CN107024932A - The control method of intelligent four-wheel drive serving trolley - Google Patents
The control method of intelligent four-wheel drive serving trolley Download PDFInfo
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- CN107024932A CN107024932A CN201710117382.XA CN201710117382A CN107024932A CN 107024932 A CN107024932 A CN 107024932A CN 201710117382 A CN201710117382 A CN 201710117382A CN 107024932 A CN107024932 A CN 107024932A
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- dining car
- dining
- wheel
- serving trolley
- control method
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Abstract
A kind of control method of intelligent four-wheel drive serving trolley, is combined come its food delivery route of walking of selected control with location algorithm using vision guided navigation algorithm, when running into complex course, directly carries out the automatic traveling that serving trolley is realized in route planning by the algorithm of itself.
Description
Technical field
It is exactly specifically to be related to a kind of method of intelligent four-wheel drive serving trolley the invention belongs to technical field of automatic control
Control method.
Background technology
With the development of automatic technology, intelligent robot starts to cause extensive pass in the application of various service fields
Note, especially under current census's aging, the background of labor shortage, robot skill is used in labor-intensive catering industry
Art has the very big market demand, and meal delivery robot, which is not only, allows eater to experience advanced robot technology, it is often more important that
With alternative service person, the breach of catering industry waiter can be solved.
Use apery profile more existing meal delivery robot, room service, this meal delivery robot are realized along trapped orbit
Flexibility and intelligent not high, practicality is not strong.Chinese patent 201510973459.4 discloses a kind of meal delivery robot control
System processed and its control method of motion trace, it includes control panel, and the control panel is by serial ports with carrying mileage calculation function
Motor driver connection, motor driver can drive the revolver motor and right wheel motor of robot, the control panel connection
There are ultra-wideband positioning system, attitude transducer and infrared and ultrasonic wave module；The present invention is with precision is high, stability is good, sexual valence
Than high advantage.It need not lay navigation track, it is possible to achieve be walked by default autonomous path, change when dining room is laid out
When, this method should not construct, it is only necessary to which changing desired guiding trajectory in software can work.The meal delivery robot uses ultra wide band and inner
The location technology meal delivery robot of journey meter fusion, it is possible to achieve trackless food delivery, flexibility has large increase, and does not change dining room
Existing finishing.But the meal delivery robot loading capacity of this apery profile is limited, operation stability is not so good, for needing simultaneously
The occasions such as multiple service plates or closing quotation are sent less to be applicable.
Chinese patent 201610536696.9 discloses a kind of intelligent food delivery vehicle control, and control system includes control function
Group, driving function group, sensing function group, radio function group, display operating function group；A kind of intelligence containing above-mentioned control system
Vegetable rest area is provided with the middle of serving trolley, including vehicle body, underframe, the vehicle body, the both sides of vehicle body are respectively provided with an advertising display
Area, Human-machine Control platform is fixedly arranged above in vehicle body；Laser sensor and ultrasonic wave are installed in the junction of underframe and vehicle body
Sensor, is provided with universal wheel and driving wheel below underframe.The combination that the invention passes through control system and intelligent serving trolley
Using multiple spot food delivery and service plate recovery function can be realized, the application efficiency of intelligent serving trolley is substantially increased, can effectively be helped
Help food and beverage enterprise to reduce cost of labor, trackless airmanship, the knot of intelligent serving trolley are realized using SLAM laser navigation algorithms
Structure elegance air, adds taste and the level of food and beverage enterprise, but serving trolley is passed using laser sensor and ultrasonic wave in this
Sensor needs the existing complexity for setting Route identification to add navigation in the course of travel, reduces the adaptability of navigation system.
The content of the invention
The fluctuation of service that the purpose of the present invention is present aiming at above-mentioned existing meal delivery robot is in narrow range
Need multiple lane change advance or need to increase the technological deficiency of navigation identification there is provided a kind of intelligent four-wheel drive serving trolley and its
Control method, is combined come its food delivery route of walking of selected control with ultra wide band location algorithm using vision guided navigation algorithm, run into
When narrow quarter bend or complex course, directly by the blending algorithm of itself, dining car can be realized in the range of 0 ° to 180 °
" drift ", realizes the automatic traveling of serving trolley, efficiently completes food delivery task.
