CN107175663B - A kind of intelligent robot food delivery method of electromagnetic tracking - Google Patents
A kind of intelligent robot food delivery method of electromagnetic tracking Download PDFInfo
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- CN107175663B CN107175663B CN201710423149.4A CN201710423149A CN107175663B CN 107175663 B CN107175663 B CN 107175663B CN 201710423149 A CN201710423149 A CN 201710423149A CN 107175663 B CN107175663 B CN 107175663B
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- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of intelligent robot food delivery methods of electromagnetic tracking, comprising the following steps: step S1: according to the step of setting of dining table cloth office is used for the electromagnetic path of robot tracking in dining room；Step S2: input food delivery instruction simultaneously instructs the step of corresponding to dining table generation positioning signal according to the food delivery；Step S3: the step of robot tracking electromagnetic path traveling is instructed according to the food delivery；Step S4: the step of stopping tracking after robot induction positioning signal and wait pick-up；Step S5: robot enters the step of making a return voyage mode after pick-up.Using technical solution of the present invention, magnetic signal whether is generated as positioning signal by the electromagnet in dining table locating module, to enormously simplify system architecture, purpose dining table can be accurately positioned in robot, so that single electromagnetic path can complete the dispatching of multiple dining tables.
Description
Technical field
The present invention relates to robot field more particularly to a kind of intelligent robot food delivery methods of electromagnetic tracking.
Background technique
With the arriving in robot epoch, currently, various industries have all risen " empty-cage-change-bird " plan, originally much by people
The work position of completion, is gradually replaced by robot." automatic food delivery " technology in the prior art is applied to Self service dining table mostly,
Various dish are transmitted to the dish for selection liked in face of client automatically with transmission belt.But this mode has great limitation
Property, need to occupy certain position space, and be not suitable for the dining room freely ordered.With advances in technology, the prior art is also released
The meal delivery robot that can freely dispense, state-of-the-art navigated by camera real-time image acquisition, this increases greatly
Add the complexity of robot, meanwhile, dining room environment mixes, and not can guarantee accurate navigation positioning dining table；The prior art is also adopted
It with infrared tracking technology, but is affected, is easy by external environmental interference, to be unable to reach the journey of practical application by light
Degree.
Therefore for drawbacks described above present in currently available technology, it is really necessary to be studied, to provide a kind of scheme,
Solve defect existing in the prior art.
Summary of the invention
In view of this, it is necessory to provide a kind of intelligent robot food delivery of the simple and convenient to carry out electromagnetic tracking of structure
Method can be realized automatic food delivery and achieve the purpose that dining table is accurately positioned.
In order to overcome the drawbacks of the prior art, technical scheme is as follows:
A kind of intelligent robot food delivery method of electromagnetic tracking, comprising the following steps:
Step S1: according to the step of setting of dining table cloth office is used for the electromagnetic path of robot tracking in dining room, the electromagnetism
Track is to be laid on ground and lead to alternating current by the conducting wire of multiple dining tables and in conducting wire to generate magnetic field signal；
Step S2: input food delivery instruction simultaneously instructs the step of corresponding to dining table generation positioning signal according to the food delivery；
Step S3: the step of robot tracking electromagnetic path traveling is instructed according to the food delivery；
Step S4: the step of stopping tracking after robot induction positioning signal and wait pick-up；
Step S5: robot enters the step of making a return voyage mode after pick-up；
Wherein, in step s 2, instruct robot to being arranged on every dining table with unique identifier according to food delivery
Dining table locating module sends purpose dining table information, and dining table locating module eats pre-set dining table information with the purpose received
Table information is matched, and then issues positioning signal if the two match.
Preferably, in step s3, robot detects the magnetic field signal of electromagnetic path and makes machine according to the magnetic field signal
The movement of electromagnetic path described in people's tracking.
Preferably, in step s 5, robot be in make a return voyage mode when, when sensing terminal magnet, robot stopping follow
Mark enters standby mode.
Preferably, further include the steps that incude pressure pallet, according in pallet pressure change signal generation make a return voyage signal into
And robot enters to make a return voyage mode and continue electromagnetic path described in tracking and makes a return voyage position to terminal.
Preferably, the alternating current of certain frequency is generated in electromagnetic path by signal source.
