CN107992046A - A kind of dining room service robot running gear - Google Patents
A kind of dining room service robot running gear Download PDFInfo
- Publication number
- CN107992046A CN107992046A CN201711354117.XA CN201711354117A CN107992046A CN 107992046 A CN107992046 A CN 107992046A CN 201711354117 A CN201711354117 A CN 201711354117A CN 107992046 A CN107992046 A CN 107992046A
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- sensor
- robot
- singlechip controller
- running gear
- bottom plate
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- 230000005674 electromagnetic induction Effects 0.000 claims abstract description 10
- 235000012773 waffles Nutrition 0.000 claims abstract description 10
- 230000004888 barrier function Effects 0.000 abstract description 23
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000002045 lasting effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of dining room service robot running gear,Including the robot equipped with singlechip controller,Bottom plate,Travel alignment system,The bottom plate is electromagnetic induction waffle slab,Traveling alignment system includes the tracking sensor being arranged in robot,Alignment sensor,Electromagnetic induction waffle slab mesh point is bottom plate sense node,The pressure sensor that planning walking information is provided for singlechip controller is equipped with sense node,Be obstructed tracing sensor,Singlechip controller receives pressure sensor,Be obstructed tracing sensor signal and according to tracking sensor,Alignment sensor feedback signal planned trajectory again for robot planning run trace or when being obstructed,The robot is equipped with voice prompting device and infrared detector,Run trace is flexible,Infrared acquisition and pressure sensor can detect the barrier on walking path in time,And timely self is adjusted,Avoiding barrier,Automatically plan most preferably from run trace.
Description
Technical field
The present invention relates to robot control system technical field, and in particular to a kind of dining room service robot running gear.
Background technology
Society makes constant progress, and the living standard of people is continuously improved, and is developed rapidly so as to greatly promote catering trade,
In catering trade, it is a kind of work that difficulty is told somebody what one's real intentions are to order with food delivery, and the requirement for staff is compared than relatively low
Numerous and diverse work greatly increases the cost in dining room, also compares unmanageable, it is necessary to staff is relatively more.And existing dining room
After guest has a meal, directly lost service plate on the table, it is necessary to which waiter oneself goes to tidy up service plate, then end is returned,
When the personnel of having dinner are more, guests are often angry because waiter clears the table not in time, also have impact on dining room
Service quality.With the rapid development of people's science and technology, robot is not only applicable to industrial circle, also progressively be applied to
People, which live, contacts close field, and various service robots also begin to extensive use in some public places or family,
But the robot at present applied to dining room is fewer, its function of existing service robot is less, and its run trace is single,
Barrier must not occur in run trace, there is significant limitation in use, be not suitable in catering industry.
The content of the invention
The technical problems to be solved by the invention are in view of the foregoing drawbacks, there is provided a kind of dining room service robot Running System
System, run trace is flexible, and infrared acquisition and pressure sensor can detect the barrier on walking path in time, and timely
Self adjustment, avoiding barrier, is planned most preferably from run trace automatically.
It is as follows that the present invention solves the technical solution that its technical problem uses：
A kind of dining room service robot running gear, including the robot equipped with singlechip controller, bottom plate, traveling positioning
System, the bottom plate are electromagnetic induction waffle slab, and traveling alignment system includes tracking sensor, the positioning being arranged in robot
Sensor, electromagnetic induction waffle slab mesh point are bottom plate sense node, are equipped with sense node and provide rule for singlechip controller
The pressure sensor for information of paddling away, be obstructed tracing sensor, and singlechip controller receives pressure sensor, the sensing that tracks of being obstructed
Device signal is simultaneously planned again according to tracking sensor, alignment sensor feedback signal for robot planning run trace or while being obstructed
Track, the robot are equipped with voice prompting device and infrared detector, and bottom plate scope is the scope of robot ambulation, machine
People flexibly walks in the electromagnetic induction waffle slab of bottom plate along grid lines, and singlechip controller controls machine by tracking sensor
People walks to destination, and alignment sensor sends the position of robot to microcontroller control with signal during walking
Device, is monitored in real time, and to handle emergency case, singlechip controller is robot planning run trace, backplane mesh
Construction determine the diversity of run trace, finally cook up that time used time is minimum, most preferred run trace, control machine
People walks along the grid lines of bottom plate, during walking, when there is barrier or occurs unexpected in the track of walking temporarily,
Pressure sensor at node and the sensor that is obstructed first at barrier give singlechip controller to send signal, microcontroller control
Alternating control of the device processed further according to signal mutual between the signal and tracking sensor of alignment sensor, the tracking sensor that is obstructed
Robot barrier processed nearby route cut-through thing or carries out planning and adjusting route again recently, has robot more
More flexible track route, from the influence of barrier, practicality more, while the infrared detector of robot in itself also exists
Lasting detection, detecting in front of its direction of motion has clear, detects barrier and then sends signal to singlechip controller,
And timely adjusted by singlechip controller with avoiding barrier, infrared detector and pressure sensor, the tracking that is obstructed sensing
Device forms robot probe's barrier and prejudges the double shield of barrier, allows the robot to effectively be evaded, and
Infrared detector has identification bodily fuctions, and when running into people and hindering robot to advance, voice prompting device can make a sound prompting
Personnel pay attention to avoiding, hommization and intelligence more.