Technical scheme
In order to realize above-mentioned technical purpose, a kind of control method for intelligent four-wheel drive serving trolley that the present invention is designed, its
It is characterised by, it includes following steps：
(1) coordinate that the position coordinates for determining each dining table and dining car motion track are laid out according to dining room is interval；
(2) the target table selected according to operating personnel determines purpose coordinate, is then walked according to purpose coordinate select row
Footpath；
(3) pid algorithm, according to potentiometer angle value, adjusts setting in motion after athletic posture after startup program.
(4) perform location algorithm and obtain present position coordinate.
(5) barrier is determined whether according to visual imaging, if clear, into next step, if there is barrier,
The then computing of SLAM algorithms parallax, Stereo matching, and then whether disturbance in judgement thing both sides have the space passed through, if can pass through, return
To previous step, if can not pass through, operation suspension simultaneously sends prompting；
(6) position coordinates is judged whether in the range of desired trajectory, if run in predetermined footprint, keeps this
Posture walks on, if beyond predetermined footprint, adjustment operation posture.
Further, the method for prompting being sent in the step (5) is selection PC controls, or the control on control dining car is pressed
Button.
Further, the specific method that chance avoidance detours in the step (5) is stepper motor (13) by bearing arrangement
(12) 4 road wheel groups (9) are made to the left or 90 degree of right turn, dining car marches to the space on (or right side) on the left of barrier, meal
Car is out of service, and stepper motor (13) recovers the steering of above-mentioned (9) 90 degree of 4 road wheel groups, meal by bearing arrangement (12) again
Car cut-through thing continues executing with food delivery task.
Further, the specific steps that the middle execution location algorithm of the step (4) obtains present position coordinate include：(1) open
With after program it is first determined whether performing step (2) and step (3) successively in initial range, after judgement；
(2) video flowing of Kinect cameras collection, SLAM algorithms are to the extracting and matching feature points of image, using calculating
The SIFT of machine vision feature, solves the assessment of dining car relative attitude on industrial computer.
(3) three sides are positioned, according to known 3 position coordinateses, calculate dining car to 3 points of distance, then determine according to stock is hooked
Reason calculates the positional information of dining car.
(4) select after motion track, whether sensor is detected in front of dining car motion track in real time has barrier, if there is barrier
Hinder thing dining car then out of service, SLAM is calculated and obtained after one group of match point, calculate the transformational relation between two images, its model
It is as follows：
Wherein, R is the posture of Kinect cameras, and C is the calibration matrix of camera, and R is dynamic value, and C is camera
Fixed value, xyz is the coordinate system of Kinect cameras.Six groups of Data Matching points are taken to calculate above-mentioned model, so as to calculate two frames
Difference between image, calculates the displacement of dining car, and the above- mentioned information of great amount of images is calculated successively, right front hook is determined.
Further, the steering of step (6) the dining car wheel is with rate control process：Define the arrow of dining car direction of advance
Amount speed is νin, the angle of dining car and front and back wheel center line is αin, the vector velocity of four wheels is respectively ν1、ν2、ν3And ν4,
The angle of wheel and front and back wheel center line is respectively α1、α2、α3And α4；Dining car is advanced, turned left, three kinds of operation feelings are rotated in place
It is as follows that condition does modeling：
(1) when
v1=v2=v3=v4=vin
α1=α2=α3=α4=αin=0 °
Dining car performs advance
(2) α is set1=αin, v2=vin；Then：
α3=-αin
ν4=νin
Dining car performs left-hand rotation
(3) α is set1=αin, then：
α3=-α1=-αin
ν1=ν2=ν3=ν4=νin
Dining car is performed and rotated in place
Wherein, K is left and right wheels spacing, and L is front and back wheel spacing, and unit is millimeter.
Further, the position coordinates for determining each dining table and dining car motion track are laid out in the step (1) according to dining room
Coordinate is interval, sets fixed reference node corresponding with mobile node on dining car to lay respectively in the dining room of dining car work.
