CN108673532A - A kind of dining room service robot based on human-computer interaction technology - Google Patents
A kind of dining room service robot based on human-computer interaction technology Download PDFInfo
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- CN108673532A CN108673532A CN201810872612.8A CN201810872612A CN108673532A CN 108673532 A CN108673532 A CN 108673532A CN 201810872612 A CN201810872612 A CN 201810872612A CN 108673532 A CN108673532 A CN 108673532A
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- 230000003993 interaction Effects 0.000 title claims abstract description 29
- 238000005516 engineering process Methods 0.000 title claims abstract description 19
- 230000002452 interceptive effect Effects 0.000 claims abstract description 19
- 235000013311 vegetables Nutrition 0.000 claims description 47
- 238000004804 winding Methods 0.000 claims description 17
- 230000000007 visual effect Effects 0.000 claims description 13
- 239000000523 sample Substances 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 4
- 239000011521 glass Substances 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 2
- 235000013305 food Nutrition 0.000 abstract description 12
- 235000012054 meals Nutrition 0.000 description 26
- 230000009471 action Effects 0.000 description 7
- 230000005484 gravity Effects 0.000 description 3
- 238000004321 preservation Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- 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
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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
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Abstract
The invention belongs to robotic technology field, specifically a kind of dining room service robot based on human-computer interaction technology；Including head, fuselage, manipulator, automatic sliding door, automatic expansion bracket and chassis, head is located at fuselage upper end；Fuselage is disposed with space gradually increased storage dish storehouse from top to bottom；Manipulator is arranged in Chu Caicang；Automatic sliding door is arranged in the Hatch Opening of Chu Caicang, and automatic sliding door is for automatically opening Chu Caicang；The upper end of automatic expansion bracket is hinged with fuselage, and the lower end of automatic expansion bracket is hinged with chassis, and automatic expansion bracket keeps Chu Caicang concordant with dining table for increasing；Locator and wheel one are provided on chassis, wheel one is for driving man-machine interactive dining room service robot to walk；Locator is for dining table position where location client；The present invention solves the problems, such as that dining room dining peak period waiter is insufficient；Meanwhile also solve table steward robot pallet and under open-air atmosphere food delivery and influence user eat mouthfeel the problem of.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a restaurant service robot based on a human-computer interaction technology.
Background
Along with the popularization of intelligent management of restaurants, a plurality of restaurants are provided with an ordering system, after a user orders, a waiter can input the dining table position and a menu of the user into the ordering system, and the ordering system automatically settles the menu and prints the menu; however, under the condition of long-term operation of the restaurant, the increasing labor cost gradually exceeds the cost for purchasing and maintaining intelligent equipment, so that restaurant meal delivery waiters cannot meet the requirements at some dining peak periods, the restaurant does not need too many waiters at leisure time, and if too many waiters are called, the restaurant operation cost is increased, so that intelligent automatic management is formed at the link of meal delivery based on the restaurant waiters, the problem that the waiters are insufficient at the dining peak periods of the restaurant is solved by using a robot for meal delivery, the restaurant operation cost is reduced, and the restaurant operation is more efficient.
Patent document 1: a restaurant attendant robot, application No.: 2013201108654
In the above patent document 1, the restaurant waiter robot is used to deliver the restaurant, so that the number of hired restaurant waiters can be greatly reduced, the work intensity of the restaurant waiters can be effectively reduced, the restaurant operation efficiency can be improved, and the cost of the restaurant can be reduced. But its shortcoming is that the dish is placed in the tray and is removed under open-air environment, and the dish dispels the heat soon and easily influences the taste and increases the dust volume of piling up.
