CN110328671A - A kind of meal delivery robot - Google Patents
A kind of meal delivery robot Download PDFInfo
- Publication number
- CN110328671A CN110328671A CN201910545863.XA CN201910545863A CN110328671A CN 110328671 A CN110328671 A CN 110328671A CN 201910545863 A CN201910545863 A CN 201910545863A CN 110328671 A CN110328671 A CN 110328671A
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- small box
- electric switch
- image
- meal delivery
- client
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- 238000012384 transportation and delivery Methods 0.000 title claims abstract description 35
- 235000012054 meals Nutrition 0.000 title claims abstract description 28
- 235000013305 food Nutrition 0.000 claims abstract description 30
- 239000011159 matrix material Substances 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims description 28
- 238000012545 processing Methods 0.000 claims description 25
- 230000001360 synchronised effect Effects 0.000 claims description 18
- 230000003287 optical effect Effects 0.000 claims description 15
- 239000000523 sample Substances 0.000 claims description 15
- 238000005303 weighing Methods 0.000 claims description 15
- 230000005611 electricity Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 238000004804 winding Methods 0.000 claims description 4
- 101100379079 Emericella variicolor andA gene Proteins 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 12
- 230000004888 barrier function Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 235000013311 vegetables Nutrition 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000009432 framing Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 241001269238 Data Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000006227 byproduct Substances 0.000 description 1
- 238000010411 cooking Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000006694 eating habits Nutrition 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000003595 spectral effect 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of meal delivery robot, robot include control system and storage dish cabinet, and the storage dish cabinet is set on car body by multi-degree-of-freemechanical mechanical arm, and storage dish cabinet includesA storage dish small box, each storage dish small box includes opening and the small box door for closing opening, it is characterized in that, control system includes matrix control module, robot is moved near the client that makes a reservation, and matrix control module, which connects, sends control information to matrix switch unit to open the door for the small box for placing food variety ordered by dining table client.Meal delivery robot provided by the invention can disposably give multiple client's food deliveries, fetch conveniently.
Description
Technical field
The present invention relates to a kind of meal delivery robots, belong to robot technical field.
Background technique
With the continuous development of intelligent robot technology, field involved in robot is more and more extensive, in catering industry
In robot just have been favored by people.Such as meal delivery robot.Meal delivery robot currently on the market mainly includes apery
Anthropomorphic robot and trolley humanoid robot, humanoid robot such as application No. is CN201710309917 Chinese patent application,
A kind of novel meal delivery robot is disclosed, but the disposable food delivery limited amount of such robot, working efficiency are low；Carriage type machine
Such as application No. is the Chinese patent applications of CN201711311857 to disclose a kind of automatic meal delivery robot in dining room by people comprising vehicle
Body, storage dish cabinet, elevating mechanism, attemperator, the mechanism that serves a dish, obstacle avoidance sensor, alignment sensor, mobile power source and control
Device, this kind of automatic meal delivery robot are as follows in operational process: 1, cutlery box is shifted onto vegetable inlet, and pressure sensor senses pressure
Pass through electric pushrod after signal in cutlery box top to cutlery box channel, limiting device is by cutlery box after cutlery box enters cutlery box channel
Limit, counter count judgement and are packed into number until filling cutlery box channel；2, automatic meal delivery robot is preset with different table numbers
Running route automatically send cutlery box to corresponding table number when meal box is filled；3, it is stretched out by electric pushrod by the meal of the top
Box ejects cutlery box channel, is rotated by motor and holding ring is driven to clamp cutlery box, then will be on holding ring by motor rotation
Cutlery box turns to desk side, and general who has surrendered's cutlery box is put on desk under electric pushrod, and then holding ring unclamps, reset of serving a dish,
Cooking plate is removed cutlery box by a person sponging on an aristocrat, and after empty cutlery box is put into vegetable inlet, the mechanism that serves a dish repeats above-mentioned steps and puts cutlery box
It sets on table, counter is put into number to empty cutlery box and counts, and food delivery is completed when counting down to total cutlery box quantity and is returned, so
Circulation.Cutlery box can be sent to specified dining table automatically by this kind of automatic meal delivery robot, and a person sponging on an aristocrat has to for empty cutlery box being put into
It could continue dish delivery after to vegetable inlet.But the trolley humanoid robot has the following disadvantages: once can only be to a dining table food delivery
And empty cutlery box must be put into after vegetable inlet and could continue dish delivery, in this way, a person sponging on an aristocrat, which can only eat up a dish, can just eat one
A dish, and multiple dishes cannot be repaid by product simultaneously, the eating habit of client is not met, and during person sponging on an aristocrat's dining, robot one is stood upright on
By table, robot working efficiency is low.