Preferably, built in machine people control module in robot, the robot control module are used to be instructed according to setting
Tableware is sent to specified dining table and is returned comprising electromagnetic path detection module, tongue tube, control module, moves setup module
Power drive module and the first wireless communication module, wherein the electromagnetic path detection module is used to detect the magnetic field of electromagnetic path
Signal is simultaneously sent to the control module, and the parameter that the control module controls the power drive module according to this follows robot
The movement of electromagnetic path described in mark；The setup module is for being arranged the robot purpose dining table information to be sent to, the control
Purpose dining table information is sent to dining table locating module by first wireless communication module by module；The tongue tube is for feeling
The positioning signal for answering dining table locating module to issue, the control module judge that robot is according to the inductive signal of the tongue tube
It is no to be sent to specified dining table.
Preferably, the dining table locating module, for generating positioning signal to determine purpose dining table, including the second channel radio
Interrogate module, switch control module, switch module and electromagnet, wherein second wireless communication module is for receiving the machine
The purpose dining table information that device people's control module is sent；The switch control module is used for pre-set dining table information and receives
To purpose dining table information matched, then issuing control instruction if the two match makes switch module conducting and then institute
It states electromagnet and powers on generation magnetic signal, otherwise, the switch module disconnects and then the electromagnet access failure power supply does not produce
Magnetisation signal, the magnetic signal is as positioning signal to which robot control module can be by incuding the signal and determining purpose
Dining table.
Preferably, the robot control module further includes pressure sensor, the pressure sensor and the control mould
Block is connected, for incuding the pressure of pallet Chinese dinner service.
Preferably, the electromagnetic path detection module realizes the detection of magnetic field signal using multiple LC resonance circuits.
Preferably, a plurality of electromagnetic path is set.
Compared with prior art, whether magnetic signal is generated as positioning letter by the electromagnet in dining table locating module
Number, to enormously simplify system architecture, purpose dining table can be accurately positioned in robot, so that single electromagnetic path can be completed
The dispatching of multiple dining tables.
Detailed description of the invention
Fig. 1 is the flow diagram of the intelligent robot food delivery method of electromagnetic tracking of the present invention.
The functional block diagram of Fig. 2 system of the intelligent robot food delivery method of electromagnetic tracking to realize the present invention.
Fig. 3 is the functional block diagram of robot control module in the present invention.
Fig. 4 is the functional block diagram of dining table locating module in the present invention.
The system principle diagram of Fig. 5 method another embodiment to realize the present invention.
Fig. 6 is a kind of arrangement schematic diagram of preferred implementation of electromagnetic path detection module.
Following specific embodiment will further illustrate the present invention in conjunction with above-mentioned attached drawing.
Specific embodiment
Technical solution provided by the invention is described further below with reference to attached drawing.
Referring to Fig. 1, it show the flow diagram that the present invention provides a kind of intelligent robot food delivery method of electromagnetic tracking: one
The intelligent robot food delivery method of kind electromagnetic tracking, comprising the following steps:
Step S1: according to the step of setting of dining table cloth office is used for the electromagnetic path of robot tracking in dining room, the electromagnetism
Track is to be laid on ground and lead to alternating current by the conducting wire of multiple dining tables and in conducting wire to generate magnetic field signal；
Step S2: input food delivery instruction simultaneously instructs the step of corresponding to dining table generation positioning signal according to the food delivery；In step
In S2, robot is instructed to send purpose to the dining table locating module being arranged on every dining table with unique identifier according to food delivery
Dining table information, dining table locating module match pre-set dining table information with the purpose dining table information received, if
The two matches, and issues positioning signal.
Step S3: the step of robot tracking electromagnetic path traveling is instructed according to the food delivery；In step s3, robot examines
Survey electromagnetic path magnetic field signal and according to the magnetic field signal make robot tracking described in electromagnetic path movement.
Step S4: the step of stopping tracking after robot induction positioning signal and wait pick-up；In a kind of preferred implementation side
In formula, further include the steps that incuding pressure pallet, according to pressure change signal generation in pallet make a return voyage signal and then robot into
Enter to make a return voyage and mode and continues electromagnetic path described in tracking and make a return voyage position to terminal.
Step S5: robot enters the step of making a return voyage mode after pick-up；Robot be in make a return voyage mode when, sense terminal
When magnet, robot stops tracking and enters standby mode.
Referring to fig. 2, the principle of the system of the intelligent robot food delivery method of shown electromagnetic tracking a kind of to realize the present invention
Block diagram, including electromagnetic path, meal delivery robot and dining table locating module, electromagnetic path pass through multiple dining tables, to be laid on ground
The conducting wire in face simultaneously leads to alternating current in conducting wire to generate magnetic field signal.Electricity can be laid with according to the layout of dining table in practical dining room
Magnetic orbital, robot can thus greatly reduce technology and realize difficulty according to the specific path trace tracking of electromagnetic path, can
Suitable for most dining room.