Disclosure of Invention
In order to make up for the defects of the prior art, the invention provides a restaurant service robot based on a human-computer interaction technology, and aims to solve the problem that waiters are insufficient during the dining peak of a restaurant. According to the invention, the man-machine interactive restaurant service robot is used for delivering meals in the restaurant at the peak time of dining, so that the problem of insufficient waiters at the peak time of dining in the restaurant is solved; meanwhile, the automatic opening and closing door automatically opens and closes the food storage bin to store the user in the food storage bin for eating through the functions of the food storage bin and the automatic opening and closing door, and the problem that the eating taste of the user is influenced by the robot tray of the restaurant waiter and the food delivery in the open environment is solved.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to a restaurant service robot based on a human-computer interaction technology, which comprises a head, a machine body, a mechanical arm, an automatic opening and closing door, an automatic telescopic frame and a chassis, wherein the head is positioned at the upper end of the machine body and is rotationally connected with the machine body; the central computer is used for controlling the visual system, the auditory system and the voice system, the central computer, the visual system, the auditory system and the voice system are matched with each other to realize man-machine communication, and the central controller is also used for controlling the movement of the whole machine; the visual control system is used for observing and identifying the user and transmitting the user to the central computer, and when the meal is delivered next time, the man-machine interactive restaurant service robot can identify the user through the appearance of the user so as to avoid the mistake of meal delivery; the auditory system is used for receiving the speaking sound of the user and transmitting the received information to the central computer; the voice system receives the dialogue fed back by the central computer and broadcasts the dialogue to the user in a voice mode, and voice communication is formed between the voice system and the user; the machine body is sequentially provided with a vegetable storage bin with gradually increasing space from top to bottom, a large vegetable dish is placed in the lower vegetable storage bin, and a small vegetable dish is placed in the upper vegetable storage bin; the manipulator is arranged in the vegetable storage bin; the automatic opening and closing door is arranged at the opening of the vegetable storage bin and is used for automatically opening the vegetable storage bin; the upper end of the automatic telescopic frame is hinged with the machine body, the lower end of the automatic telescopic frame is hinged with the chassis, and the automatic telescopic frame is used for rising to enable the vegetable storage bin to be flush with the dining table; the chassis is provided with a positioner and a first wheel, the first wheel is used for driving the human-computer interactive restaurant service robot to walk, and the first wheel is controlled by the central computer; the positioner is used for positioning the position of a dining table where a customer is located; wherein,
the mechanical arm comprises a driving gear, a driven gear, a first gear ring, a second gear ring and a mechanical arm; one side of the driving gear is meshed with the driven gear, the other side of the driving gear is meshed with the first gear ring, and the driving gear is controlled by the central computer; the driven gear is meshed with the second gear ring; the dish storage bin is characterized in that two mechanical arms are arranged, one mechanical arm is fixed on the first gear ring and rotates along with the first gear ring, the other mechanical arm is fixed on the second gear ring and rotates along with the second gear ring, and the two mechanical arms rotate in opposite directions to push the dish out of the dish storage bin. When the meal taking machine works, a central computer at the head of the human-computer interaction type restaurant service robot receives order information and identification information, the human-computer interaction type restaurant service robot takes meals from a back kitchen according to the order information, the central computer controls the automatic opening and closing door to be automatically opened when the meals are taken, a user puts the meals into the dish storage bin by a cook, the automatic opening and closing door is automatically closed, and the meals of the user are in a heat preservation state; and then, the man-machine interactive restaurant service robot moves to a designated dining table according to the dining table positioning information, the automatic expansion frame is controlled by the central computer, the automatic expansion frame is lifted to enable the corresponding dish storage bin to be parallel to the dining table, the automatic opening and closing door is opened, the central computer controls the mechanical arm to push the dish out of the dish storage bin, the dish is moved to the dining table, and the user adjusts the position of the dish.
The mechanical arm comprises an arm I, an arm II and an elastic rope, wherein one end of the arm I is fixedly connected with the gear ring I or the gear ring II, the other end of the arm I is hinged with the arm II, and the interiors of the arm I and the arm II are hollow; the elastic rope is positioned at the hinged position of the first arm and the second arm, one end of the elastic rope is fixedly connected with the first arm, the other end of the elastic rope is fixedly connected with the second arm, and the mechanical arm straightened into a straight line is bent again by the elastic rope; a driving shaft is arranged in each of the first gear ring and the second gear ring; a pull rope is fixedly arranged on the driving shaft, and the driving shaft rotates to wind and pull the pull rope; the other end of the pull rope penetrates through the first arm and the second arm and is fixed with the two end portions of the arms, and the pull rope is used for straightening the mechanical arm. When the vegetable cutting device works, the driving gear rotates, the driving gear enables the first gear ring and the second gear ring to oppositely rotate through the driven gear, the first arm on the first gear ring rotates along with the first gear ring, the first arm on the second gear ring rotates along with the second gear ring, the second arm is driven by the first arm to rotate, the included angle between the first two arms is reduced, the first arm pushes the vegetable dish to the second arm, at the moment, the driving shaft is controlled by the central computer to rotate, the driving shaft winds the pull rope, the pull rope is tightened, the first arm and the second arm are tightened through the pull rope, and the driving shaft stops rotating after the first arm and the second arm; at the moment, the lower angle between the two arms is reduced under the driving of the gear ring I and the gear ring II, the arm II pushes the dish out of the dish storage bin, so that the dish is moved to a dining table, and a user can adjust the position of the dish by himself; the dish plate is pushed out of the dish storage bin by the second arm, the driving gear and the driving shaft rotate reversely, the pull rope is loosened, and the first arm and the second arm are bent and contracted again under the action of the elastic rope.
The automatic opening and closing door comprises a motor I, a flexible shaft, a plastic ball, a fixed seat and an opening and closing door; the plastic balls are provided with a plurality of plastic balls, and the centers of the plastic balls are provided with cross through holes; the two opening and closing doors are transparent glass doors, the opening and closing doors are connected with the fixed seat in a sliding mode, the opening and closing doors are in a quarter-arc shape, and the inner wall of the lower end of each opening and closing door is provided with a spiral groove which is matched with the plastic ball; the first motor is fixed on the fixed seat and used for driving the flexible shaft to rotate; the cross section of the flexible shaft is in a cross shape, the flexible shaft penetrates through the cross through holes in the plastic balls and connects the plastic balls in series, and the flexible shaft rotates to drive the plastic balls to rotate in the spiral groove to enable the opening and closing door to slide on the fixed seat, so that the opening and closing door can be automatically opened and closed at the vegetable storage bin. When the meal storage device works, after the man-machine interactive restaurant service robot receives a dish from a kitchen or sends the dish to a designated dining table position, the central computer controls the first motor to rotate, the first motor drives the plastic balls to rotate in the spiral grooves through the flexible shafts, so that the opening and closing door slides on the fixed seat, and the opening and closing door is opened or closed.
