CN107132845A - A kind of electromagnetism intelligent carriage food delivery system - Google Patents
A kind of electromagnetism intelligent carriage food delivery system Download PDFInfo
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- CN107132845A CN107132845A CN201710421393.7A CN201710421393A CN107132845A CN 107132845 A CN107132845 A CN 107132845A CN 201710421393 A CN201710421393 A CN 201710421393A CN 107132845 A CN107132845 A CN 107132845A
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- 235000013305 food Nutrition 0.000 title claims abstract description 19
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- 235000003166 Opuntia robusta Nutrition 0.000 claims description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a kind of electromagnetism intelligent carriage food delivery system, including：Electromagnetic path, the phase magnet for being arranged on every dining table, signal source, channel switch and the Intelligent tracking trolley of one independent pathway are set for each dining table, Intelligent tracking trolley further comprises control module, power module, electromagnetic signal detection module, power drive module, pressure detecting module and tongue tube, using four LC resonance circuits, complementation can recognize right-angled intersection track to electromagnetic signal detection module two-by-two, outside LC resonance circuits can be used for the deviation situation for differentiating traveling, and the LC resonance circuits of inner side may determine that right-angled intersection track.The present invention can be realized is automatically sent to a certain customer place dining table by canteen, simple in construction, with low cost, convenient to carry out, saves manpower.
Description
Technical field
The present invention relates to field of intelligent control technology, more particularly to a kind of electromagnetism intelligent carriage food delivery system.
Background technology
Growing with artificial intelligence technology, intelligent vehicle starts gradually to walk close to masses.Intelligent vehicle is also vehicle,
It is a collection environment sensing, data analysis, the function such as Decision Control and the auxiliary driving of many grades is concentrated in the integrated system of one
Computer, sensor technology, information fusion, communication, artificial intelligence are used and the technology such as have automatically controlled, be typical high-new skill
Art synthesis.
A kind of always intelligence mentioned in the control system (application number 201220135231.X) of automated intelligent tracking cart
Tracking cart, its path detection is, by infrared ray tracking, easily to be disturbed by external light source, while interlocking running into cross
During route, the signal detected can be judged by accident, it is impossible to correct traveling, expected requirement is unable to reach in implementation process,
It can not be come into operation in reality.
Therefore, for drawbacks described above present in currently available technology, it is necessary to be studied in fact, to provide a kind of scheme,
Solve defect present in prior art.
The content of the invention
In view of this, can it is necessory to provide electromagnetism intelligent carriage food delivery system a kind of simple in construction and convenient to carry out
Canteen is automatically sent to before the dining table of customer with realizing, it is simple in construction, it is with low cost, it is convenient to carry out, save manpower.
In order to overcome the defect of prior art, technical scheme is as follows：
A kind of electromagnetism intelligent carriage food delivery system, including：The electromagnetic path of one independent pathway is set for each dining table, set
The phase magnet in every dining table, signal source, channel switch and Intelligent tracking trolley are put, wherein,
The electromagnetic path is the wire being laid in dining room and every electromagnetic path has identical beginning and end；
The signal source is serially connected in the same rail part of all electromagnetic paths, and electromagnetic path is produced for producing alternating current
Magnetisation field signal；
The channel switch is serially connected in electromagnetic path, makes the electricity for connecting corresponding electromagnetic path according to dining table information
Alternating current is turned in magnetic orbital；
The Intelligent tracking trolley is used to canteen be sent to dining table automatically and returned, and it further comprises control module, electricity
Source module, electromagnetic signal detection module, power drive module, pressure detecting module and tongue tube, wherein, the power module is used
In providing power supply for Intelligent tracking trolley；The electromagnetic signal detection module is used for the magnetic field signal for detecting electromagnetic path；It is described
Control module is used to formulate travel route according to the magnetic field signal of acquisition and controls the power drive module tracking to travel；It is described
Tongue tube is used to sense phase magnet and induced signal is sent into control module, and the control module is according to the induced signal
Judge whether to be sent to dining table and control Intelligent tracking trolley to stop tracking canteen to wait client's pick-up；The pressure detecting mould
Block is connected with the control module, for the pressure of induction dinner plate, when service plate is lifted, the pressure detecting module sensing
To pressure change signal and the control module is sent to, the control module, which is produced, makes a return voyage signal and then Intelligent tracking trolley enters
Enter to make a return voyage and state and continue electromagnetic path described in tracking and make a return voyage position to terminal；
The electromagnetic signal detection module uses four road LC resonance circuits, and the four roads LC resonance circuits are symmetrical along track
Distribution, wherein, the inductance of two symmetrical LC resonance circuits on the inside of electromagnetic path is vertical with electromagnetic path, and close to electromagnetism
The inductance of two symmetrical LC resonance circuits on the outside of track is in 45° angle with electromagnetic path.