Summary of the invention
To overcome disadvantage of the existing technology, goal of the invention of the invention is to provide one kind can be to multidigit guest food delivery
Robot, work efficiency is high.
To realize that the goal of the invention, the present invention provide a kind of meal delivery robot, robot includes control system and storage
Dish cabinet, the storage dish cabinet are set on car body by multi-degree-of-freemechanical mechanical arm, and storage dish cabinet includesA Chu Cai little
Cabinet, each storage dish small box includes opening and the small box door for closing opening, which is characterized in that control system includes square
Battle array control module, robot are moved near the client that makes a reservation, and matrix control module, which connects, sends control information to matrix switch unit
To open the door for the small box for placing food variety ordered by dining table client.
Preferably, be provided with tray drive mechanism in each small box, the tray drive mechanism include motor, two lead
Rail, synchronous pulley, gear and rack gear, wherein two guide rails are symmetricly set on both ends on the inside of the lower wall of small box, and gear setting exists
On the inside of small case lower inner wall, synchronous pulley is connected to the output shaft of motor, and rack gear is fixed on pallet lower end, and synchronous pulley and gear are logical
Synchronous band connection is crossed, when motor rotates, synchronous pulley sends synchronized drive to gear, and gear band carry-over bar moves, from
And pallet is moved along guide rail.
Preferably, the small box door connects and is equipped with torsional spring, pallet driving machine by the lower wall of hinge and small box
When structure drives pallet to stretch out, small box door is opened, when tray retracted, torsional spring makes small box door close the opening of small box.
Preferably, matrix switch unit include column selector, row selector andA element circuit, each unit electricity
Road includes the first electric switch T1, the second electric switch T2 and motor driver, and the motor driver is used for motor, and gives motor
Three windings U, V and W supply driving current；The first end of electric switch T1 connects column selector, and second end is connected in motor driven
Device, column selector provide position command to motor driver by the first electric switch, and control terminal is connected to row selector；Electric switch
The first end of T2 connects DC power supply, and second end, which is connected in, connects motor driver, and control terminal is connected to row selector, and DC power supply is logical
It crosses the second electric switch and provides DC voltage to motor driver.
Preferably, it is provided with light emitting devices on the interior roof in small box, opening is provided on pallet, be open
It is inside provided with optical sensor probe, matrix switch unit further includes third electric switch T3, the control terminal connection of third electric switch T3
In row selector, first end is connected to optical sensor probe, and second end is connected to detector, and optical sensor probe is by the light of measurement
Information sends device to through third electric switch；The second end of electric switch T2 is also attached to light emitting devices and optical sensor probe.
Preferably, it is provided with opening on pallet, weighing sensor is provided in opening, matrix switch unit further includes
Three electric switch T3, the control terminal of third electric switch T3 are connected to row selector, and first end is connected to weighing sensor, and second end connects
It is connected to detector, weighing sensor sends the weight information of measurement to device through third electric switch；The second end of electric switch T2 is also
It is connected to weighing sensor.