The built in machine people control module in robot show the original of robot control module in the present invention referring to Fig. 3
Block diagram is managed, robot control module is used to that tableware to be sent to specified dining table and be returned along electromagnetic path according to setting instruction,
It further comprises that electromagnetic path detection module, setup module, tongue tube, control module, power drive module and first are wireless
Communication module, wherein electromagnetic path detection module is used to detect the magnetic field signal of electromagnetic path and is sent to control module, controls
Module is the core of control, according to the magnetic field signal that electromagnetic path detection module obtains, calculates current robot and deviates electricity
The case where magnetic orbital, the parameter for controlling power drive module according to this make robot keep the movement of tracking electromagnetic path；Setup module
The purpose dining table information to be sent to for robot to be arranged, while control module is eaten purpose by the first wireless communication module
Table information is sent to dining table locating module；Tongue tube is used to incude the positioning signal of dining table locating module sending, control module root
Judge whether robot is sent to specified dining table according to the inductive signal of tongue tube.
Referring to fig. 4, it is shown the functional block diagram of dining table locating module in the present invention, for generating positioning signal so as to machine
People determines purpose dining table, further comprises the second wireless communication module, switch control module, switch module and electromagnet, wherein
Second wireless communication module is used to receive the purpose dining table information of robot control module's transmission；Switch control module is used for will be pre-
The dining table information being first arranged is matched with the purpose dining table information received, and then issuing control instruction if the two match makes
Electromagnet powers on generation magnetic signal in turn for switch module conducting, and otherwise, switch module disconnects and then electromagnet access failure electricity
Source does not generate magnetic signal, and magnetic signal is as positioning signal to which robot control module can be by incuding the signal and determining mesh
Dining table.
By adopting the above technical scheme, when needing to dispense tableware, tableware is placed on the pallet of robot simultaneously by staff
The purpose dining table information of setting, robot enter food delivery state, start tracking electromagnetic path traveling, while passing through the first channel radio
News module sends purpose dining table information to the dining table locating module being arranged on each dining table, and each dining table locating module has
The dining table information of unique identification, if its preset dining table information and received purpose dining table information match, dining table
Locating module makes the electromagnet built in it issue magnetic signal, and when robot passes through the dining table, built-in tongue tube detects the magnetic
Signal, thus robot determines to reach and purpose dining table and stops travelling, and clients is waited to take tableware away, after completing food delivery, robot into
Enter state of making a return voyage, continues tracking electromagnetic path until returning to terminal, into standby mode.In the present invention, pass through dining table positioning mould
Whether the electromagnet in block generates magnetic signal as positioning signal, to enormously simplify system architecture, robot can be accurate
Purpose dining table is positioned, so that single electromagnetic path can complete the dispatching of multiple dining tables.
In a preferred embodiment, robot control module further includes pressure sensor, pressure sensor and control
Molding block is connected, and for incuding the pressure of pallet Chinese dinner service, the pressure value variation detected by pressure sensor controls machine
People's state.When tableware is lifted, pressure sensor senses pressure change signal and is sent to control module, and control module produces
It is raw to make a return voyage signal and then robot control module enters state of making a return voyage and continues tracking electromagnetic path and makes a return voyage position to terminal.Due to
Provided with pressure sensor, the generation that the signal that makes a return voyage need not be artificial, as long as service plate is picked up, pressure sensor will automatically generate one
A signal that makes a return voyage.
In a preferred embodiment, this system is additionally provided with terminal magnet, and robot control module, which is in, makes a return voyage
When state, when tongue tube senses terminal magnet, robot control module stops tracking, into standby mode.Due to setting
Terminal magnet, robot completes that designated position can be rested in automatically when food delivery, to facilitate food delivery arrangement.
In a preferred embodiment, this system further includes signal source, is serially connected in electromagnetic path, in electromagnetism
The alternating current of certain frequency is generated in track.Alternating current is generated by signal source, so as to set by practical service environment
The frequency for setting alternating current can achieve signal interference existing for the extraneous specific environment of elimination by changing frequency.Preferably, it hands over
The frequency of time-dependent current is 20KHz.
In a preferred embodiment, electromagnetic path is laid below ground.For example, be laid on dining room floor or
Below ceramic tile, thus will not influence guest's walking, simultaneously as magnetic field signal is spatial distribution, it will not be to robot
Tracking has any impact.
In a preferred embodiment, setup module uses key module or touch display screen, facilitates staff
Operation.
It in a preferred embodiment, further include voice cue module, voice cue module is connected with control module
It connects, for issuing speech prompt information.For example, the prompt of " opening food delivery " can be issued when starting robot food delivery, mesh is reported and submitted
Dining table information, so as to staff verify information；When robot reaches purpose dining table, mentioning for " food delivery completion " can be issued
Show, for example, " Delivered of ordering woulds you please use slowly ", reminds user's pick-up.