Preferably, it is additionally provided with terminal magnet, Intelligent tracking trolley is in when making a return voyage state, when the tongue tube is sensed
During terminal magnet, the Intelligent tracking trolley stops tracking.
Preferably, it is additionally provided with starting point magnet.
Preferably, the control module uses single-chip microcomputer MC9S12XS128.
Preferably, the power drive module at least includes motor and steering wheel, is connected with the control module.
Preferably, realized by H-bridge circuit and control the motor.
Preferably, the control module controls the steering wheel to realize direction controlling.
Preferably, the control module calculates optimal route by pid algorithm and realizes route selection.
Preferably, the frequency that the signal source produces alternating current is 20kHz；The resonant frequency of the LC resonance circuits is
20kHz。
Preferably, in addition to ultrasonic wave module, it is connected with the control module, it is interim on electromagnetic path for detecting
Barrier.
Compared with prior art, dining table positioning signal is used as by magnet, so as to enormously simplify system architecture；Pass through
LC resonance circuit selection signal frequencies, extraneous specific interference signal is eliminated so as to change the frequency of signal source to reach.
Brief description of the drawings
Fig. 1 is the theory diagram of electromagnetism intelligent carriage food delivery system of the present invention.
Fig. 2 is the theory diagram of Intelligent tracking trolley in the present invention.
Fig. 3 is the theory diagram of electromagnetic signal detection module in the present invention.
Fig. 4 is the physical circuit schematic diagram of electromagnetic signal detection module in the present invention.
Specific examples below will further illustrate the present invention with reference to above-mentioned accompanying drawing.
Embodiment
The technical scheme provided below with reference to accompanying drawing the present invention is described further.
Referring to Fig. 1, it show the present invention and a kind of theory diagram of electromagnetism intelligent carriage food delivery system is provided, be each dining table
The electromagnetic path for setting an independent pathway, the phase magnet for being arranged on every dining table, signal source, channel switch and intelligence are followed
Mark dolly, wherein, electromagnetic path is the wire being laid in dining room and every electromagnetic path has identical beginning and end；Letter
Number subject string is connected in the same rail part of all electromagnetic paths, electromagnetic path is produced magnetic field signal for producing alternating current；It is logical
Road switch is serially connected in electromagnetic path, and alternating current is turned on for connecting corresponding electromagnetic path according to dining table information；Intelligence
Tracking cart is used to canteen be sent to dining table automatically and returned.
Referring to Fig. 2, the theory diagram of Intelligent tracking trolley in the present invention is shown, it further comprises control module, electricity
Source module, electromagnetic signal detection module, power drive module, pressure detecting module and tongue tube, wherein, power module is used for intelligence
Can tracking cart offer power supply；Electromagnetic signal detection module is used for the magnetic field signal for detecting electromagnetic path；Control module is used for root
Travel route is formulated according to the magnetic field signal of acquisition and controls power drive module tracking to travel；Tongue tube is used to sense phase magnet
And induced signal is sent to control module, control module judges whether that canteen is sent into dining table and controlled according to induced signal
Intelligent tracking trolley stops tracking and waits client's pick-up；Pressure detecting module is connected with control module, for induction dinner plate
Pressure, when service plate is lifted, pressure detecting module senses pressure change signal and is sent to control module, control module production
It is raw to make a return voyage signal and then Intelligent tracking trolley enters state of making a return voyage and continues tracking electromagnetic path and makes a return voyage position to terminal.