Preferably, processing unit includes periphery environment identification module, the periphery environment provided according to image processing unit
Image recognition mobiles comprising: the image data of continuous m+1 frame is selected from the ambient image of periphery；It successively finds out current
The difference of the image data of frame input image data and previous frame adjacent thereto generates m difference image；By m difference image
It is added and obtains the average value of difference image, thus to obtain average difference image；Mobiles are obtained from average difference image
Rectangle data: obtaining all moving regions from average difference image, and the left and right abscissa of each moving region is mobiles
The left and right abscissa of rectangle data；The minimum ordinate of each moving region is confirmed as at the top of mobiles；It is downward from top
Image is retrieved to obtain moving region maximum ordinate, which is confirmed as the bottom of mobiles rectangle.
Preferably, all header datas are received from mobiles rectangle data, and obtain feature vector from header data,
Acquired feature vector and Euler's distance of the feature vector for being registrated image for the client that has dinner are asked, Euler is apart from the smallest artificial
What is identified orders people.
Preferably, it is provided with display device on the door of each small case, for showing that information, the information include corresponding table
Number, the kind of cabinet institute accommodating food.
Compared with prior art, meal delivery robot provided by the invention can reach following the utility model has the advantages that (1) will be due to that will own
Food is placed in small box, and is provided with multilayer small box, and every layer again multiple, therefore, can disposably send more portions of dishes, and defend
It is raw, it will not be contaminated；(2) due to being provided with tray drive mechanism, food is picked and placed convenient for client；(3) due to the door in small box
It is upper to be provided with display screen, information can be shown on display screen, and information is determined before taking food convenient for client；(4) due to being provided with
Matrix switch only opens the cabinet that placed food ordered by client, therefore client will not take food by mistake.
Detailed description of the invention
Fig. 1 is meal delivery robot composition schematic diagram provided by the invention；
Fig. 2 is the composition block diagram of feeder people control system provided by the invention；
Fig. 3 is the circuit diagram of matrix switch unit provided by the invention；
Fig. 4 is the circuit diagram of matrix switch element deformation example provided by the invention；
Fig. 5 is the composition block diagram of motor driver provided by the invention；
Fig. 6 is structural schematic diagram of the pallet servo mechanism provided by the invention when pallet is released；
Fig. 7 is schematic cross-section of the pallet servo mechanism provided by the invention when pallet is released.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " first ", " second " etc. are used for description purposes only, without
It can be interpreted as indication or suggestion relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects
Connect " it shall be understood in a broad sense, it for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected, be also possible to
It is connected directly, can also can also be the connection inside two elements, for the general of this field indirectly connected through an intermediary
For logical technical staff, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Fig. 1 is meal delivery robot composition schematic diagram provided by the invention, as shown in Figure 1, food delivery machine provided by the invention
People includes car body 1, storage dish cabinet 2 and control system, and the storage dish cabinet 2 is connected on car body 1 by multi-degree-of-freemechanical mechanical arm 3,
Control system and servo mechanism for controlling the work of storage dish cabinet are set in storage dish cabinet, for controlling car body operation
The set-up of control system of servo mechanism and control multi-degree-of-freemechanical mechanical arm is in the control cabinet on car body.Lower car body is provided with one
To driving wheel, is driven by the servo mechanism of car body operation, be provided with universal wheel in front of car body, be driven wheel, in car body
Front and back be provided with and take the photograph the radar that is arranged in front of car body to machine and radar and transported forwards for measuring in robot
When row, at a distance from barrier, the video camera in front of car body is set for shooting the image for being in environment in front of robot；
The radar at car body rear is set for measuring when robot retreats, at a distance from barrier, car body rear is set
Video camera is used to shoot the image in environment in front of robot.Storing up dish cabinet includesA storage dish small box, each storage
Dish small box includes opening and the door for closing opening, is provided with tray drive mechanism in each small box.Store up dish cabinet top
The left and right side in portion is respectively arranged with a pair of of camera 4, and the camera 4 is respectively used to shooting robot the left and right
Image, and the client and at a distance from client of making a reservation is determined according to image.