Beneficial effect
The control method for the intelligent four-wheel drive serving trolley that the present invention is provided, with flexible operation, stably, loading capacity is big,
Positioning precision is high, practical advantage, the apery profile meal delivery robot stability that it is not only different from rail or trackless is poor,
The defect such as disposable food delivery amount is small, control mode is single, and the voice accessory system that the present invention is designed, can strengthen customer's
Experience sense, increase are interactive.
Brief description of the drawings
Accompanying drawing 1 is the product figure of serving trolley in the present invention.
Accompanying drawing 2 is the structural representation of four-wheel drive platform in the present invention.
Accompanying drawing 3 is four-wheel drive platform interior structure annexation schematic diagram in the present invention.
Accompanying drawing 4 is serving trolley course changing control length velocity relation schematic diagram in the present invention.
Accompanying drawing 5 is serving trolley control flow schematic diagram in the present invention.
Accompanying drawing 6 is algorithm flow schematic diagram in the present invention.
Specific embodiment
With reference to the accompanying drawings and examples, the present invention is elaborated.
Embodiment
As shown in accompanying drawing 1~3, intelligent four-wheel drive serving trolley, it includes four-wheel drive platform 1, and industrial computer 2 is fixed on four
It is equipped with the top of wheel driving moving platform 1, industrial computer 2 on support frame 3, support frame 3 and some service plate placed layers 4 is housed, it is characterised in that：
Support frame 3 or the outside of service plate placed layer 4 are equipped with the first controller 5, camera 6 and some microphones 7；
The four-wheel drive platform 1 includes vehicle frame 101, and electronic box 8 is on the bottom plate of vehicle frame 101, and vehicle frame 101 is mounted in walking
In wheel group 9, the road wheel group 9 includes road wheel 901, and the connection of road wheel 901 performs drive mechanism 10, the execution driving machine
Structure 10 includes the 10a of motor one, and road wheel 901 is on the 10a of motor one, and the 10a of motor one is wheel hub motor, road wheel 901
Rotary shaft connect damper 11 one end, the other end of damper 11 is connected by bearing arrangement 12 with motor 2 13, described
Motor 2 13 is stepper motor, and potentiometer 14 is on bearing arrangement 12；Potentiometer 14 is used to measure steering angle.
The electronic box 8 is built with driving control system 801 and positioning/navigation system 802, and driving control system 801 is to hold
Row drive mechanism 10 provides control and driven, and the positioning/navigation system 802 controls road wheel by performing drive mechanism 10
901 running orbits.The driving control system 801 includes tie point 801a, the second branch road 801b, the 3rd branch road 801c and the
The branch road of four branch road 801d, tie point 801a, second 801b, it is total by CAN between the 3rd branch road 801c and the 4th branch road 801d
Line 801e communicates, and the second branch road 801b connects WIFI plate 801f by serial communication, and specifically, the 3rd branch road 801c includes
Master control borad 801c01, relay 801c02 and the driver 801c04 of motor one, motor 2 13 connect electronic box 8 by aviation plug,
DC brushless motor controller 801c03 connection relays 801c02 realizes the 10a of motor one reverse function.Positioning/the navigation
System 802 includes ultra-wideband positioning system 802a, and ultra-wideband positioning system 802a fixed reference node is respectively placed at dining car
Four angles of working space, mobile node is placed on wheeled dining car.
As shown in accompanying drawing 4~6, the control method of above-mentioned intelligent four-wheel drive serving trolley, it is characterised in that it include with
Under several steps：
(1) coordinate that the position coordinates for determining each dining table and dining car motion track are laid out according to dining room is interval, sets and meal
The corresponding fixed reference node of mobile node is laid in the dining room of dining car work respectively on car.
(2) the target table selected according to operating personnel determines purpose coordinate, is then walked according to purpose coordinate select row
Footpath；
(3) pid algorithm, according to potentiometer angle value, adjusts setting in motion after athletic posture after startup program.
(4) perform location algorithm and obtain present position coordinate.Specific steps include：
(a) enable after program it is first determined whether in initial range, performing step (b) and step (c) after judgement successively；
(b) video flowing of Kinect cameras collection, SLAM algorithms are to the extracting and matching feature points of image, using calculating
The SIFT of machine vision feature, solves the assessment of dining car relative attitude on industrial computer.