In a preferred embodiment, power drive module includes that at least motor and steering engine, motor is used to control machine
The speed of device people, steering engine are used to control the direction of robot.Control module is used to control the starting and the speed of travel of robot.
Electromagnetic path detection module checks that electromagnetic signal, control module judge the case where robot deviates electromagnetic path, same time control according to this
The motion state of the parameter change robot of motor and steering engine processed makes it keep tracking electromagnetic path.General motor needs motor to drive
Dynamic model block realizes control, and control module controls the motion state that motor drive module changes motor.Control module passes through pwm signal
Control steering engine.Preferably, pid algorithm is run in control module, can control distance in the speed and traveling process of robot
Optimal selection.
In a preferred embodiment, a plurality of electromagnetic path is set, so as to cover entire dining room comprehensively.Referring to
Fig. 5 show a kind of functional block diagram of the intelligent robot food delivery system another embodiment of electromagnetic tracking of the present invention, is
Situation provided with two electromagnetic paths similarly extends also to any electromagnetic path certainly, and every electromagnetic path is by one
A robot is responsible for dispatching, independent operating, and not co-orbital robot can dispense simultaneously, to substantially increase food delivery effect
Rate.
In the above-mentioned technical solutions, due to being laid with a plurality of electromagnetic path, there can be the staggered track of cross, this is to robot
Tracking navigation causes new technical difficulty.The prior art, it is real that electromagnetic path detection module generallys use multiple LC resonance circuits
The detection of existing magnetic field signal, and the inductance in LC resonance circuit be horizontal symmetrical be distributed in two sides above track, utilize a left side
The inductance detection of right symmetric position to magnetic field signal difference determine offset track size.By electromagnetic induction principle it is found that inductance
When parallel electromagnetic path, induced current is generated in inductance, and the position with electromagnetic path can be determined that by faradic size
Relationship；And can't detect induced current when inductance vertical electromagnetism, therefore, the prior art uses Parallel Symmetric inductance arrangement side
Formula can be realized accurate tracking in common rail.But it is tested under the staggered track situation of cross, horizontal inductance distribution
It is easy when track interlocks there are signal interference, exceeds the bounds phenomenon so as to cause robot, dispatching is caused to malfunction.
In order to overcome the above technical defects, in a preferred embodiment, electromagnetic path detection module uses four road LC
Resonance circuit show a kind of arrangement schematic diagram of the electromagnetic path detection module in preferred implementation referring to Fig. 6, and four LC are humorous
The circuit that shakes is distributed along track bilateral symmetry, wherein two symmetrical LC resonance circuits (inductance) and electromagnetism on the inside of electromagnetic path
Track is vertical, and it is in 45° angle that two symmetrical LC resonance circuits (inductance) on the outside of electromagnetic path are vertical with electromagnetic path, this
Kind arrangement mode is conducive to detect right-angled intersection track, can also be rapidly to correct in off-track.Robot exists
On non-crossing track when driving, the LC resonance circuit in outside can detect that track, inside LC resonance circuit can not detect signal.
And when trolley drives to cross track, since outside LC resonance circuit can be detected simultaneously by what two tracks obtained in 45 °
Signal value increases, and inside LC resonance circuit can detecte the trajectory signal in vertical travel direction, can know more accurate rail
Road information, so as to which there is higher discrimination to the track of right-angled intersection, it is ensured that robot is along preset electromagnetic path
Traveling.
In a preferred embodiment, the frequency of the alternating current generated in electromagnetic path is 20kHz, is arranged as a result,
LC resonance circuit uses frequency also for 20kHz, can specifically use the inductance that capacitance is 10nH for 6.8n capacitor and inductance value
Form a LC resonance circuit.It, can be by changing electrified wire letter in order to avoid the interference of other external frequency signals
The frequency in number source realizes the frequency relation formula of the change to acquisition signal frequency, capacitor C1 and inductance L1 and acquisition signal:
LC resonance circuit can choose the signal frequency of acquisition, to change the frequency of signal source to reach and eliminate extraneous spy
Fixed interference signal.