Fig. 2 is the composition block diagram of feeder people control system provided by the invention, as shown in Fig. 2, control system includes place
Reason unit, storage unit, voice unit, car body servo mechanism driving unit, communication unit and positioning unit, driving unit include
Car body servo mechanism driving unit, multi-degree-of-freemechanical mechanical arm driving unit and pallet servo mechanism driving unit.In storage unit
Be stored with robot movement program, voice program, image program, case control program, communication unit for processing unit with
Position machine is communicated, and processing unit is instructed by communication unit reception host computer and calls the mobile journey of the robot stored in storage
Sequence plans car body operating path, and provides trace instruction to car body servo mechanism driving unit, to for driving car body to run
Servo motor provide instruction, according to instruction works；Voice unit includes voice-input unit and voice-output unit, and voice is defeated
Enter unit for received voice messaging to be converted to power information, voice telecommunication breath calls voice journey to processing unit based on the received
Sequence identifies voice, then calls the response language stored in storage unit, carries out voice output, then to pass through sound
Power information is converted to acoustic information by output unit, to interact with user.Positioning unit is used to determine the position of robot.
The control system further includes that matrix switch unit and the weighing sensor being arranged under each pallet or light connect
Probe is received, when positioning unit measures car body and runs to setting position, processing unit calls the voice program in storage unit, root
Pronunciation instruction, voice unit pronunciation are sent to voice unit according to operation program, and handles the echo message of user, works as echo message
When consistent with user's dining reservation information that host computer is sent, processing unit sends information to matrix switch unit, makes to place the use
The door of the small box of the determined food kind in family is successively opened, and releases pallet；Processing unit receives institute in open small case
When the weight information for having weighing sensor transmission is reduced to setting value or less, pronunciation instruction is sent to voice unit again, and
Pallet is withdrawn, a closing is made.
According to an embodiment of the present invention, the control system further includes multi-degree-of-freemechanical mechanical arm driving unit, is used for
The servo motor acted to driving mechanical arm provides position command, and multiple mechanical arms is made to cooperate, thus make mechanical arm and its
Entrained storage dish cabinet top to bottom, left and right, front and rear multiple degrees of freedom is mobile.
According to an embodiment of the present invention, the control system further includes obstacle identification unit, according to setting in car body
The information that the radar and/or video camera of front and back and the video camera that cabinet left and right sides is arranged provide calculates at a distance from barrier,
So as to adjust the running track with car body, the movement of mechanical arm.
According to an embodiment of the present invention, the control system further includes touch display screen, may be provided with storage dish cabinet
On, it also can be set on the car body, be used for user input instruction, be also used for display information, be also used to customer input information.
Illustrate the course of work of obstacle identification unit below, video unit is used for the periphery environment provided two video cameras
Image information carry out coded treatment and being supplied to processing unit, the processing unit includes periphery environment identification module and judgement
Module, the periphery ambient image information that the periphery environment identification module is provided according to video unit identify the shape of periphery environment
State, and by periphery environment state output to storage unit and determination module；The determination module compares periphery environment historic state
Information and current state information, when historic state information is consistent with current state information, car body of the processing unit to robot
Servo mechanism sends information, runs robot according to the route of planning, movement；When historic state information and current state information
When inconsistent, route, the movement of planning are corrected, runs robot according to revised route, movement.Periphery Context awareness mould
Barrier in the periphery environment spectral discrimination robot and periphery environment of two video cameras input that root tuber is provided according to video unit
Distance.The distance is determined by known two framing principle.
