people is sent to and takes that dish address information is corresponding to take dish window with described；
And the robot reach it is described take dish window after, operation one is default to take dish program, is taken in dish window described in extraction
Send dish pallet；
The guide rail controller the robot extract described in send dish pallet after, according to it is described take dish signal described in send vegetable plot
Be sent to for the robot by location information send dish address signal corresponding customer's window with described；
After the robot reaches customer's window, operation one is default to send dish program, send dish pallet to be placed in institute by described
Customer's window is stated for sending the vegetable on dish pallet described in customer's acquisition.
2. robot according to claim 1 passes dish method automatically, it is characterised in that：The Gu is reached in the robot
After objective window, whether the existing pallet of customer's window existing is first judged, if it is, taking dish described in robot operation
Program, extracts the existing pallet in customer's window, after existing pallet is extracted, dish program is sent described in operation, will be described
Dish pallet is sent to be placed in customer's window.
3. robot according to claim 1 passes dish method automatically, it is characterised in that：Customer's window is additionally provided with peace
Air cock, send dish pallet to be placed in customer's window in the robot by described, and the robot is sent to by the guide rail
After leaving customer's window, open signal is sent to safe door controller, to make the safety door open, so that customer passes through institute
State after the completion of the vegetable sent on dish pallet that safety door is extracted in customer's window, and vegetable acquisition, control the safety door to close.
4. robot according to claim 2 passes dish method automatically, it is characterised in that：Also include a closing quotation program, in institute
When stating the robot operation closing quotation program, the guide rail controller controls the operation of the guide rail to make the robot successively
Customer's window that reaching has existing pallet collects the existing pallet.
5. robot according to claim 4 passes dish method automatically, it is characterised in that：The robot according to it is default when
Between close described in periodic duty program, or the robot, according to a closing quotation signal, bring into operation the closing quotation program.
6. robot according to claim 3 passes dish method automatically, it is characterised in that：Joy is also preset with the robot
Happy program, and when the robot receives an amusement open signal, run the entertainment program.
7. robot according to claim 6 passes dish method automatically, it is characterised in that：Sending described to the robot
Before amusement open signal, shutdown signal is sent to all safety doors, to make all safety doors be closed.
8. robot according to claim 2 passes dish method automatically, it is characterised in that：By being arranged at customer's window
Pressure sensor, judge in customer's window with the presence or absence of existing pallet.
9. a kind of robot passes ordering system automatically, it is characterised in that：The robot is placed on a guide rail that can be driven, institute
The transmission for stating guide rail is controlled by a guide rail controller, and the system includes：
Top control module, is used to generate one and takes dish signal and sent to the guide rail controller, and the dish signal that takes includes taking vegetable plot
Location information and send dish address information；
The guide rail controller, communicates with the top control module, controls the guide rail to pass to take dish address information according to
It is dynamic, the robot on the guide rail is sent to and takes that dish address information is corresponding to take dish window with described；
The robot, to its arrival is described take dish window after, operation one is default to take dish program, and dish window is taken described in extraction
Intraoral pallet；
And the guide rail controller is also used to after the robot extracts the pallet, according to it is described take dish signal described in give
Be sent to for the robot by dish address information send dish address signal corresponding customer's window with described；
The robot is also used to after customer's window is reached, and operation one is default to send dish program, and the pallet is placed in
Customer's window obtains the vegetable on the pallet for customer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710034331.0A CN106681192B (en) | 2017-01-17 | 2017-01-17 | Automatic dish transmission method and system for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710034331.0A CN106681192B (en) | 2017-01-17 | 2017-01-17 | Automatic dish transmission method and system for robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106681192A true CN106681192A (en) | 2017-05-17 |
| CN106681192B CN106681192B (en) | 2020-03-10 |
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ID=58859215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710034331.0A Active CN106681192B (en) | 2017-01-17 | 2017-01-17 | Automatic dish transmission method and system for robot |
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| CN (1) | CN106681192B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109242605A (en) * | 2018-08-15 | 2019-01-18 | 北京云迹科技有限公司 | For passing the information interacting method and device of dish |
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| CN104375507A (en) * | 2014-12-03 | 2015-02-25 | 汪为良 | Automatic serving robot system for separate restaurant room |
| CN204229192U (en) * | 2014-03-25 | 2015-03-25 | 深圳市大富精工有限公司 | Robot service restaurants system |
| US20150100439A1 (en) * | 2013-10-08 | 2015-04-09 | Jason Lu | Workflow System |
| CN104843487A (en) * | 2015-05-05 | 2015-08-19 | 北京格分维科技有限公司 | Novel intelligent automatic conveying serving system and method |
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| CN2560602Y (en) * | 2002-08-08 | 2003-07-16 | 王薪渤 | Self-help hotpot dish-conveying flow-line apparatus |
| US20090101445A1 (en) * | 2005-12-12 | 2009-04-23 | Heinemack Gmbh | Restaurant System |
| US20150100439A1 (en) * | 2013-10-08 | 2015-04-09 | Jason Lu | Workflow System |
| CN204229192U (en) * | 2014-03-25 | 2015-03-25 | 深圳市大富精工有限公司 | Robot service restaurants system |
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| CN109242605A (en) * | 2018-08-15 | 2019-01-18 | 北京云迹科技有限公司 | For passing the information interacting method and device of dish |
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|---|---|
| CN106681192B (en) | 2020-03-10 |
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Effective date of registration: 20220714 Address after: 201712 1-3-3, floor 1, building 1, No. 338, Jiuye Road, Qingpu District, Shanghai Patentee after: Shanghai Fossett automation equipment Co.,Ltd. Address before: 200230 Room 305, Kai Ke mansion, A, 1801 Hongmei Road, Xuhui District, Shanghai. Patentee before: SHANGHAI FORESIGHT ROBOTICS Co.,Ltd. |
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Address after: 201700 Room 204, Zone A, 2nd Floor, Building 1, No. 480 Huapu Road, Qingpu District, Shanghai Patentee after: Shanghai Taoqian Automation Equipment Co.,Ltd. Address before: 201712 1-3-3, floor 1, building 1, No. 338, Jiuye Road, Qingpu District, Shanghai Patentee before: Shanghai Fossett automation equipment Co.,Ltd. |
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