CN107041634A - Intelligent four-wheel drive serving trolley - Google Patents
Intelligent four-wheel drive serving trolley Download PDFInfo
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- CN107041634A CN107041634A CN201710117383.4A CN201710117383A CN107041634A CN 107041634 A CN107041634 A CN 107041634A CN 201710117383 A CN201710117383 A CN 201710117383A CN 107041634 A CN107041634 A CN 107041634A
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B31/00—Service or tea tables, trolleys, or wagons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B31/00—Service or tea tables, trolleys, or wagons
- A47B2031/002—Catering trolleys
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Toys (AREA)
Abstract
Intelligent four-wheel drive serving trolley, it includes four-wheel drive platform (1), industrial computer (2) is fixed on above four-wheel drive platform (1), support frame (3) is housed on industrial computer (2), some service plate placed layers (4) are housed on support frame (3), it is characterised in that：First controller (5), camera (6) and some microphones (7) are housed on the outside of support frame (3) or service plate placed layer (4)；The present invention has flexible operation, stably, loading capacity is big, and positioning precision is high, practical advantage, the defect such as the apery profile meal delivery robot stability that is different from rail or trackless is poor, disposable food delivery amount is small, control mode is single, can strengthen the experience sense of customer, increase interactive.
Description
Technical field
It is exactly specifically to be related to a kind of intelligent four-wheel drive serving trolley the invention belongs to technical field of automatic control.
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 to advance or need to increase the technological deficiency of navigation identification there is provided a kind of intelligent four-wheel drive serving trolley, it is sharp
It is combined with vision guided navigation algorithm with ultra wide band location algorithm come its food delivery route of walking of selected control, runs into narrow quarter bend
Or during complex course, directly by the blending algorithm of itself, dining car can realize " drift " in the range of 0 ° to 180 °, and realization is sent
The automatic traveling of dining car, efficiently completes food delivery task.
Technical scheme
In order to realize above-mentioned technical purpose, the intelligent serving trolley of a kind of dining room four motorized wheels that the present invention is designed, its
It is characterised by, the serving trolley uses four motorized wheels and independent steering, by four-wheel drive platform, positioning navigation module, avoidance
Module, voice interaction module, control module and human-machine interface module composition.
Four-wheel drive platform includes wheel hub motor, stepper motor, potentiometer, vehicle frame, bearing arrangement, electronic box, U-shaped damping
Fork.Wherein, electronic box is characterised by that it includes above-mentioned module and battery module.U-shaped damping fork is characterised by under damper
End is directly socketed wheel hub motor, and upper end is welded on steering transverse arm, is reduced the free degree of connection, is increased the stability of car body.
Positioning navigation module, it is characterised in that using ultra wideband location techniques by the way of vision guided navigation is combined.Wherein,
The ultra wide band positioning is included on reference mode, the mobile node on dining car and engine of positioning server, reference mode and dining car
Mobile node between by ultra-wideband communications, passed between the mobile node on server and dining car by way of wireless data biography
Transmission of data, server receives the positional information that main making sheet is uploaded by way of wireless data biography.The vision guided navigation, its feature exists
In gathering video data using the higher Kinect vision sensors of valency, extracted using feature extraction algorithm when former frame figure
As central characteristic point, the characteristic point among next two field picture is equally extracted, the image of front and rear two frame is subjected to characteristic matching,
Estimate the offset of characteristic point.
Beneficial effect
The intelligent four-wheel drive serving trolley control method that the present invention is provided, with flexible operation, stably, loading capacity is big, fixed
High, the practical advantage of position precision, apery profile meal delivery robot stability that it is not only different from rail or trackless is poor, one
The defect such as secondary property food delivery amount is small, control mode is single, and the voice accessory system that the present invention is designed, can strengthen the body of customer
Test sense, increase 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, a kind of intelligent four-wheel drive serving trolley, it includes four-wheel drive platform 1, and industrial computer 2 is fixed
It is equipped with the top of four-wheel drive platform 1, industrial computer 2 on support frame 3, support frame 3 and some service plate placed layers 4 is housed, its feature
It is：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 (4)
1. intelligent four-wheel drive serving trolley, it includes four-wheel drive platform (1), and industrial computer (2) is fixed on four-wheel drive platform (1)
It is equipped with top, industrial computer (2) on support frame (3), support frame (3) and some service plate placed layers (4) is housed, it is characterised in that：Branch
First controller (5), camera (6) and some microphones (7) are housed on the outside of support (3) or service plate placed layer (4)；
The four-wheel drive platform (1) includes vehicle frame (101), and electronic box (8) is on the bottom plate of vehicle frame (101), vehicle frame (101) dress
In road wheel group (9), the road wheel group (9) includes road wheel (901), and road wheel (901) connection performs drive mechanism
(10), the execution drive mechanism (10) includes motor one (10a), and road wheel (901) is on motor one (10a), road wheel
(901) one end of rotary shaft connection damper (11), the other end of damper (11) passes through bearing arrangement (12) and motor two
(13) connect, potentiometer (14) is on bearing arrangement (12)；
The electronic box (8) is built with driving control system (801) and positioning/navigation system (802), driving control system (801)
Control and driving are provided to perform drive mechanism (10), the positioning/navigation system (802) controls by performing drive mechanism (10)
Road wheel (901) running orbit processed.