According to an embodiment of the present invention, after client's point of having dinner is made a reservation successfully, its face is identified, face-image
It is stored in background server as registration figure to be registrated so that robot is subsequent, background server is sent to robot.Periphery
The periphery environment image recognition mobiles that Context awareness module is provided according to image processing unit comprising: from periphery environment
The image data of continuous m+1 frame is selected in image；Successively find out present frame input image data and previous frame adjacent thereto
The difference of image data generates m difference image；M difference image is added to and is obtained the average value of difference image, is thus obtained
Must be averaged difference image；Mobiles rectangle data is obtained from average difference image: all fortune are obtained from average difference image
Dynamic region, the left and right abscissa of each moving region are the left and right abscissa of mobiles rectangle data；Each moving region
Minimum ordinate is confirmed as at the top of mobiles；It retrieves image downwards from top to obtain moving region maximum ordinate, is somebody's turn to do
Maximum ordinate is confirmed as the bottom of mobiles rectangle.All header datas are received from mobiles rectangle data, and from
Feature vector is obtained in header data, asks acquired feature vector and the Euler of the feature vector for being registrated image for the client that has dinner
Distance, Euler apart from it is the smallest artificially identified order people.
Periphery environment identification module is logical according to the image information that two imaging sensors that image processing unit provides obtain
It crosses framing and determines that storage dish cabinet at a distance from the client that has dinner, controls multi-degree-of-freemechanical mechanical arm movement according to this distance.
According to an embodiment of the present invention, the image that environment identification module in periphery is provided also according to two video cameras of image is sentenced
The luminance information of disconnected local environment sends information to processing unit, processing is single if the brightness of local environment is lower than setting value
Member sends information to lighting unit, and lighting unit is to lamp is opened, to illuminate to ambient enviroment, so as to more accurately
Determine robot at a distance from barrier by framing.
Fig. 3 is the circuit diagram of matrix switch unit provided by the invention.As shown in figure 3, matrix switch provided by the invention
Unit include column selector, row selector andA unit control circuit, column selector to unit control circuit for mentioning
The motor M position command signal of confession；Row selector provides selection signal to the control of each unit.As shown in figure 4, each unit control
Circuit processed includes the first electric switch T1, the second electric switch T2, servo motor M and motor driver 100, and the motor driver drives
Dynamic servo motor M, and driving current is supplied to three the windings U, V and W of motor M.In the present invention, the first end of electric switch T1
The alignment N1 of column selector 300 is connected, second end, which is connected in, connects position control section 105, and control terminal is connected to the one of row selector 200
Line K1；The first end of electric switch T2 connects DC power supply Ecc, and second end, which is connected in, connects motor driver 100, control terminal connection
In a line K1 of row selector 200.
According to an embodiment of the present invention, it is arranged with weighing sensor 500 in pallet, element circuit further includes third electricity
Switch T3, the control terminal of third electric switch T3 are connected to a line of row selector 200, and first end is connected to weighing sensor
500, second end is connected to detector 400, and weighing sensor 400 sends the weight information of measurement to inspection through third electric switch T3
Survey device；The second end of electric switch T2 is also attached to weighing sensor 500, for providing electric energy to weighing sensor.
Fig. 4 is the circuit diagram of matrix switch element deformation example provided by the invention, as shown in figure 4, one according to the present invention
Variation is provided with light emitting devices on the interior roof in small box, opening is provided on pallet, is provided in opening
Optical sensor probe (light-receiving probe), matrix switch unit further include third electric switch T3, the control terminal of third electric switch T3
It is connected to a line K1 of row selector 200, first end is connected to optical sensor probe, and second end is connected to detector 400,
Optical sensor probe establishes the optical information of measurement by cable T3 through third and sends detector to；The second end of electric switch T2 is also attached to light
Emitter and optical sensor probe, power supply provide electric energy to light emitting devices and optical sensor probe through electric switch T2.
According to an embodiment of the present invention, it is additionally provided with display device on the door of each small box, for showing information, institute
State the kind that information includes corresponding client's head portrait, cabinet institute accommodating food.