The automatic telescopic frame comprises a motor II, a hinge rod, a winding shaft, a pulley and a rope I, and a sliding groove is formed in the upper end face of the chassis; the sliding groove limits the pulley to roll in the groove; the hinge rods are arranged in a plurality, every two hinge rods are hinged in a crossed mode, the lower end of the upper hinge rod is hinged with the upper end of the lower hinge rod, the uppermost hinge rod is hinged with the lower end of the machine body, and the lowermost hinge rod is hinged with the pulley; the second motor is fixed at the upper end of the chassis and drives the winding shaft to rotate; one end of the first rope is connected with the winding shaft in a fastened mode, and the other end of the first rope is connected with the lower end of the hinged shaft in a fastened mode; and the winding shaft rotates to wind the first rope to enable the first rope to pull the two hinged rods at the lower end and enable the included angle of the two hinged rods to be smaller. When the automatic telescopic rack works, the central computer controls the motor II to rotate, the motor II winds the rope I through the winding shaft, the rope I pulls the two hinged rods at the lower end and enables the included angle of the two hinged rods to be small, the pulley slides in the sliding groove, the included angle between the hinged rods and the vertical direction is small, the automatic telescopic rack automatically ascends, and the central computer enables the automatic telescopic rack to ascend according to the position of the table top of the dining table observed by the visual system, so that the dish storage bin is flush with the table top of the dining table; after the dish is moved to the dining table by the manipulator, the motor II rotates, the rope I becomes loose, the telescopic frame is pressed down under the action of gravity of the machine body, and the automatic telescopic frame restores to the original height.
An exhaust pipe, a filter and an exhaust fan are further arranged in the machine body, one end of the exhaust pipe is communicated with the vegetable storage bin, the other end of the exhaust pipe is communicated with the lower end of the machine body, the exhaust pipe is connected with the filter and the exhaust fan in series, and the exhaust pipe is used for extracting hot air in the vegetable storage bin; the filter is fixed with the machine body and used for filtering oil gas in the exhaust pipe; the exhaust fan is located the filter lower extreme, and the exhaust fan is fixed with the fuselage. During operation, store up the dish in the dish storehouse and have been deposited, the dish emits steam, and under the effect of air exhauster, the exhaust column is used for extracting the steam that stores up in the dish storehouse, and the oil gas filtration of filter in with the exhaust column, and the exhaust column stores up the dish storehouse with steam discharge, avoids storing up the dish storehouse hot gas too much and influence user's sight.
An obstacle avoidance sensor is arranged on the chassis; the obstacle avoidance sensors are evenly distributed on the chassis, are located at the edge of the upper end face of the chassis, identify obstacles and transmit information to the head. When the obstacle avoidance sensor works, the obstacle avoidance sensor identifies obstacles and transmits information to the central computer, and the central computer controls the wheels to avoid the obstacles when the wheels walk.
An article identification probe is arranged on the side wall of the vegetable storage bin; the article identification probe is used for identifying the types of articles in the vegetable storage bin and transmitting information to the central computer. When the dish storage device works, the article identification probe identifies articles in the dish storage bin and transmits article information to the central computer, and the central computer sends the articles to a designated dining table for a user to use according to the types of the articles.
The invention has the following beneficial effects:
1. according to the restaurant service robot based on the human-computer interaction technology, the human-computer interaction type restaurant service robot is used for delivering meals in a restaurant at the peak time of dining, so that the problem that waiters are insufficient in the restaurant at the peak time of dining is solved; meanwhile, the automatic opening and closing door automatically opens and closes the food storage bin to store the user in the food storage bin for eating through the functions of the food storage bin and the automatic opening and closing door, and the problem that the eating taste of the user is influenced by the robot tray of the restaurant waiter and the food delivery in the open environment is solved.
2. According to the restaurant service robot based on the human-computer interaction technology, the dish storage bin, the exhaust pipe, the filter and the automatic opening and closing door are matched with one another to store the user for dining, so that the possibility that the heat of the user rapidly dissipates and falls into dust in an open environment is avoided; meanwhile, the matching work of the exhaust pipe and the exhaust fan ensures that a large amount of hot air cannot be accumulated in the vegetable storage bin to enable the vegetable storage bin to gather water drops, and the phenomenon that the dining table is wetted by the water drops adhered to the bottom end of the vegetable dish is avoided.
3. According to the restaurant service robot based on the human-computer interaction technology, the dish storage bin, the article identification probe and the positioner are matched with each other, the article identification probe identifies the types of articles in the dish storage bin, and the human-computer interaction type restaurant service robot can accurately deliver the articles to the dining table of a specified user.