The above description of the embodiment is only used to help understand the method for the present invention and its core ideas.It should be pointed out that pair
For those skilled in the art, without departing from the principle of the present invention, the present invention can also be carried out
Some improvements and modifications, these improvements and modifications also fall within the scope of protection of the claims of the present invention.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to 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, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of intelligent robot food delivery method of electromagnetic tracking, which comprises the following steps:
Step S1: according to the step of setting of dining table cloth office is used for the electromagnetic path of robot tracking in dining room, the electromagnetic path
To be laid on ground and leading to alternating current by the conducting wire of multiple dining tables and in conducting wire to generate magnetic field signal；
Step S2: input food delivery instruction simultaneously instructs the step of corresponding to dining table generation positioning signal according to the food delivery；
Step S3: the step of robot tracking electromagnetic path traveling is instructed according to the food delivery；
Step S4: the step of stopping tracking after robot induction positioning signal and wait pick-up；
Step S5: robot enters the step of making a return voyage mode after pick-up；
Wherein, in step s 2, according to food delivery instruct robot to be arranged on every dining table with unique identifier dining table
Locating module sends purpose dining table information, and dining table locating module believes pre-set dining table information with the purpose dining table received
Breath is matched, and then issues positioning signal if the two match；
The positioning signal is the magnetic signal that the dining table locating module is generated by control electromagnet.
2. the intelligent robot food delivery method of electromagnetic tracking according to claim 1, which is characterized in that in step s3,
Robot detection electromagnetic path magnetic field signal and according to the magnetic field signal make robot tracking described in electromagnetic path movement.
3. the intelligent robot food delivery method of electromagnetic tracking according to claim 1 or 2, which is characterized in that in step S5
In, robot be in make a return voyage mode when, when sensing terminal magnet, robot stop tracking entering standby mode.
4. the intelligent robot food delivery method of electromagnetic tracking according to claim 3, which is characterized in that further include induction support
The step of disk pressure, enters to make a return voyage and mode and continues to follow according to make a return voyage signal and then robot of pressure change signal generation in pallet
Electromagnetic path described in mark makes a return voyage position to terminal.
5. the intelligent robot food delivery method of electromagnetic tracking according to claim 3, which is characterized in that existed by signal source
The alternating current of certain frequency is generated in electromagnetic path.
6. the intelligent robot food delivery method of electromagnetic tracking according to claim 3, which is characterized in that built-in in robot
Robot control module, the robot control module are used to that tableware to be sent to specified dining table and be returned according to setting instruction,
It includes electromagnetic path detection module, setup module, tongue tube, control module, power drive module and the first wireless telecommunications mould
Block, wherein the electromagnetic path detection module is used to detect the magnetic field signal of electromagnetic path and is sent to the control module, institute
State control module control according to this power drive module parameter make electromagnetic path described in robot tracking move；The setting
Module passes through first wireless communication module for the robot purpose dining table information to be sent to, the control module to be arranged
Purpose dining table information is sent to dining table locating module；The tongue tube is used to incude the positioning letter of dining table locating module sending
Number, the control module judges whether robot is sent to specified dining table according to the inductive signal of the tongue tube.
7. the intelligent robot food delivery method of electromagnetic tracking according to claim 3, which is characterized in that the dining table positioning
Module, for generating positioning signal to determine purpose dining table, including the second wireless communication module, switch control module, switching molding
Block and electromagnet, wherein second wireless communication module is used to receive the purpose dining table that the robot control module sends
Information；The switch control module is used to match pre-set dining table information with the purpose dining table information received,
Then issue that control instruction makes switch module conducting and then the electromagnet powers on and generates magnetic letter if the two match
Number, otherwise, the switch module disconnects and then the electromagnet access failure power supply does not generate magnetic signal, and the magnetic signal is as fixed
Position signal can be by incuding the signal and determining purpose dining table to robot control module.
8. the intelligent robot food delivery method of electromagnetic tracking according to claim 6, which is characterized in that the robot control
Molding block further includes pressure sensor, and the pressure sensor is connected with the control module, for incuding pallet Chinese dinner service
Pressure.
9. the intelligent robot food delivery method of electromagnetic tracking according to claim 6, which is characterized in that the electromagnetic path
Detection module realizes the detection of magnetic field signal using multiple LC resonance circuits.
10. the intelligent robot food delivery method of electromagnetic tracking according to claim 1, which is characterized in that a plurality of electricity is arranged
Magnetic orbital.
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| CN110232456A (en) * | 2018-03-06 | 2019-09-13 | 阿里巴巴集团控股有限公司 | Food and drink office system and food and drink order information processing method, device |
| CN108542227A (en) * | 2018-04-28 | 2018-09-18 | 四川化工职业技术学院 | Automatic food delivery and meal method is received in a kind of intelligent shop towards little Wei food and beverage enterprises |
| CN109886839A (en) * | 2019-01-11 | 2019-06-14 | 杭州火小二科技有限公司 | A kind of intelligence food delivery system and method |
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