Further, the infrared detector, voice prompting device and singlechip controller wireless connection, singlechip controller
Control voice prompting device.
Further, the bottom plate is equipped with the signal launch terminal that purpose information is provided for singlechip controller.
Further, the tracking sensor, alignment sensor, be obstructed tracking sensor, pressure sensor and monolithic
Controller wireless connection.
Further, the signal launch terminal and singlechip controller wireless connection, signal launch terminal are used for determining
The final purpose of robot ambulation, determines some point of destination on bottom plate, can be high into the input of row information, intelligence degree.
Further, the robot is equipped with running gear, and running gear is controlled by singlechip controller wireless remote control.
The beneficial effects of the invention are as follows：Using the above scheme, infrared detector and pressure sensor, the tracking that is obstructed sensing
Device forms robot probe's barrier and prejudges the double shield of barrier, allows the robot to effectively carry out obstacle avoidance
Thing, dual structure effect allows the robot to carry out autonomous planning route of travel under the control of singlechip controller, in bottom plate
In the range of, robot can reach the place being arbitrarily designated on bottom plate, flexible practicality more, and run trace can be passed by tracking
Sensor, alignment sensor feedback signal flexibly adjust under the action of singlechip controller, when there is obstacle in run trace
During thing, pressure sensor feedback signal, the tracking sensor that is obstructed near pressure sensor equally feeds back and receives signal, or
Infrared detector detection anticipation barrier, makes the avoiding obstacles walking of singlechip controller control robot, in the process of walking
Middle adjustment, or according to the optimal track route of signal planning department of various sensor feedbacks, practicality more, spirit before walking again
Living, intelligentized control method is more convenient effective.
Brief description of the drawings
By detailed description below in conjunction with the accompanying drawings, the present invention is foregoing will to be become with other objects, features and advantages
Obviously.
Fig. 1 is the structure diagram of the present invention.
Fig. 2 is the structure diagram of bottom plate.
Wherein：1 is singlechip controller, and 2 be tracking sensor, and 3 be alignment sensor, and 4 be pressure sensor, 5 be by
Tracing sensor is hindered, 6 be robot, and 7 be voice prompting device, and 8 be infrared detector, and 9 be bottom plate.
Embodiment
With reference to a kind of dining room service robot running gear shown in Fig. 1, Fig. 2, including the machine equipped with singlechip controller 1
Device people 6, bottom plate 7, traveling alignment system, robot 6 are equipped with running gear, and running gear is by 1 wireless remote control of singlechip controller
Control, bottom plate 7 is electromagnetic induction waffle slab, and robot 6 is equipped with voice prompting device 7 and infrared detector 8, voice prompting device
7 and infrared detector 8 be arranged on the top of robot 6, to obtain larger test surface, voice prompting device 7 also can be preferable
Function, infrared detector 8, voice prompting device 7 and 1 wireless connection of singlechip controller are played, traveling alignment system includes setting
Tracking sensor 2, alignment sensor 3 on 6 people of machine, electromagnetic induction waffle slab mesh point are bottom plate sense node, sensing
It is equipped with node as singlechip controller 1 provides the pressure sensor 4 of planning walking information, be obstructed tracing sensor 5, it is such
Setting makes pressure sensor 4, the tracing sensor 5 that is obstructed distribution evenly, makes singlechip controller 1 to the situation on bottom plate 7
What be will appreciate that is specifically timely, improves adaptability to changes, and singlechip controller 1 receives pressure sensor 4, the sensing that tracks of being obstructed
5 signal of device and according to tracking sensor 2,3 feedback signal of alignment sensor for robot 6 plan run trace or when being obstructed again
Planned trajectory, the scope of bottom plate 7 are the scope that robot 6 walks, and robot 6 is on electromagnetic induction waffle slab along grid lines row
Walk, bottom plate 7 is equipped with the signal launch terminal for the information that robot 6 mesh is provided for singlechip controller 1, signal launch terminal with
1 wireless connection of singlechip controller, signal launch terminal can determine some point of destination into the input of row information on bottom plate 7,
Singlechip controller 1 is then transferred to, singlechip controller 1 sends signal to tracking sensor 2 at the same time, and tracking sensor 2 is anti-
Feedback signal to singlechip controller 1, plan walking path and control the drawing in tracking sensor 2 of robot 6 by singlechip controller 1
Lower walking is led, singlechip controller 1 is always with the movement of 3 supervisory-controlled robot 6 of alignment sensor in walking process, in this process
In, the tracking sensor 5 that is obstructed, pressure sensor 4 on bottom plate 7 it is lasting send signal to singlechip controller 1, make microcontroller
Controller 1 grasps the situation in the range of bottom plate 7 in time, pressure sensor 4, the tracking sensor 5 that is obstructed feedback signal can
Information is provided for singlechip controller 1 before robot 6 walks, when there are temporary obstructions in walking path, at barrier