4. According to the restaurant service robot based on the human-computer interaction technology, the dish storage bin, the automatic opening and closing door, the mechanical arm and the automatic telescopic frame are matched with each other, the automatic opening and closing door is automatically opened after a user has dinner and is delivered by the human-computer interaction type restaurant service robot, the automatic telescopic frame automatically enables the dish storage bin to be level with a table top of a dining table, the mechanical arm automatically moves the user to the dining table, the functions of delivering and placing dinner of the human-computer interaction type restaurant service robot are achieved, and the intelligence of the human-computer interaction type restaurant service robot is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a human-computer interactive restaurant service robot according to the present invention;
FIG. 2 is a schematic illustration of the fuselage structure of the present invention;
FIG. 3 is a schematic view of the construction of the spool of the present invention;
FIG. 4 is a schematic view of the plastic ball structure of the present invention;
FIG. 5 is a sectional view taken along line A-A of FIG. 2;
in the figure: the automatic food storage and taking device comprises a head 1, a machine body 2, a food storage bin 21, an article identification probe 22, an exhaust pipe 23, a filter 24, an exhaust fan 25, a manipulator 3, a driving gear 31, a first gear ring 32, a second gear ring 33, a mechanical arm 34, a first arm 341, a second arm 342, an elastic rope 343, a driving shaft 344, a pull rope 345, an automatic opening and closing door 4, a first motor 41, a flexible shaft 42, a plastic ball 43, a cross through hole 431, a fixed seat 44, an opening and closing door 45, an automatic telescopic frame 5, a hinged rod 51, a second motor 52, a winding shaft 53, a first rope 54, a chassis 6, a first wheel 61, a positioner 62 and an obstacle avoidance sensor.
Detailed Description
A man-machine interactive restaurant service robot according to an embodiment of the present invention will be described below with reference to fig. 1 to 5.
As shown in fig. 1, the restaurant service robot based on the human-computer interaction technology comprises a head part 1, a body 2, a manipulator 3, an automatic opening and closing door 4, an automatic expansion bracket 5 and a chassis 6, wherein the head part 1 is positioned at the upper end of the body 2, the head part 1 is rotatably connected with the body 2, the head part 1 is provided with a vision system, an auditory system, a voice system and a central computer, and the vision system is used for observing roads, identifying customer patterns and transmitting information to the central computer; the central computer is used for controlling the visual system, the auditory system and the voice system, the central computer, the visual system, the auditory system and the voice system are matched with each other to realize man-machine communication, and the central controller is also used for controlling the movement of the whole machine; the visual control system is used for observing and identifying the user and transmitting the user to the central computer, and when the meal is delivered next time, the man-machine interactive restaurant service robot can identify the user through the appearance of the user so as to avoid the mistake of meal delivery; the auditory system is used for receiving the speaking sound of the user and transmitting the received information to the central computer; the voice system receives the dialogue fed back by the central computer and broadcasts the dialogue to the user in a voice mode, and voice communication is formed between the voice system and the user; the machine body 2 is sequentially provided with a vegetable storage bin 21 with gradually increasing space from top to bottom, a large vegetable dish is placed in the lower vegetable storage bin 21, and a small vegetable dish is placed in the upper vegetable storage bin 21; the manipulator 3 is arranged in the vegetable storage bin 21; the automatic opening and closing door 4 is arranged at the opening of the vegetable storage bin 21, and the automatic opening and closing door 4 is used for automatically opening the vegetable storage bin 21; the upper end of the automatic telescopic frame 5 is hinged with the machine body 2, the lower end of the automatic telescopic frame 5 is hinged with the chassis 6, and the automatic telescopic frame 5 is used for rising to enable the vegetable storage bin 21 to be flush with the dining table; the chassis 6 is provided with a positioner 62 and a first wheel 61, the first wheel 61 is used for driving the human-computer interactive restaurant service robot to walk, and the first wheel 61 is controlled by a central computer; the positioner 62 is used for positioning the dining table position of the customer; wherein,
as shown in fig. 5, the robot 3 includes a driving gear 31, a driven gear, a first ring gear 32, a second ring gear 33, and a robot arm 34; one side of the driving gear 31 is meshed with the driven gear, the other side of the driving gear 31 is meshed with the first gear ring 32, and the driving gear 31 is controlled by a central computer; the driven gear is meshed with the second gear ring 33; the number of the mechanical arms 34 is two, one mechanical arm 34 is fixed on the first gear ring 32 and rotates along with the first gear ring 32, the other mechanical arm 34 is fixed on the second gear ring 33 and rotates along with the second gear ring 33, and the two mechanical arms 34 rotate oppositely to push the dish out of the dish storage bin 21. When the meal taking machine works, the central computer of the head part 1 of the human-computer interaction type restaurant service robot receives order information and identification information, the human-computer interaction type restaurant service robot takes meals from a back kitchen according to the order information, the central computer controls the automatic opening and closing door 4 to be automatically opened when the meals are taken, a user puts the meals into the dish storage bin 21 when the cook waits for the meals, the automatic opening and closing door 4 is automatically closed, and the user meals are in a heat preservation state; then, the man-machine interactive restaurant service robot moves to a designated dining table according to the dining table positioning information, the automatic expansion bracket 5 is controlled by the central computer, the automatic expansion bracket 5 is lifted to enable the corresponding dish storage bin 21 to be flush with the dining table, the automatic opening and closing door 4 is opened, the central computer controls the mechanical arm 3 to push the dish out of the dish storage bin 21, the dish is moved to the dining table, and a user adjusts the position of the dish.
