CN107972001A - A kind of meal delivery robot - Google Patents
A kind of meal delivery robot Download PDFInfo
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- CN107972001A CN107972001A CN201711312401.0A CN201711312401A CN107972001A CN 107972001 A CN107972001 A CN 107972001A CN 201711312401 A CN201711312401 A CN 201711312401A CN 107972001 A CN107972001 A CN 107972001A
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Classifications
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- 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
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Image Analysis (AREA)
Abstract
The present invention provides a kind of meal delivery robot, including：Robot body, the pivotal axis of orientable rotation is connected with the robot body, annular equidistantly distributed there are multiple food delivery brackets on the pivotal axis, and service plate is provided with the food delivery bracket, the robot body bottom is provided with driving wheel, and the robot body head is provided with display screen.Meal delivery robot of the present invention annular on pivotal axis is evenly equipped with multiple food delivery brackets and service plate, improves the efficiency of a food delivery, reduces the intensity that robot works back and forth, improve service life.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of meal delivery robot.
Background technology
Catering industry runs dish and send dish manpower demand is big and with low content of technology, work income is low often to nobody shows any interest in.In people
Under the background that power cost rises steadily, realize the room service of automation just into the need of catering industry with Intelligent meal delivery robot
Ask.Human cost can be substantially reduced using meal delivery robot, and improves dining room operational paradigm.The machine of some existing food deliveries
Meal amount that device people's food delivery is carried by is simultaneously few, causes food delivery efficiency further to be lifted.
The content of the invention
(1) technical problems to be solved
The technical problem to be solved in the present invention is to provide annular on a kind of pivotal axis to be evenly equipped with multiple food delivery brackets and service plate
, the robot that food delivery is efficient.
(2) technical solution
In order to solve the above technical problems, the present invention provides a kind of meal delivery robot, including：Robot body, the machine
The pivotal axis of orientable rotation is connected with human body, annular equidistantly distributed has multiple food delivery brackets, institute on the pivotal axis
State and service plate is installed on food delivery bracket, the robot body bottom is provided with driving wheel, and the robot body head is set
There is display screen.The display screen is used to show the corresponding dining table number of current service plate.
Further, further include：
Wireless telecommunications system, for receiving the mobile control instruction of control terminal transmission, while is additionally operable to the control
The various data of terminal transmitter device people；
Image capture device, is arranged on the front side of the robot body, for the ground environment in front of robot into
Row image data acquiring, to obtain and export instant forward image；
Light filling equipment, is connected with described image collecting device, near described image collecting device, for based on described
The average brightness of instant forward image and surrounding environment brightness determine whether to adopt for the view data of described image collecting device
Collection provides the supplementary lighting of corresponding light quantity；
Image analysis equipment, is arranged on the robot body, is connected with described image collecting device, is for receiving
When forward image, determine each picture based on whether the gray value of each pixel in forward image immediately undergos mutation
Whether vegetarian refreshments belongs to edge pixel point, and each edge pixel point is carried out geometrical fit to determine in the forward image immediately
The quantity of object；
Object information extraction equipment, is connected with described image analytical equipment, to each in the forward image immediately
Object determines its complexity, and the complexity based on each object in the forward image immediately determines the forward image pair immediately
The object complexity answered；
Test data selects equipment, is connected with the object information extraction equipment, in the object complexity received
When transfiniting, selection and the test image of object complexity corresponding number test quantity as default, and object complexity is higher, test
The quantity of image is more, and is additionally operable to, when the object complexity received does not transfinite, select the test image of fixed qty
As default test quantity；
Test image obtains equipment, is connected with test data selection equipment, for each type scene, chooses default
The image of quantity is tested as test image, the test image of all types scene is all transformed into YUV color spaces to obtain
Multiple test color images；
Test data processing equipment, obtains equipment with test image and is connected, for receiving the multiple test color image,
Normalized is performed respectively to the multiple test color image to obtain multiple standard testing images of fixed dimension；
Feature extracting device, is connected with the object information extraction equipment and the test data processing equipment respectively, according to
The input quantity type of the model of selection is determined according to object complexity, the input quantity type according to selection is to each standardized test chart
Picture progress feature extraction meets input quantity type, the corresponding test feature amount of the standard testing image of selection to obtain, its
In, object complexity is higher, and the corresponding data processing amount of input quantity type of the model of selection is more；
Model measurement equipment, is connected with the feature extracting device, corresponding each for receiving each standard testing image
A test feature amount, each test feature amount is respectively outputted to complete the test of model parameter in model, wherein, model bag
Input layer, hidden layer and output layer are included, the output of the model is object position pattern；
Model performs equipment, is connected respectively with the feature extracting device and described image analytical equipment, is for receiving
When forward image, to instant forward image successively YUV color space conversions, normalized and input quantity class according to selection
The feature extraction of type meets input quantity type, the corresponding identification feature amount of the instant forward image of selection to obtain, by this
Input of the instant corresponding identification feature amount of forward image as the input layer of model after trained, with by after training model it is defeated
The output quantity for going out layer obtains object position pattern in the instant forward image；
Main control device, performs equipment with the model and is connected, for receiving forward image and the object immediately
Position pattern, the size based on object position pattern determine robot to the real-time range of target object location, and in institute
Real-time range is stated when zero arrives between pre-determined distance threshold value, control robot translational speed is so that robot speed and the reality
When apart from directly proportional.