Above-mentioned technical proposal can reach following technique effect：Due to using electromagnetic signal as tracking track, so that anti-
Interference performance is greatly promoted；LC resonance circuits can select the signal frequency of collection, so as to change the frequency of signal source to reach
Eliminate extraneous specific interference signal；Using electromagnet as dining table positioning signal, so as to enormously simplify system architecture；Electromagnetism
Track is the wire for being laid on ground, so as to lay electromagnetic path according to the layout of dining table in actual dining room, is substantially reduced
Technology realizes difficulty, can be applied to most dining room；Due to being provided with pressure detecting module, the signal that makes a return voyage need not be artificial
Generation, as long as service plate is picked up, the signal that makes a return voyage will be automatically generated.
In a preferred embodiment, Intelligent tracking trolley starts since starting point magnet, first opens corresponding before starting
The channel switch of dining table, corresponding electromagnetic path connects alternating current and then the generation magnetic field signal, Intelligent tracking that signal source is produced
Dolly is travelled according to the electromagnetic path of laying, when the phase magnet for driving to dining table lays point, Intelligent tracking trolley
Tongue tube detects magnet and stops traveling, and dolly stops etc. after client's pick-up immediately when single-chip microcomputer can send signal, when on dolly
Service plate when being lifted, pressure detecting module sends a signal to single-chip microcomputer, and motor works single-chip microcomputer again, continues according to rail
Mark traveling stops up to driving to after the terminal magnet of laying, and Intelligent tracking trolley can utilize the super of equipment during traveling
Sound wave module is detected to pedestrian, when detecting pedestrian's (temporary obstructions), and Intelligent tracking trolley, which can stop, waits pedestrian
Proceed food delivery after leaving.
In the above-mentioned technical solutions, due to laying a plurality of electromagnetic path, there can be the track that cross interlocks, this is followed to intelligence
The navigation of mark dolly tracking causes new technical difficulty.Prior art, electromagnetic signal detection module generally uses multiple LC resonance
Inductance in the detection of circuit realiration magnetic field signal, and LC resonance circuits be horizontal symmetrical be distributed in both sides above track,
Using symmetrical position inductance detection to magnetic field signal difference determine offset track size.Can by electromagnetic induction principle
Know, during the parallel electromagnetic path of inductance, produce induced-current in inductance, can be determined that by faradic size and electromagnetic path
Position relationship；And induced-current is can't detect when inductance vertical electromagnetism, therefore, prior art uses Parallel Symmetric inductance
Arrangement mode, can realize accurate tracking in common rail.But, tested under the track situation that cross interlocks, level electricity
Easily there is signal interference when track interlocks in sense distribution, so as to cause Intelligent tracking trolley to be exceeded the bounds phenomenon, cause dispatching error.
In order to overcome above-mentioned technological deficiency, in a preferred embodiment, electromagnetic signal detection module uses four road LC
Resonance circuit, referring to Fig. 3, show the arrangement schematic diagram of electromagnetic signal detection module in the present invention, four LC resonance circuits edges
The symmetrical distribution of track, wherein two symmetrical LC resonance circuits (inductance) on the inside of electromagnetic path are hung down with electromagnetic path
Directly, two symmetrical LC resonance circuits (inductance) and on the outside of electromagnetic path are vertical with electromagnetic path in 45° angle, this arrangement
Mode is conducive to detecting right-angled intersection track, can also be rapid correction in off-track.Intelligent tracking trolley exists
When being travelled on non-crossing track, the LC resonance circuits in outside can detect track, and inner side LC resonance circuits can not detect signal.