As shown in fig. 5, the mechanical arm 34 includes a first arm 341, a second arm 342, and an elastic rope 343, wherein one end of the first arm 341 is fixedly connected with the first gear ring 32 or the second gear ring 33, the other end of the first arm 341 is hinged with the second arm 342, and both the first arm 341 and the second arm 342 are hollow inside; the elastic rope 343 is located at the hinged position of the first arm 341 and the second arm 342, one end of the elastic rope 343 is fixedly connected with the first arm 341, the other end of the elastic rope 343 is fixedly connected with the second arm 342, and the mechanical arm 34 straightened into a straight line is bent again by the elastic rope 343; a driving shaft 344 is arranged in each of the first gear ring 32 and the second gear ring 33; a pull rope 345 is fixedly arranged on the driving shaft 344, and the driving shaft 344 rotates to wind and pull the pull rope 345; the other end of the pulling rope 345 passes through the first arm 341 and the second arm 342 and is fixed with the end of the second arm 342, and the pulling rope 345 is used for straightening the mechanical arm 34. When the kitchen knife works, the driving gear 31 rotates, the driving gear 31 enables the first gear ring 32 and the second gear ring 33 to oppositely rotate through the driven gear, the first arm 341 on the first gear ring 32 rotates along with the first gear ring 32, the first arm 341 on the second gear ring 33 rotates along with the second gear ring 33, the first arm 341 drives the second arm 342 to rotate, the included angle between the first arms 341 is reduced, the first arm 341 pushes the dish to the second arm 342, at the moment, the driving shaft 344 is controlled by a central computer to rotate, the driving shaft 344 winds the pulling rope 345 to enable the pulling rope 345 to be tightened, the pulling rope 345 tightens the first arm 341 and the second arm 342, and the driving shaft 344 stops rotating after the first arm 341 and the second arm 342 become straight lines; at the moment, under the driving of the first gear ring 32 and the second gear ring 33, the lower angle between the two arms 342 is reduced, the second arm 342 pushes the dish out of the dish storage bin 21, so that the dish is moved to a dining table, and a user can adjust the position of the dish by himself; when the second arm 342 pushes the dish out of the dish storage bin 21, the driving gear 31 and the driving shaft 344 rotate reversely, the pulling rope 345 is loosened, and the first arm 341 and the second arm 342 are bent and contracted again under the action of the elastic rope 343.
As shown in fig. 4 and 5, the automatic opening and closing door 4 includes a first motor 41, a flexible shaft 42, a plastic ball 43, a fixed seat 44 and an opening and closing door 45; the plastic balls 43 are provided with a plurality of plastic balls, and the center of each plastic ball 43 is provided with a cross through hole 431; the number of the opening and closing doors 45 is two, the opening and closing doors 45 are transparent glass doors, the opening and closing doors 45 are connected with the fixed seat 44 in a sliding mode, the opening and closing doors 45 are in a quarter-arc shape, and a spiral groove is formed in the inner wall of the lower end of each opening and closing door 45 and matched with the plastic ball 43; the first motor 41 is fixed on the fixed seat 44, and the first motor 41 is used for driving the flexible shaft 42 to rotate; the cross section of the flexible shaft 42 is cross-shaped, the flexible shaft 42 penetrates through the cross-shaped through hole 431 in the plastic ball 43 and connects the plastic balls 43 in series, the flexible shaft 42 rotates to drive the plastic ball 43 to rotate in the spiral groove, so that the opening and closing door 45 slides on the fixed seat 44, and the opening and closing door 45 is automatically opened and closed at the vegetable storage bin 21. When the man-machine interactive restaurant service robot works, after the man-machine interactive restaurant service robot receives a kitchen and stores a dish or sends the dish to a designated dining table position, the central computer controls the first motor 41 to rotate, the first motor 41 drives the plastic ball 43 to rotate in the spiral groove through the flexible shaft 42, the opening and closing door 45 slides on the fixed seat 44, and the opening and closing door 45 is opened or closed.