Further, the object information extraction equipment, test data selection equipment, the test image are obtained and set
Standby, described test data processing equipment, the feature extracting device, the model measurement equipment and the model perform equipment quilt
It is integrated on same integrated circuit plate.
Further, main control device is Freescale IMX process chips.
Further, further include：Image compression apparatus, respectively with the wireless telecommunications system and described image collecting device
Connection, for receiving the instant forward image；Described image compression device is additionally operable to the forward image immediately performing base
In the Image Data Compression of MPEG- standards, to obtain Real Time Compression image；Described image compression device is additionally operable to described in acquisition
After Real Time Compression image, the Real Time Compression image wireless is sent to eventually by the control by the wireless telecommunications system
End；When the real-time range of robot to object reaches zero between pre-determined distance threshold value, automatically control machine people and slowly stop.
(3) beneficial effect
Meal delivery robot of the present invention annular on pivotal axis is evenly equipped with multiple food delivery brackets and service plate, improves a food delivery
Efficiency, reduce the intensity that robot works back and forth, improve service life.
Brief description of the drawings
Fig. 1 is the structure diagram of meal delivery robot of the present invention；
Fig. 2 is the interface diagram of meal delivery robot main control device of the present invention；
Fig. 3 is the block diagram of meal delivery robot of the present invention；
Wherein：1 it is robot body, 2 be pivotal axis, 3 be food delivery bracket, 4 be service plate, 5 be driving wheel, 6 is display screen.
Embodiment
Refering to Fig. 1~Fig. 3, the present invention provides a kind of meal delivery robot, including：Robot body 1, on robot body 1
It is connected with the pivotal axis 2 of orientable rotation, annular equidistantly distributed there are multiple food delivery brackets 3 on pivotal axis 2, on food delivery bracket 3
Service plate 4 is installed, 1 bottom of robot body is provided with driving wheel 5, and 1 head of robot body is provided with display screen 6.Display screen 6
For showing current 4 corresponding dining table number of service plate.
The present embodiment meal delivery robot annular on pivotal axis is evenly equipped with multiple food delivery brackets and service plate, improves and once send
The efficiency of meal, reduces the intensity that robot works back and forth, improves service life.
Human cost can be substantially reduced by robot food delivery, and improve dining room operational paradigm, but some existing machines
Device people can not carry out effective reduction of speed, some meetings cause soup to be spilt, and influence at the specified food delivery position of mobile soon arrival
Food delivery quality, therefore, refering to Fig. 3, the present embodiment further includes：
Wireless telecommunications system, for receiving the mobile control instruction of control terminal transmission, while is additionally operable to control terminal
The various data of distribution of machine people；
Image capture device, is arranged on the front side of robot body 1, for carrying out figure to the ground environment in front of robot
As data acquisition, to obtain and export instant forward image；
Light filling equipment, is connected with image capture device, near image capture device, for based on instant forward image
Average brightness and surrounding environment brightness determine whether that the image data acquiring for image capture device provides corresponding light quantity
Supplementary lighting；
Image analysis equipment, is arranged on robot body 1, is connected with image capture device, for receiving instant front
Image, determines whether each pixel belongs to based on whether the gray value of each pixel in instant forward image undergos mutation
In edge pixel point, each edge pixel point is subjected to geometrical fit to determine the quantity of the object in instant forward image；
Object information extraction equipment, is connected with image analysis equipment, each object in instant forward image is determined
Its complexity, the complexity based on each object in instant forward image determine the corresponding object complexity of instant forward image；
Test data selects equipment, is connected with object information extraction equipment, for transfiniting in the object complexity received
When, selection and the test image of object complexity corresponding number test quantity as default, and object complexity is higher, test image
Quantity it is more, and be additionally operable to, when the object complexity received does not transfinite, select the test image conduct of fixed qty