(c) three sides are positioned, according to known 3 position coordinateses, calculate dining car to 3 points of distance, then determine according to stock is hooked
Reason calculates the positional information of dining car.
(d) select after motion track, whether sensor is detected in front of dining car motion track in real time has barrier, if there is barrier
Hinder thing dining car then out of service, SLAM is calculated and obtained after one group of match point, calculate the transformational relation between two images, its model
It is as follows：
Wherein, R is the posture of Kinect cameras, and C is the calibration matrix of camera, and R is dynamic value, and C is camera
Fixed value, xyz is the coordinate system of Kinect cameras.Six groups of Data Matching points are taken to calculate above-mentioned model, so as to calculate two frames
Difference between image, calculates the displacement of dining car, and the above- mentioned information of great amount of images is calculated successively, right front hook is determined.
(5) barrier is determined whether according to visual imaging, if clear, into next step, if there is barrier,
The then computing of SLAM algorithms parallax, Stereo matching, and then whether disturbance in judgement thing both sides have the space passed through, if can pass through, return
To previous step, if can not pass through, operation suspension simultaneously sends prompting；The method for sending prompting is selection PC controls, or is controlled
Control button on dining car.Wherein, the specific method that chance avoidance detours is that stepper motor 13 makes 4 walkings by bearing arrangement 12
To the left or 90 degree of right turn, dining car marches to the space on the left of barrier or right side to wheel group 9, and dining car is out of service, stepping electricity
Machine 13 recovers the steering of above-mentioned 990 degree of 4 road wheel groups by bearing arrangement 12 again, and dining car cut-through thing continues executing with food delivery
Task.
(6) position coordinates is judged whether in the range of desired trajectory, if run in predetermined footprint, keeps this
Posture walks on, if beyond predetermined footprint, adjustment operation posture.Wherein, the steering of dining car wheel and speed
Control process is：The vector velocity for defining dining car direction of advance is νin, the angle of dining car and front and back wheel center line is αin, four
The vector velocity of wheel is respectively ν1、ν2、ν3And ν4, the angle of wheel and front and back wheel center line is respectively α1、α2、α3And α4；To meal
Chinese herbaceous peony enters, turns left, rotate in place three kinds of running situations, and to do modeling as follows：
(a) when
v1=v2=v3=v4=vin
α1=α2=α3=α4=αin=0 °
Dining car performs advance
(b) α is set1=αin, v2=vin；Then：
α3=-αin
ν4=νin
Dining car performs left-hand rotation
(c) α is set1=αin, then：
α3=-α1=-αin
ν1=ν2=ν3=ν4=νin
Dining car is performed and rotated in place
Wherein, K is left and right wheels spacing, and L is front and back wheel spacing, and unit is millimeter.
Claims (6)
1. a kind of control method of intelligent four-wheel drive serving trolley, it is characterised in that it includes following steps：
(1) coordinate that the position coordinates for determining each dining table and dining car motion track are laid out according to dining room is interval；
(2) the target table selected according to operating personnel determines purpose coordinate, then selectes walking path according to purpose coordinate；
(3) pid algorithm, according to potentiometer angle value, adjusts setting in motion after athletic posture after startup program.
(4) perform location algorithm and obtain present position coordinate.
(5) barrier is determined whether according to visual imaging, if clear, into next step, if there is barrier,
The computing of SLAM algorithm parallaxes, Stereo matching, and then whether disturbance in judgement thing both sides have the space passed through, if can pass through, return to
Previous step, if can not pass through, operation suspension simultaneously sends prompting；
(6) position coordinates is judged whether in the range of desired trajectory, if run in predetermined footprint, keeps this posture
Walk on, if beyond predetermined footprint, adjustment operation posture.
2. the control method of intelligence four-wheel drive serving trolley as claimed in claim 1, it is characterised in that：In the step (5)
The method for sending prompting is selection PC controls, or controls the control button on dining car.