As shown in fig. 1 and 3, the automatic telescopic frame 5 includes a second motor 52, a hinge rod 51, a spool 53, a pulley and a first rope 54, and a sliding groove is formed in the upper end surface of the chassis 6; the sliding groove limits the pulley to roll in the groove; the hinged rods 51 are arranged in a plurality, the hinged rods 51 are hinged in a pairwise crossing manner, the lower end of the upper hinged rod 51 is hinged with the upper end of the lower hinged rod 51, the hinged rod 51 at the uppermost end is hinged with the lower end of the machine body 2, and the hinged rod 51 at the lowermost end is hinged with the pulley; the second motor 52 is fixed at the upper end of the chassis 6, and the second motor 52 drives the winding shaft 53 to rotate; one end of the first rope 54 is tied with the winding shaft 53, and the other end of the first rope 54 is tied with the lower end of the hinge shaft; the winding shaft 53 rotates the first winding rope 54 to make the first winding rope 54 pull the two hinge rods 51 at the lower end and make the included angle between the two hinge rods 51 smaller. When the automatic telescopic rack works, the central computer controls the second motor 52 to rotate, the second motor 52 winds the first rope 54 through the winding shaft 53, the first rope 54 pulls the two hinged rods 51 at the lower end to enable the included angle between the two hinged rods 51 to be small, the pulley slides in the sliding groove, the included angle between the hinged rods 51 and the vertical direction is small, the automatic telescopic rack 5 automatically ascends, and the central computer enables the automatic telescopic rack 5 to ascend according to the position of the table top of the table observed by the visual system to enable the vegetable storage bin 21 to be flush with the table top of the table; after the manipulator 3 moves the dish to the dining table, the second motor 52 rotates, the first rope 54 becomes loose, the telescopic frame is pressed down under the action of the gravity of the machine body 2, and the automatic telescopic frame 5 restores the original height.
As shown in fig. 2, an exhaust pipe 23, a filter 24 and an exhaust fan 25 are further arranged in the machine body 2, one end of the exhaust pipe 23 is communicated with the vegetable storage bin 21, the other end of the exhaust pipe 23 is communicated with the lower end of the machine body 2, the exhaust pipe 23 is connected with the filter 24 and the exhaust fan 25 in series, and the exhaust pipe 23 is used for extracting hot air in the vegetable storage bin 21; the filter 24 is fixed with the machine body 2, and the filter 24 is used for filtering oil gas in the exhaust pipe 23; the exhaust fan 25 is positioned at the lower end of the filter 24, and the exhaust fan 25 is fixed with the body 2. During operation, store up and have placed the dish in the dish storehouse 21, the dish emits steam, and under the effect of air exhauster 25, exhaust column 23 is used for extracting the steam in storing up the dish storehouse 21, and filter 24 filters the oil gas in exhaust column 23, and exhaust column 23 discharges steam and stores up dish storehouse 21, avoids storing up dish storehouse 21 hot gas too much and influence user's sight.
As shown in fig. 1, an obstacle avoidance sensor 63 is arranged on the chassis 6; the four obstacle avoidance sensors 63 are uniformly distributed on the chassis 6, the obstacle avoidance sensors 63 are located at the edge of the upper end face of the chassis 6, and the obstacle avoidance sensors 63 identify obstacles and transmit information to the head 1. When the obstacle avoidance sensor 63 works, the obstacle avoidance sensor identifies obstacles and transmits information to the central computer, and the central computer controls the first wheel 61 to avoid the obstacles when the first wheel travels.
As shown in fig. 1 and 2, an article identification probe 22 is arranged on a side wall of the vegetable storage bin 21; the article identification probe 22 is used for identifying the types of articles in the vegetable storage bin 21 and transmitting information to the central computer. In operation, the object recognition probe 22 recognizes the objects in the storage bin 21 and transmits the object information to the central computer, and the central computer sends the objects to a designated dining table for the user to use according to the types of the objects.
The specific use mode is as follows:
when the meal taking machine works, the central computer of the head part 1 of the human-computer interaction type restaurant service robot receives order information and identification information, the human-computer interaction type restaurant service robot takes meals from a back kitchen according to the order information, the central computer controls the first motor 41 to rotate, the first motor 41 drives the plastic ball 43 to rotate in the spiral groove through the flexible shaft 42, the opening and closing door 45 slides on the fixed seat 44, the opening and closing door 45 is opened, a user puts meals into the dish storage bin 21 by a cook, the automatic opening and closing door 4 is automatically closed, and the user meals are in a heat preservation state; the article identification probe 22 identifies the articles in the vegetable storage bin 21 and transmits article information to the central computer, and the central computer sends the articles to a designated dining table for a user to use according to the types of the articles; because the dish is stored in the dish storage bin 21 and hot air is emitted from the dish, under the action of the exhaust fan 25, the exhaust pipe 23 is used for extracting the hot air in the dish storage bin 21, the filter 24 filters oil gas in the exhaust pipe 23, and the exhaust pipe 23 discharges the hot air out of the dish storage bin 21, so that the influence on the sight of a user due to excessive hot air in the dish storage bin 21 is avoided; then, the man-machine interactive restaurant service robot moves to a designated dining table according to the dining table positioning information, in the walking process of the man-machine interactive restaurant service robot, the obstacle avoidance sensor 63 identifies obstacles and transmits information to the central computer, and the central computer controls a first wheel 61 to avoid the obstacles when walking; when the man-machine interactive restaurant service robot reaches a designated dining table, the automatic expansion bracket 5 is controlled by the central computer, the automatic expansion bracket 5 is lifted to enable the corresponding dish storage bin 21 to be flush with the dining table, the central computer controls the first motor 41 to rotate, the first motor 41 drives the plastic ball 43 to rotate in the spiral groove through the flexible shaft 42, the opening and closing door 45 slides on the fixed seat 44, the opening and closing door 45 is opened, the central computer controls the mechanical arm 3 to push the dish out of the dish storage bin 21, the dish is moved to the dining table, and a user can adjust the position of the dish automatically.