Default test quantity；
Test image obtains equipment, is connected with test data selection equipment, for each type scene, chooses default test
It is multiple to obtain all to be transformed into YUV color spaces as test image by the image of quantity for the test image of all types scene
Test color image；
Test data processing equipment, obtains equipment with test image and is connected, for receiving multiple test color images, to more
A test color image performs normalized to obtain multiple standard testing images of fixed dimension respectively；
Feature extracting device, is connected with object information extraction equipment and test data processing equipment, is answered according to object respectively
Miscellaneous degree determines the input quantity type of the model of selection, and the input quantity type according to selection carries out each standard testing image special
Sign extraction meets input quantity type, the corresponding test feature amount of the standard testing image of selection to obtain, wherein, object is multiple
Miscellaneous degree is higher, and the corresponding data processing amount of input quantity type of the model of selection is more；
Model measurement equipment, is connected with feature extracting device, for receiving the corresponding each survey of each standard testing image
Characteristic quantity is tried, each test feature amount is respectively outputted to complete the test of model parameter in model, wherein, model includes defeated
Enter layer, hidden layer and output layer, the output of model is object position pattern；
Model performs equipment, is connected respectively with feature extracting device and image analysis equipment, for receiving front figure immediately
Picture, to the feature of instant forward image successively YUV color space conversions, normalized and input quantity type according to selection
Extraction meets input quantity type, the corresponding identification feature amount of the instant forward image of selection to obtain, by the instant front
The corresponding identification feature amount of image as training after model input layer input, with by after training the output layer of model it is defeated
Output obtains the object position pattern in the instant forward image；
Main control device, performs equipment with model and is connected, for receiving instant forward image and object position pattern, be based on
The size of object position pattern determines robot to the real-time range of target object location, and real-time range zero to it is default away from
During between threshold value, control robot translational speed is so that robot speed is directly proportional to real-time range.
Wherein, object information extraction equipment, test data selection equipment, test image obtain equipment, test data processing
Equipment, feature extracting device, model measurement equipment and model perform equipment and are integrated on same integrated circuit plate.
Refering to Fig. 2, main control device is Freescale IMX6 process chips.
The present embodiment further includes：Image compression apparatus, is connected with wireless telecommunications system and image capture device respectively, is used for
Receive instant forward image；Image compression apparatus is additionally operable to instant forward image performing the view data based on MPEG-4 standards
Compression, to obtain Real Time Compression image；Image compression apparatus is additionally operable to after Real Time Compression image is obtained, and passes through wireless telecommunications
Real Time Compression image wireless is sent to control terminal by equipment；The real-time range of robot to object reaches zero and arrives pre-determined distance
When between threshold value, automatically control machine people and slowly stop.
The problem of speed of the present embodiment for some meal delivery robots when stopping close to target location is unmanageable, leads to
Cross image recognition mechanism and obtain robot to the real-time range of object, exist in the real-time range for judging robot to ground object
Zero when arriving between pre-determined distance threshold value, control robot translational speed so that robot speed is directly proportional to real-time range, from
And improve robot and walk unhurriedly reduction of speed, the intelligent level of accurate food delivery.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (5)
- A kind of 1. meal delivery robot, it is characterised in that including：Robot body (1), is connected with the robot body (1) The pivotal axis (2) rotated is can be directed to, annular equidistantly distributed has multiple food delivery brackets (3), the food delivery on the pivotal axis (2) Service plate (4) is installed, robot body (1) bottom is provided with driving wheel (5), the robot body (1) on bracket (3) Head is provided with display screen (6).