Fig. 5 is the circuit diagram of motor driver provided by the invention.As shown in figure 5, motor driver 100 includes to servo
Motor M provides three coil-driven current values of PWM inverter 101 and detection for driving the driving current of servo motor M
Current detector 102a, 102b, 102c.
Motor driver 100 further include detect servo motor M rotor rotation angle position detector 112 and will be in place
Set the feedback circuit 113 that the position of the servo motor M detected in detector 112 is fed back to position control section 105.
Motor driver 100 further includes the position control section 105 and input bit of input position instruction and motor M location information
The speed controlling portion 106 of the motor speed instruction of the instruction of 105 output speed of control unit and the offer of difference engine 110 is provided.Motor driven
Device 100 further includes receiving the driving speed for determining control servo motor M to make tray supporter be moved to desired position
The current-order of driving current and by each current feedback circuit 103 from the driving current value of current detector input feedback simultaneously
According to the driving current value in the way of Digital Logic correcting current instruction to by the revised current-order to PWM inversion
The logical operation section that device 101 exports.
Logical operation section, which has, to be inputted and is kept to servo motor M the input register 107 of current-order, inputs and keep
The current feedback register 111 of the driving current value of the servo motor M fed back from current detector 102 and correcting current instruction make
The current-order of input register 107 current control unit 108 equal with the driving current value of feedback register 111.
Motor driver 100 further includes PWM generator 109, by current control unit 108 in the way of pulse amplitude modulation
Signal modulation be pulse amplitude modulated signal, to PWM inverter 101 export.
In the following, illustrating the motor driver 100 of the embodiment of the present invention and the course of work of servo motor M.
Position control section 105 receives the position of control object from position detector 112, is referred to according to the position feedback with position
The difference output speed instruction enabled, controlling control object to destination locations.In addition, position control section 105 is examined according to position
The position feedback for surveying device 112 calculates and exports the electric angle of servo motor M.
Speed controlling portion 106 receives feedback speed letter using from the instruction of 105 input speed of position control section and from difference engine
Breath, according to the difference of the speed command of the feedback speed information and position control section 105 output current-order, to by control object
Control is purpose speed.Current-order is the data of the driving current of the offer to servo motor M.Other than current-order, speed
Degree control unit 106 also exports the information of the electric angle of servo motor M.The information of current-order and electric angle is received by logical operation section,
It is stored in specified deposit region.
Current detector 102 detects the driving current value supplied from PWM inverter 101 to servo motor M.Current detecting
The driving current value that device 102 detects is fed back from feed circuit 102 to logical operation section.At this moment, driving current value is maintained at feedback
Register 111.In the present invention, input register 107 and feedback register 111 can share a register, can refer to electric current
It enables and the information preservation of electric angle is in the first storage region of register, feedback current is stored in the second memory block of register
Domain.
Current control unit 108 is carried out the driving electricity of the current-order of input register 107 and current feedback register 111
The operation that flow valuve compares is instructed using current feedback information correcting current and is supplied to PWM generator 109 to generate pulsewidth modulation
DC voltage is converted to alternating voltage according to pulse-width signal and is supplied to three windings of motor M by signal, PWM101.Electricity
Flow control part 108 can also equally calculate the current-order being modified using the electric angle of input register 107.
Fig. 6 is structural schematic diagram of the pallet servo mechanism provided by the invention when pallet is released；Fig. 7 is offer of the present invention
Pallet servo mechanism in the schematic cross-section when pallet is released.As shown in fig. 6-7, pallet is provided in each small box 21
Driving mechanism, the tray drive mechanism include motor 22, two guide rails 23A and 23B, synchronous pulley 24, gear 25 and rack gear
26, wherein two guide rails 23A and 23B are symmetricly set on both ends on the inside of the lower wall of small box, extend along the front and back of small box, tooth
Position close from doorway on the inside of 21 lower walls is arranged in small case in wheel 25, and synchronous pulley 24 is connected to the output shaft of motor 22, rack gear
26 are fixed on 27 lower end of pallet, synchronous pulley 24 and gear 25 is connected by synchronous belt 28, when motor 22 rotates, synchronous pulley 24
Synchronized band 28 sends power to gear 26, and gear 26 is engaged with rack gear 26, and rack gear 26 drives 4 sliding blocks under pallet 27
32 move along guide rail 23A and 23B.Preferably, the small box door 31 is connect and is installed with the lower wall of small box by hinge 29
There is torsional spring 30 to open small box door 31 when tray drive mechanism drives pallet 27 to stretch out, when pallet 27 retracts, torsional spring 30 makes
The opening of small box closing small box 21.