And when dolly drives to cross track, can be detected simultaneously by what two tracks were obtained because outside LC resonance circuits are in 45 °
Signal value increase, inner side LC resonance circuits can detect the trajectory signal in vertical travel direction, can know more accurately rail
Road information, so as to which there is higher discrimination to the track of right-angled intersection, it is ensured that Intelligent tracking trolley is along default electricity
Magnetic orbital is travelled.
Referring to Fig. 4, the physical circuit schematic diagram of electromagnetic signal detection module is shown, capacitance is 6.8n electric capacity C1 and inductance value
A resonance circuit is constituted for 10nH inductance, frequency acquisition is 20kHz magnetic field signal, and what magnetic field signal was powered by one leads
Line is generated, in order to avoid the interference of other outside frequency signals, can by change the frequency of electrified wire signal source come
Realize the frequency relation formula of the change to gathering signal frequency, C1 and L1 and collection signal：
It is filtered after resonance circuit collection signal first with C2, R1 and C3, R2, C4, C5 is carried out to chip power supply power supply
Filtering, input is smaller, it is necessary to be amplified by amplifier to signal due to signal, and Fig. 4 uses letters of the INA129 to collection
Number it is amplified, the multiple of amplification：
AC signal is converted into by a detecting circuit by direct current signal after signal amplification, then adopted by single-chip microcomputer progress AD
Sample, obtains data, motor and steering wheel is manipulated according to acquired signal.
In a preferred embodiment, it is additionally provided with terminal magnet, Intelligent tracking trolley is in when making a return voyage state, when dry
When reed pipe senses terminal magnet, Intelligent tracking trolley stops tracking.
In a preferred embodiment, it is additionally provided with starting point magnet.
In a preferred embodiment, control module uses single-chip microcomputer MC9S12XS128.
In a preferred embodiment, power drive module includes at least motor and steering wheel, with control module phase
Connection, motor is used for the speed for controlling Intelligent tracking trolley, and steering wheel is used for the direction for controlling Intelligent tracking trolley.Control module is used
Startup and the speed of travel in control Intelligent tracking trolley.Electromagnetic signal detection module check electromagnetic signal, control module according to
This judges that Intelligent tracking trolley deviates the situation of electromagnetic path, while the parameter change Intelligent tracking trolley of controlled motor and steering wheel
Motion state make its keep tracking electromagnetic path.
In a preferred embodiment, controlled motor is realized by H-bridge circuit.
In a preferred embodiment, control module calculates optimal route by pid algorithm and realizes route selection.
In a preferred embodiment, the frequency that signal source produces alternating current is 20kHz；The resonance of LC resonance circuits
Frequency is 20kHz.
The explanation of above example is only intended to the method and its core concept for helping to understand the present invention.It should be pointed out that pair
, under the premise without departing from the principles of the invention, can also be to present invention progress for those skilled in the art
Some improvement and modification, these are improved and modification is also fallen into the protection domain of the claims in the present invention.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (10)
1. a kind of electromagnetism intelligent carriage food delivery system, it is characterised in that including：The electricity of one independent pathway is set for each dining table
Magnetic orbital, the phase magnet for being arranged on every dining table, signal source, channel switch and Intelligent tracking trolley, wherein,
The electromagnetic path is the wire being laid in dining room and every electromagnetic path has identical beginning and end；
The signal source is serially connected in the same rail part of all electromagnetic paths, electromagnetic path is produced magnetic for producing alternating current
Field signal；
The channel switch is serially connected in electromagnetic path, makes the electromagnetism rail for connecting corresponding electromagnetic path according to dining table information
Alternating current is turned in road；
The Intelligent tracking trolley is used to canteen be sent to dining table automatically and returned, and it further comprises control module, power supply mould
Block, electromagnetic signal detection module, power drive module, pressure detecting module and tongue tube, wherein, the power module is for being
Intelligent tracking trolley provides power supply；The electromagnetic signal detection module is used for the magnetic field signal for detecting electromagnetic path；The control
Module is used to formulate travel route according to the magnetic field signal of acquisition and controls the power drive module tracking to travel；The dry spring
Manage for sensing phase magnet and induced signal being sent into control module, the control module judges according to the induced signal
Whether canteen is sent to dining table and controls Intelligent tracking trolley to stop tracking and wait client's pick-up；The pressure detecting module with
The control module is connected, for the pressure of induction dinner plate, and when service plate is lifted, the pressure detecting module senses pressure
Power variable signal is simultaneously sent to the control module, and the control module, which is produced, makes a return voyage signal and then Intelligent tracking trolley enters and returned
Boat state simultaneously continues electromagnetic path described in tracking and maked a return voyage position to terminal；
The electromagnetic signal detection module uses four road LC resonance circuits, and the four roads LC resonance circuits are along symmetrical point of track
Cloth, wherein, the inductance of two symmetrical LC resonance circuits on the inside of electromagnetic path is vertical with electromagnetic path, and close to electromagnetism rail
The inductance of two symmetrical LC resonance circuits on the outside of road is in 45° angle with electromagnetic path.