When the manipulator 3 works, the driving gear 31 rotates, the driving gear 31 enables the first gear ring 32 and the second gear ring 33 to oppositely rotate through the driven gear, the first arm 341 on the first gear ring 32 rotates along with the first gear ring 32, the first arm 341 on the second gear ring 33 rotates along with the second gear ring 33, the first arm 341 drives the second arm 342 to rotate, the included angle between the first arms 341 becomes smaller, the first arm 341 pushes the dish plate to the second arm 342, at the moment, the driving shaft 344 is controlled by the central computer to rotate, the driving shaft 344 winds the pulling rope 345 to tighten the pulling rope 345, the first arm 341 and the second arm 342 are tightened by the pulling rope 345, and the driving shaft 344 stops rotating after the first arm 341 and the second arm 342 become straight lines; at the moment, under the driving of the first gear ring 32 and the second gear ring 33, the lower angle between the two arms 342 is reduced, the second arm 342 pushes the dish out of the dish storage bin 21, so that the dish is moved to a dining table, and a user can adjust the position of the dish by himself; the second arm 342 pushes the dish out of the dish storage bin 21, the driving gear 31 and the driving shaft 344 rotate reversely, the pulling rope 345 is loosened, and the first arm 341 and the second arm 342 are bent and contracted again under the action of the elastic rope 343;
when the automatic expansion bracket 5 works, the central computer controls the second motor 52 to rotate, the second motor 52 winds the first rope 54 through the winding shaft 53, the first rope 54 pulls the two hinged rods 51 at the lower end and enables the included angle between the two hinged rods 51 to be small, the pulley slides in the sliding groove, the included angle between the hinged rods 51 and the vertical direction is small, the automatic expansion bracket 5 automatically ascends, and the central computer enables the automatic expansion bracket 5 to ascend according to the position of the table top of the table observed by the visual system, so that the dish storage bin 21 and the table top of the table are kept flush; after the manipulator 3 moves the dish to the dining table, the second motor 52 rotates, the first rope 54 becomes loose, the telescopic frame is pressed down under the action of the gravity of the machine body 2, and the automatic telescopic frame 5 restores the original height.
While one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the present invention.
(A) In the above embodiment, the plurality of vegetable storage bins gradually increase from top to bottom, but the present invention is not limited thereto, and the size of each vegetable storage bin may be kept equal.
Industrial applicability
According to the invention, the man-machine interactive restaurant service robot is used for delivering meals in the restaurant at the peak time of dining, so that the problem of insufficient waiters at the peak time of dining in the restaurant is solved; meanwhile, the problem that the dining mouth feel of a user is influenced by the fact that a robot tray of a restaurant waiter delivers food in an open environment is solved; the human-machine interactive restaurant service robot is therefore useful in the field of robotics.
Claims (7)
1. A restaurant service robot based on a human-computer interaction technology comprises a head (1), a machine body (2), a mechanical arm (3), an automatic opening and closing door (4), an automatic telescopic frame (5) and a chassis (6), wherein the head (1) is located at the upper end of the machine body (2), the head (1) is rotatably connected with the machine body (2), the head (1) is provided with a visual system, an auditory system, a voice system and a central computer, and the visual system is used for observing roads, identifying customer patterns and transmitting information to the central computer; the central computer is used for controlling the visual system, the auditory system and the voice system, the central computer, the visual system, the auditory system and the voice system are matched with each other to realize man-machine communication, and the central controller is also used for controlling the movement of the whole machine; the method is characterized in that: the vegetable storage bin (21) with gradually increasing space is sequentially arranged on the machine body (2) from top to bottom; the manipulator (3) is arranged in the vegetable storage bin (21); the automatic opening and closing door (4) is arranged at the opening of the vegetable storage bin (21), and the automatic opening and closing door (4) is used for automatically opening the vegetable storage bin (21); the upper end of the automatic telescopic frame (5) is hinged with the machine body (2), the lower end of the automatic telescopic frame (5) is hinged with the chassis (6), and the automatic telescopic frame (5) is used for rising to enable the vegetable storage bin (21) to be flush with the dining table; the chassis (6) is provided with a positioner (62) and a first wheel (61), and the first wheel (61) is used for driving the human-computer interactive restaurant service robot to walk; the positioner (62) is used for positioning the dining table position of a customer; wherein,
the manipulator (3) comprises a driving gear (31), a driven gear, a first gear ring (32), a second gear ring (33) and a mechanical arm (34); one side of the driving gear (31) is meshed with the driven gear, and the other side of the driving gear (31) is meshed with the first gear ring (32); the driven gear is meshed with a second gear ring (33); the two mechanical arms (34) are arranged, one mechanical arm (34) is fixed on the first gear ring (32) and rotates along with the first gear ring (32), the other mechanical arm (34) is fixed on the second gear ring (33) and rotates along with the second gear ring (33), and the two mechanical arms (34) rotate in opposite directions to push the dish out of the dish storage bin (21).