The robot course of work provided by the invention is as follows: when robot run to planning or identified client near,
Processing unit sends to voice unit and instructs, and voice unit simulates people and greets to client, and such as " you are good, you have selected so-and-so food
" if client answers, voice unit identifies the acoustic information of client, if the information of identification is the information of affirmative, locates
It manages unit and sends instruction to matrix switch unit, matrix switch unit sends instruction, pallet to the element circuit for placing the food
Servo mechanism releases pallet, and after user takes the container for containing the food on pallet away, weighing sensor is measured
Weight information is reduced to setting value hereinafter, then detector sends information to processing unit, and processing unit gives matrix switch again
Unit sends instruction, and pallet servo mechanism will ask tray to withdraw.Then, processing unit is relatively made a reservation the placement of information and small box
The information of food repeats the above process if the food of the custom is also stored in small box, until client remove it is small
The food of its all customization in cabinet, if the customized food of client has been sent not yet, processing unit gives voice unit hair
Instruction is sent, voice unit simulates people and greets to client, issues term of courtesy, such as " you are good, please uses slowly, and other food are also asked
You wait ", if the customized food of client has disposably been sent, processing unit gives voice unit to send instruction, voice unit
It simulates people to greet to client, the terms of courtesy such as such as " you are good, please uses slowly ", and post-processing unit gives car body operation servo mechanism hair
Instruction is sent, is repeated the above process, robot continues to other client's food deliveries.If voice unit identifies whether client answers information
Fixed information, processing unit can compare the storage meal information of make a reservation information and the small box of client, if it is determined that certain client does not have
Certain customized food, then processing unit can send instruction to car body servo mechanism, and robot gives other client's food deliveries, and sends out to client
Send apology voice.
The above is only described in detail embodiments of the present invention, it is noted that for the art
For those of ordinary skill, without departing from the technical principles of the invention, several improvements and modifications can also be made, these
Improvement and modification also should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of meal delivery robot, robot includes control system and storage dish cabinet, and the storage dish cabinet passes through multiple degrees of freedom
Mechanical arm is set on car body, and storage dish cabinet includesA storage dish small box, each storage dish small box include opening and use
In the small box door for closing opening, which is characterized in that control system includes matrix control module, and robot is moved to the client that makes a reservation
Near, matrix control module, which connects, sends control information to matrix switch unit to open food variety ordered by placement dining table client
Small box door.
2. meal delivery robot according to claim 1, which is characterized in that be provided with pallet driving machine in each small box
Structure, the tray drive mechanism include motor, two guide rails, synchronous pulley, gear and rack gear, wherein two guide rails are symmetrically set
The two sides in the lower wall of small box are set, gear is arranged on the inside of small case lower inner wall, and synchronous pulley is connected to the output shaft of motor, tooth
Item is fixed on pallet lower end, synchronous pulley and gear by synchronous band connection, and when motor rotates, synchronous pulley is by synchronized drive
Power sends gear, gear band carry-over bar movement, so that pallet is moved along guide rail to.
3. meal delivery robot according to claim 2, which is characterized in that the small box door passes through hinge and small box
Lower wall connects and is equipped with torsional spring, and when tray drive mechanism drives pallet to stretch out, small box door is opened, and when tray retracted, turns round
Spring makes the opening of small box door closing small box.