2. electromagnetism intelligent carriage food delivery system according to claim 1, it is characterised in that be additionally provided with terminal magnet, intelligence
Can tracking cart be in when making a return voyage state, when the tongue tube senses terminal magnet, the Intelligent tracking trolley stops following
Mark.
3. electromagnetism intelligent carriage food delivery system according to claim 1 or 2, it is characterised in that be additionally provided with starting point magnet.
4. electromagnetism intelligent carriage food delivery system according to claim 1 or 2, it is characterised in that the control module is used
Single-chip microcomputer MC9S12XS128.
5. electromagnetism intelligent carriage food delivery system according to claim 1 or 2, it is characterised in that the power drive module
At least include motor and steering wheel, be connected with the control module.
6. electromagnetism intelligent carriage food delivery system according to claim 5, it is characterised in that realized and controlled by H-bridge circuit
The motor.
7. electromagnetism intelligent carriage food delivery system according to claim 5, it is characterised in that the control module control is described
Steering wheel realizes direction controlling.
8. electromagnetism intelligent carriage food delivery system according to claim 5, it is characterised in that the control module passes through PID
Algorithm calculates optimal route and realizes route selection.
9. electromagnetism intelligent carriage food delivery system according to claim 1, it is characterised in that the signal source produces alternation electricity
The frequency of stream is 20kHz；The resonant frequency of the LC resonance circuits is 20kHz.
10. electromagnetism intelligent carriage food delivery system according to claim 1, it is characterised in that also including ultrasonic wave module, with
The control module is connected, for detecting the temporary obstructions on electromagnetic path.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710421393.7A CN107132845A (en) | 2017-06-07 | 2017-06-07 | A kind of electromagnetism intelligent carriage food delivery system |
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| CN201710421393.7A CN107132845A (en) | 2017-06-07 | 2017-06-07 | A kind of electromagnetism intelligent carriage food delivery system |
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Cited By (6)
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| CN107491075A (en) * | 2017-09-19 | 2017-12-19 | 歌尔股份有限公司 | Food delivery system and food delivery control method |
| CN107526359A (en) * | 2017-09-15 | 2017-12-29 | 中山市奥斯精工机械科技有限公司 | The automatic meal delivery device of intelligence and food delivery method |
| CN108890647A (en) * | 2018-08-07 | 2018-11-27 | 北京云迹科技有限公司 | A kind of automatic food delivery method, apparatus and robot |
| CN109397302A (en) * | 2018-10-30 | 2019-03-01 | 广东粤迪厚创科技发展有限公司 | Intelligent restaurant service robot |
| CN110119142A (en) * | 2019-04-03 | 2019-08-13 | 杭州电子科技大学 | A kind of electromagnetism intelligent carriage shutdown system |
| CN111474924A (en) * | 2019-01-23 | 2020-07-31 | 菜鸟智能物流控股有限公司 | Control device, control apparatus, control method, and physical distribution object processing system |
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| CN110119142A (en) * | 2019-04-03 | 2019-08-13 | 杭州电子科技大学 | A kind of electromagnetism intelligent carriage shutdown system |
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