- 2. meal delivery robot as claimed in claim 1, it is characterised in that further include：Wireless telecommunications system, the mobile control instruction that the control terminal for receiving outside is sent, while be additionally operable to the control The various data of terminal transmitter device people processed；Image capture device, is arranged on the front side of the robot body (1), for being carried out to the ground environment in front of robot Image data acquiring, to obtain and export instant forward image；Light filling equipment, is connected with described image collecting device, near described image collecting device, for based on described instant The average brightness of forward image and surrounding environment brightness determine whether to carry for the image data acquiring of described image collecting device For the supplementary lighting of corresponding light quantity；Image analysis equipment, is arranged on the robot body (1), is connected with described image collecting device, is for receiving When forward image, determine each picture based on whether the gray value of each pixel in forward image immediately undergos mutation Whether vegetarian refreshments belongs to edge pixel point, and each edge pixel point is carried out geometrical fit to determine in the forward image immediately The quantity of object；Object information extraction equipment, is connected with described image analytical equipment, to each object in the forward image immediately Determine its complexity, the complexity based on each object in the forward image immediately determines that the forward image immediately is corresponding Object complexity；Test data selects equipment, is connected with the object information extraction equipment, for transfiniting in the object complexity received When, selection and the test image of object complexity corresponding number test quantity as default, and object complexity is higher, test image Quantity it is more, and be additionally operable to, when the object complexity received does not transfinite, select the test image conduct of fixed qty Default test quantity；Test image obtains equipment, is connected with test data selection equipment, for each type scene, chooses default test It is multiple to obtain all to be transformed into YUV color spaces as test image by the image of quantity for the test image of all types scene Test color image；Test data processing equipment, obtains equipment with test image and is connected, for receiving the multiple test color image, to institute State multiple test color images and perform normalized respectively to obtain multiple standard testing images of fixed dimension；Feature extracting device, is connected with the object information extraction equipment and the test data processing equipment, according to right respectively As complexity determines the input quantity type of the model of selection, according to selection input quantity type to each standard testing image into Row feature extraction meets input quantity type, the corresponding test feature amount of the standard testing image of selection to obtain, wherein, it is right As complexity is higher, the corresponding data processing amount of input quantity type of the model of selection is more；Model measurement equipment, is connected with the feature extracting device, for receiving the corresponding each survey of each standard testing image Characteristic quantity is tried, each test feature amount is respectively outputted to complete the test of model parameter in model, wherein, model includes defeated Enter layer, hidden layer and output layer, the output of the model is object position pattern；Model performs equipment, is connected respectively with the feature extracting device and described image analytical equipment, before receiving immediately Square image, to instant forward image successively YUV color space conversions, normalized and input quantity type according to selection Feature extraction meets input quantity type, the corresponding identification feature amount of the instant forward image of selection to obtain, this is instant Input of the corresponding identification feature amount of forward image as the input layer of model after training, to pass through the output layer of model after training Output quantity obtain object position pattern in the instant forward image；Main control device, performs equipment with the model and is connected, for receiving forward image and the target object location immediately Pattern, the size based on object position pattern determine robot to the real-time range of target object location, and in the reality When distance zero arrive pre-determined distance threshold value between when, control robot translational speed so that robot speed with it is described in real time away from From directly proportional.
- 3. meal delivery robot as claimed in claim 2, it is characterised in that the object information extraction equipment, the test number Equipment, the test data processing equipment, the feature extracting device, the mould are obtained according to selection equipment, the test image Type test equipment and the model perform equipment and are integrated on same integrated circuit plate.
- 4. meal delivery robot as claimed in claim 3, it is characterised in that main control device is Freescale IMX6 process chips.
- 5. meal delivery robot as claimed in claim 4, it is characterised in that further include：Image compression apparatus, respectively with the nothing Line communication apparatus is connected with described image collecting device, for receiving the instant forward image；Described image compression device is also For the forward image immediately to be performed the Image Data Compression based on MPEG-4 standards, to obtain Real Time Compression image；Institute Image compression apparatus is stated to be additionally operable to after the Real Time Compression image is obtained, will be described real-time by the wireless telecommunications system Compression image wireless is sent to the control terminal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711312401.0A CN107972001A (en) | 2017-12-12 | 2017-12-12 | A kind of meal delivery robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711312401.0A CN107972001A (en) | 2017-12-12 | 2017-12-12 | A kind of meal delivery robot |
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| CN107972001A true CN107972001A (en) | 2018-05-01 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015684A (en) * | 2018-08-28 | 2018-12-18 | 康立侠 | A kind of meal delivery robot of new-type rotary replacement vegetable |
| CN109262629A (en) * | 2018-11-07 | 2019-01-25 | 燕山大学 | A kind of Chu Cai mechanism for meal delivery robot |
| CN110053016A (en) * | 2019-05-31 | 2019-07-26 | 南京涵铭置智能科技有限公司 | A kind of hotel's meal delivery robot and working method |
| CN111251319A (en) * | 2020-03-05 | 2020-06-09 | 重庆好未来智能科技有限公司 | Meal delivery robot of intelligence dining room |
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| CN110053016A (en) * | 2019-05-31 | 2019-07-26 | 南京涵铭置智能科技有限公司 | A kind of hotel's meal delivery robot and working method |
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