4. meal delivery robot according to claim 3, which is characterized in that matrix switch unit includes column selector, row choosing
Select device andA element circuit, each element circuit include the first electric switch T1, the second electric switch T2 and motor driver,
The motor driver is used for motor, and supplies driving current to three windings U, V and W of motor；The first of electric switch T1
End connection column selector, second end are connected in motor driver, and column selector provides position to motor driver by the first electric switch
Instruction is set, control terminal is connected to row selector；The first end of electric switch T2 connects DC power supply, and second end, which is connected in, connects motor driven
Device, control terminal are connected to row selector, and DC power supply provides DC voltage to motor driver by the second electric switch.
5. meal delivery robot according to claim 4, which is characterized in that be provided with light on the interior roof in small box
Emitter is provided with opening on pallet, and optical sensor probe is provided in opening, and matrix switch unit further includes third electricity
Switch T3, the control terminal of third electric switch T3 are connected to row selector, and first end is connected to optical sensor probe, second end connection
In detector, optical sensor probe sends the optical information of measurement to device through third electric switch；The second end of electric switch T2 also connects
It is connected to light emitting devices and optical sensor probe.
6. meal delivery robot according to claim 4, which is characterized in that be arranged with weighing sensor, matrix in pallet
Switch unit further includes third electric switch T3, and the control terminal of third electric switch T3 is connected to row selector, and first end is connected to title
Sensor is retransmitted, second end is connected to detector, and weighing sensor sends the weight information of measurement to device through third electric switch；Electricity
The second end of switch T2 is also attached to weighing sensor.
7. meal delivery robot according to claim 1, which is characterized in that processing unit includes periphery environment identification module,
Its periphery environment image recognition mobiles provided according to image processing unit comprising: it is selected from the ambient image of periphery
The image data of continuous m+1 frame；Successively find out the image data of present frame input image data and previous frame adjacent thereto
Difference generates m difference image；M difference image is added and obtains the average value of difference image, thus to obtain average difference
Image；Mobiles rectangle data is obtained from average difference image: all moving regions is obtained from average difference image, each
The left and right abscissa of moving region is the left and right abscissa of mobiles rectangle data；The minimum ordinate quilt of each moving region
It is determined as at the top of mobiles；Retrieve image downwards from top to obtain moving region maximum ordinate, the maximum ordinate quilt
It is determined as the bottom of mobiles rectangle.
8. meal delivery robot according to claim 7, which is characterized in that receive all heads from mobiles rectangle data
Data, and feature vector is obtained from header data ask acquired feature vector and the feature for being registrated image for the client that has dinner
Euler's distance of vector, Euler is apart from the smallest client that makes a reservation artificially identified.
9. -8 any meal delivery robot according to claim 1, which is characterized in that be provided with display on the door of each small case
Device, for showing that information, the information include the kind of corresponding client's head portrait, cabinet institute accommodating food.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910545863.XA CN110328671B (en) | 2019-06-23 | 2019-06-23 | Meal delivery robot |
| PCT/CN2020/094052 WO2020259233A1 (en) | 2019-06-23 | 2020-06-03 | Meal delivery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910545863.XA CN110328671B (en) | 2019-06-23 | 2019-06-23 | Meal delivery robot |
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| Publication Number | Publication Date |
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| CN110328671A true CN110328671A (en) | 2019-10-15 |
| CN110328671B CN110328671B (en) | 2024-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910545863.XA Active CN110328671B (en) | 2019-06-23 | 2019-06-23 | Meal delivery robot |
Country Status (2)
| Country | Link |
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| CN (1) | CN110328671B (en) |
| WO (1) | WO2020259233A1 (en) |
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Also Published As
| Publication number | Publication date |
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| WO2020259233A1 (en) | 2020-12-30 |
| CN110328671B (en) | 2024-04-19 |
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