3. the control method of intelligence four-wheel drive serving trolley as claimed in claim 1, it is characterised in that：In the step (5)
The specific method that chance avoidance detours is that stepper motor (13) makes 4 road wheel groups (9) to left or right by bearing arrangement (12)
90 degree are turned to, dining car marches to the space on (or right side) on the left of barrier, dining car is out of service, and stepper motor (13) passes through axle again
The steering that system (12) recovers above-mentioned (9) 90 degree of 4 road wheel groups is held, dining car cut-through thing continues executing with food delivery task.
4. the control method of intelligence four-wheel drive serving trolley as claimed in claim 1, it is characterised in that：In the step (4)
The specific steps that execution location algorithm obtains present position coordinate include：(1) enable after program it is first determined whether in starting model
In enclosing, step (2) and step (3) are performed after judgement successively；
(2) video flowing of Kinect cameras collection, SLAM algorithms are regarded to the extracting and matching feature points of image using computer
The SIFT of feel feature, solves the assessment of dining car relative attitude on industrial computer.
(3) three sides are positioned, according to known 3 position coordinateses, calculate dining car to 3 points of distance, then according to Pythagorean theorem meter
Calculate the positional information of dining car.
(4) select after motion track, whether sensor is detected in front of dining car motion track in real time has barrier, if there is barrier
Dining car is then out of service, and SLAM is calculated and obtained after one group of match point, calculates the transformational relation between two images, its model is such as
Under：
Wherein, R is the posture of Kinect cameras, and C is the calibration matrix of camera, and R is dynamic value, and C is the fixation of camera
Value, xyz is the coordinate system of Kinect cameras.Six groups of Data Matching points are taken to calculate above-mentioned model, so as to calculate two field pictures
Between difference, calculate dining car displacement, successively calculate great amount of images above- mentioned information, determine right front hook.
5. the control method of intelligence four-wheel drive serving trolley as claimed in claim 1, it is characterised in that：Step (6) meal
The steering of car wheel is with rate control process：The vector velocity for defining dining car direction of advance is νin, dining car and front and back wheel center
The angle of line is αin, the vector velocity of four wheels is respectively ν1、ν2、ν3And ν4, the angle difference of wheel and front and back wheel center line
For α1、α2、α3And α4；Dining car is advanced, turned left, rotate in place three kinds of running situations do modeling it is as follows：
(1) when
v1=v2=v3=v4=vin
α1=α2=α3=α4=αin=0 °
Dining car performs advance
(2) α is set1=αin, v2=vin；Then：
α3=-αin
ν4=νin
Dining car performs left-hand rotation
(3) α is set1=αin, then：
α3=-α1=-αin
ν1=ν2=ν3=ν4=νin
Dining car is performed and rotated in place
Wherein, K is left and right wheels spacing, and L is front and back wheel spacing, and unit is millimeter.
6. the control method of intelligence four-wheel drive serving trolley as claimed in claim 1, it is characterised in that：In the step (1)
The coordinate that the position coordinates for determining each dining table and dining car motion track are laid out according to dining room is interval, sets and mobile node on dining car
Corresponding fixed reference node is laid in the dining room of dining car work respectively.
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| CN201710117382.XA CN107024932A (en) | 2017-03-01 | 2017-03-01 | The control method of intelligent four-wheel drive serving trolley |
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| CN201710117382.XA CN107024932A (en) | 2017-03-01 | 2017-03-01 | The control method of intelligent four-wheel drive serving trolley |
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| CN108038876A (en) * | 2017-12-27 | 2018-05-15 | 北京航空航天大学 | A kind of extraterrestrial target cubic part detection method of estimation and device |
| CN108646750A (en) * | 2018-06-08 | 2018-10-12 | 杭州电子科技大学 | Based on UWB non-base station portables factory AGV follower methods |
| CN108733043A (en) * | 2017-09-01 | 2018-11-02 | 北京猎户星空科技有限公司 | robot movement control method and device |
| CN110363686A (en) * | 2019-07-24 | 2019-10-22 | 西安食神电器科技有限公司 | A kind of unmanned restaurant service system and its implementation |
| CN110448053A (en) * | 2019-08-03 | 2019-11-15 | 滨州学院 | A kind of intelligence food delivery dining car |
| CN113853924A (en) * | 2021-10-12 | 2021-12-31 | 广州城市理工学院 | Working method of intelligent mower |
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