2. intelligence four-wheel drive serving trolley as claimed in claim 1, it is characterised in that：The motor one (10a) is wheel hub electricity
Machine, the motor two (13) is stepper motor, and potentiometer (14) is used to measure steering angle.
3. intelligence four-wheel drive serving trolley as claimed in claim 1, it is characterised in that：Driving control system (801) bag
Include tie point (801a), the second branch road (801b), the 3rd branch road (801c) and the 4th branch road (801d), tie point
(801a), the second branch road (801b) is logical by CAN (801e) between the 3rd branch road (801c) and the 4th branch road (801d)
Letter, the second branch road (801b) connects WIFI plates (801f) by serial communication, and the 3rd branch road (801c) includes master control borad
(801c01), relay (801c02) and the driver of motor one (801c04), motor two (13) connect electronic box by aviation plug
(8), DC brushless motor controller (801c03) connection relay (801c02) realizes motor one (10a) reverse function.
4. intelligence four-wheel drive serving trolley as claimed in claim 1, it is characterised in that：Positioning/navigation system (802) bag
Ultra-wideband positioning system (802a) is included, the fixed reference node of ultra-wideband positioning system (802a) is respectively placed at dining car work sky
Between four angles, mobile node is placed on wheeled dining car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710117383.4A CN107041634A (en) | 2017-03-01 | 2017-03-01 | Intelligent four-wheel drive serving trolley |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710117383.4A CN107041634A (en) | 2017-03-01 | 2017-03-01 | Intelligent four-wheel drive serving trolley |
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| CN201710117383.4A Pending CN107041634A (en) | 2017-03-01 | 2017-03-01 | Intelligent four-wheel drive serving trolley |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107024932A (en) * | 2017-03-01 | 2017-08-08 | 上海师范大学 | The control method of intelligent four-wheel drive serving trolley |
| CN108309001A (en) * | 2018-03-30 | 2018-07-24 | 广西科技大学 | Food product conveyer |
| CN108477955A (en) * | 2018-06-14 | 2018-09-04 | 合肥蒸小皖餐饮有限公司 | The mobile device of unmanned restaurant |
| CN108858226A (en) * | 2018-07-20 | 2018-11-23 | 佛山科学技术学院 | A kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology |
| CN109131019A (en) * | 2018-06-25 | 2019-01-04 | 中国农业大学 | Model animal automates toter and method |
| CN109124057A (en) * | 2018-09-02 | 2019-01-04 | 南京吉目希自动化科技有限公司 | A kind of unmanned serving trolley in compartment |
| CN110216691A (en) * | 2019-06-06 | 2019-09-10 | 深圳市普渡科技有限公司 | Robot with head assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202372855U (en) * | 2011-12-23 | 2012-08-08 | 福州冠翔电子有限公司 | Intelligent meal delivery robot |
| CN105415377A (en) * | 2015-12-03 | 2016-03-23 | 昆山穿山甲机器人有限公司 | Humanoid rail-free automatic meal supply robot |
| CN205151021U (en) * | 2015-12-02 | 2016-04-13 | 天津东华电力设备股份有限公司 | Machine people is carried to indoor goods |
| CN105563485A (en) * | 2015-12-21 | 2016-05-11 | 上海师大资产经营有限责任公司 | Meal delivery robot control system and motion track control method thereof |
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2017
- 2017-03-01 CN CN201710117383.4A patent/CN107041634A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202372855U (en) * | 2011-12-23 | 2012-08-08 | 福州冠翔电子有限公司 | Intelligent meal delivery robot |
| CN205151021U (en) * | 2015-12-02 | 2016-04-13 | 天津东华电力设备股份有限公司 | Machine people is carried to indoor goods |
| CN105415377A (en) * | 2015-12-03 | 2016-03-23 | 昆山穿山甲机器人有限公司 | Humanoid rail-free automatic meal supply robot |
| CN105563485A (en) * | 2015-12-21 | 2016-05-11 | 上海师大资产经营有限责任公司 | Meal delivery robot control system and motion track control method thereof |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107024932A (en) * | 2017-03-01 | 2017-08-08 | 上海师范大学 | The control method of intelligent four-wheel drive serving trolley |
| CN108309001A (en) * | 2018-03-30 | 2018-07-24 | 广西科技大学 | Food product conveyer |
| CN108477955A (en) * | 2018-06-14 | 2018-09-04 | 合肥蒸小皖餐饮有限公司 | The mobile device of unmanned restaurant |
| CN109131019A (en) * | 2018-06-25 | 2019-01-04 | 中国农业大学 | Model animal automates toter and method |
| CN108858226A (en) * | 2018-07-20 | 2018-11-23 | 佛山科学技术学院 | A kind of tableware intelligence recycling machine people of Multi-sensor Fusion SLAM technology |
| CN109124057A (en) * | 2018-09-02 | 2019-01-04 | 南京吉目希自动化科技有限公司 | A kind of unmanned serving trolley in compartment |
| CN110216691A (en) * | 2019-06-06 | 2019-09-10 | 深圳市普渡科技有限公司 | Robot with head assembly |
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