Pressure sensor 4 receives signal, and the pressure of pressure sensor 4 can be set, and the pressure time being persistently subject to can also be set
Fixed, to avoid the occurrence of the situation of erroneous judgement, while signal is together fed back to microcontroller control by the tracking sensor 5 that is obstructed at this
Device 1, singlechip controller 1 control robot 6 to avoid barrier at this, plan walking path again, make the walking of robot 6 more
To be flexible, optimal path is planned, infrared detector 8 detects its direction of motion also in lasting detection in 6 walking process of robot
There is clear in front, detects barrier and then sends signal to singlechip controller 1, and by singlechip controller 1 timely
Adjustment is with avoiding barrier, while infrared detector 8 has identification bodily fuctions, when running into the traveling of robot 6 of people's obstruction, language
Sound prompting device 7 can make a sound prompting personnel and pay attention to avoiding, and hommization more is with intelligent, infrared detector 8 and pressure
Sensor 4, the tracking sensor 5 that is obstructed form robot 6 and detect barrier and prejudge the double shield of barrier, make robot
6 can effectively carry out avoiding barrier, and the synchronous operation independently of each other of two kinds of safeguard ways, auxiliary, walks in robot 6 mutually
During, flexible adjustment is made according to situation about occurring temporarily, improves practicality, 6 self-contr ol of robot, intelligence degree
It is high.
The above, is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, it is every according to
Any simply modification, the equivalent variations made in technical spirit according to the present invention to above example, each fall within the guarantor of the present invention
Within the scope of shield.
Claims (6)
1. a kind of dining room service robot running gear, including the robot equipped with singlechip controller, bottom plate, traveling positioning system
System, it is characterised in that：The bottom plate is electromagnetic induction waffle slab, and the tracking that traveling alignment system includes being arranged in robot passes
Sensor, alignment sensor, electromagnetic induction waffle slab mesh point are bottom plate sense node, are equipped with sense node and are controlled for microcontroller
Device provides the pressure sensor of planning walking information, be obstructed tracing sensor, and singlechip controller receives pressure sensor, is obstructed
Tracing sensor signal and according to tracking sensor, alignment sensor feedback signal for robot planning run trace or when being obstructed
Again planned trajectory, the robot are equipped with voice prompting device and infrared detector.
A kind of 2. dining room service robot running gear according to claim 1, it is characterised in that：The infrared acquisition
Device, voice prompting device and singlechip controller wireless connection, singlechip controller control voice prompting device.
A kind of 3. dining room service robot running gear according to claim 1, it is characterised in that：The bottom plate is equipped with
The signal launch terminal of purpose information is provided for singlechip controller.
A kind of 4. dining room service robot running gear according to claim 1, it is characterised in that：The tracking sensing
Device, alignment sensor, be obstructed tracking sensor, pressure sensor with monolithic controller wireless connection.
5. according to a kind of dining room service robot running gear described in 1 or 3 any one of claim, it is characterised in that：Institute
State signal launch terminal and singlechip controller wireless connection.
A kind of 6. dining room service robot running gear according to claim 1, it is characterised in that：The robot is equipped with
Running gear, running gear are controlled by singlechip controller wireless remote control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711354117.XA CN107992046A (en) | 2017-12-15 | 2017-12-15 | A kind of dining room service robot running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711354117.XA CN107992046A (en) | 2017-12-15 | 2017-12-15 | A kind of dining room service robot running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107992046A true CN107992046A (en) | 2018-05-04 |
Family
ID=62038776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711354117.XA Pending CN107992046A (en) | 2017-12-15 | 2017-12-15 | A kind of dining room service robot running gear |
Country Status (1)
| Country | Link |
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| CN (1) | CN107992046A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110378647A (en) * | 2019-07-09 | 2019-10-25 | 河南省吉立达机器人有限公司 | Unmanned express delivery receive-transmit system and method |
| CN113211464A (en) * | 2021-05-28 | 2021-08-06 | 山东新一代信息产业技术研究院有限公司 | Self-service platform overturning robot and self-service platform overturning method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204856204U (en) * | 2015-06-24 | 2015-12-09 | 常州信息职业技术学院 | Dining room service robot traveling system |
-
2017
- 2017-12-15 CN CN201711354117.XA patent/CN107992046A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204856204U (en) * | 2015-06-24 | 2015-12-09 | 常州信息职业技术学院 | Dining room service robot traveling system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110378647A (en) * | 2019-07-09 | 2019-10-25 | 河南省吉立达机器人有限公司 | Unmanned express delivery receive-transmit system and method |
| CN113211464A (en) * | 2021-05-28 | 2021-08-06 | 山东新一代信息产业技术研究院有限公司 | Self-service platform overturning robot and self-service platform overturning method |
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Application publication date: 20180504 |
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