2. The restaurant service robot based on the human-computer interaction technology as claimed in claim 1, wherein: the mechanical arm (34) comprises a first arm (341), a second arm (342) and an elastic rope (343), one end of the first arm (341) is fixedly connected with the first gear ring (32) or the second gear ring (33), the other end of the first arm (341) is hinged with the second arm (342), and the interiors of the first arm (341) and the second arm (342) are hollow; the elastic rope (343) is positioned at the hinged position of the first arm (341) and the second arm (342), one end of the elastic rope (343) is fixedly connected with the first arm (341), the other end of the elastic rope (343) is fixedly connected with the second arm (342), and the mechanical arm (34) straightened into a straight line is bent again by the elastic rope (343); a driving shaft (344) is arranged in each of the first gear ring (32) and the second gear ring (33); a pull rope (345) is fixedly arranged on the driving shaft (344), and the driving shaft (344) rotates to wind and pull the pull rope (345); the other end of the pulling rope (345) penetrates through the first arm (341) and the second arm (342) and is fixed with the end part of the second arm (342), and the pulling rope (345) is used for straightening the mechanical arm (34).
3. The restaurant service robot based on the human-computer interaction technology as claimed in claim 1, wherein: the automatic opening and closing door (4) comprises a motor I (41), a flexible shaft (42), a plastic ball (43), a fixed seat (44) and an opening and closing door (45); the plastic balls (43) are provided with a plurality of opening and closing doors (45) which are transparent glass doors, and the centers of the plastic balls (43) are provided with cross through holes (431); the two opening and closing doors (45) are arranged, the opening and closing doors (45) are connected with the fixed seat (44) in a sliding mode, the opening and closing doors (45) are in a quarter-arc shape, and a spiral groove is formed in the inner wall of the lower end of each opening and closing door (45) and is matched with the plastic ball (43); the first motor (41) is fixed on the fixed seat (44), and the first motor (41) is used for driving the flexible shaft (42) to rotate; the cross section of the flexible shaft (42) is in a cross shape, the flexible shaft (42) penetrates through a cross through hole (431) in the plastic ball (43) and connects the plastic balls (43) in series, the flexible shaft (42) rotates to drive the plastic ball (43) to rotate in the spiral groove, so that the opening and closing door (45) slides on the fixed seat (44), and the automatic opening and closing of the opening and closing door (45) at the vegetable storage bin (21) is realized.
4. The restaurant service robot based on the human-computer interaction technology as claimed in claim 1, wherein: the automatic telescopic frame (5) comprises a hinge rod (51), a second motor (52), a winding shaft (53), a pulley and a first rope (54), and a sliding groove is formed in the upper end face of the chassis (6); the sliding groove limits the pulley to roll in the groove; the hinged rods (51) are arranged in a plurality, the hinged rods (51) are hinged in a pairwise crossing manner, the lower end of the upper hinged rod (51) is hinged with the upper end of the lower hinged rod (51), the hinged rod (51) at the uppermost end is hinged with the lower end of the machine body (2), and the hinged rod (51) at the lowermost end is hinged with the pulley; the second motor (52) is fixed at the upper end of the chassis (6), and the second motor (52) drives the winding shaft (53) to rotate; one end of the first rope (54) is tied with the winding shaft (53), and the other end of the first rope (54) is tied with the lower end of the hinged shaft; the winding shaft (53) rotates and winds the first rope (54) to enable the first rope (54) to pull the two hinged rods (51) at the lower end and enable the included angle of the two hinged rods (51) to be small.
5. The restaurant service robot based on the human-computer interaction technology as claimed in claim 1, wherein: an exhaust pipe (23), a filter (24) and an exhaust fan (25) are further arranged in the machine body (2), one end of the exhaust pipe (23) is communicated with the vegetable storage bin (21), the other end of the exhaust pipe (23) is communicated with the lower end of the machine body (2), the exhaust pipe (23) is connected with the filter (24) and the exhaust fan (25) in series, and the exhaust pipe (23) is used for extracting hot air in the vegetable storage bin (21); the filter (24) is fixed with the machine body (2), and the filter (24) is used for filtering oil gas in the exhaust pipe (23); the exhaust fan (25) is positioned at the lower end of the filter (24), and the exhaust fan (25) is fixed with the machine body (2).
6. The restaurant service robot based on the human-computer interaction technology as claimed in claim 1, wherein: an obstacle avoidance sensor (63) is arranged on the chassis (6); the four obstacle avoidance sensors (63) are uniformly distributed on the chassis (6), the obstacle avoidance sensors (63) are located at the edge of the upper end face of the chassis (6), and the obstacle avoidance sensors (63) identify obstacles and transmit information to the head (1).
7. The restaurant service robot based on the human-computer interaction technology as claimed in claim 1, wherein: an article identification probe (22) is arranged on the side wall of the vegetable storage bin (21); the article identification probe (22) is used for identifying the types of articles in the vegetable storage bin (21) and transmitting information to the central computer.
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| CN108673532B (en) | 2021-01-05 |
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