CN112286192A

CN112286192A - Overhead rail type intelligent unmanned dish delivery control system

Info

Publication number: CN112286192A
Application number: CN202011171334.7A
Authority: CN
Inventors: 严忠耀; 陈凯
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2021-01-29

Abstract

The invention relates to an overhead rail type intelligent unmanned dish delivery control system, which comprises an overhead rail, a plurality of dish delivery vehicles and a kitchen control host, wherein the overhead rail is erected below floor plates of a restaurant and a kitchen, the dish delivery vehicles are arranged on the overhead rail and can move along the overhead rail, the kitchen control host is used for issuing dish delivery instructions of the dish delivery vehicles, the overhead rail comprises a main rail and a plurality of branch rails, the branch rails extend from the main rail and are arranged above a dining table area, ID marks are arranged at turning points of the main rail on the branch rails, the ID marks are arranged at the corresponding branch rails above the dining tables, and each dish delivery vehicle is provided with a vehicle-mounted RFID sensor used for detecting the ID marks. Compared with the prior art, the invention has the advantages of low investment cost, strong dish transmission stability, high dish transmission efficiency, vehicle collision prevention and the like.

Description

Overhead rail type intelligent unmanned dish delivery control system

Technical Field

The invention relates to the technical field of intelligent dish delivery, in particular to an overhead rail type intelligent unmanned dish delivery control system.

Background

With the rapid development of social economy and the improvement of the living standard of people, the catering industry is more and more prosperous, but the competition of the prosperous industry is more fierce, particularly, the working environment of the society is continuously improved, the human resources of the catering industry are more and more tense, the characteristic of high mobility of people in the catering industry is difficult to overcome, the human cost is also increased year by year, the human cost occupies an important part of the cost of catering enterprises, and the deep human and management cost is difficult to estimate.

With the appearance of intelligent restaurants, the problems of labor cost and the like are relieved to a certain extent. However, the existing intelligent dining room generally adopts a dish delivery vehicle running on the ground to deliver dishes intelligently, that is, the intelligent dining room walks on the ground in the ways of magnetic stripe navigation, laser navigation, two-dimensional code inertial navigation and the like to deliver dishes to a dining table from a kitchen, and the food delivery way has the following defects in the dish delivery process: 1. walking on the ground of the restaurant is restricted by articles such as a dining table and the like arranged on the ground of the restaurant, planning needs to be carried out by bypassing the articles such as the dining table and the like, and then the walking route is tortuous, and the meal delivery speed is influenced; 2. the walking routes of all robots are inevitably crossed, when the routes are busy, all the robots in all the routes are probably walking, and in order to avoid collision at all the intersections, one robot is inevitably needed to walk first, and other robots are suspended, so that the food delivery speed is influenced; 3. the robot can walk by customers or service personnel, particularly children, for safety, when encountering people, the robot can execute obstacle avoidance action, and can execute a walking stopping instruction when more pedestrians are around, so that the walking pace of the robot is influenced, the robot is often forced to pause or perform the obstacle avoidance action, the speed of dish transmission is seriously influenced, and meanwhile, due to certain hysteresis of a control system, the customers and the walking robot are collided at times, so that certain danger exists; 4. the position of the dish in the dish transferring process can not be adjusted, so that after the dish is transferred to a target dining table, a customer still has the problem that the customer needs to leave the position to take down the dish, and the customer experience is poor.

Chinese patent ZL201821254229.8 discloses an intelligent track dish delivery system, which adopts an overhead track meal delivery mode, however, when a complex restaurant is used, more tracks and a special transfer device need to be configured, the track layout is complex, the engineering investment is large, the single track traffic rate is low, and the dispatching operation efficiency of a plurality of dish delivery vehicles is low. In addition, this patent pass dish car when operation, especially when the robot passes through the turn track, the thing case of carrying under the robot can constantly produce inertia and rock, makes dish hot water juice spill over from the vegetable dish easily, and the track is found complicacy, need dispose special derailment device, and the big track of this kind of single overall arrangement passes dish car when carrying out the dish action above the dining table in the front, and the rear robot can only wait in the back, can't cross the place ahead and pass dish car, passes dish efficiency lower.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide an overhead rail type intelligent unmanned dish conveying control system, which enables dish conveying functions to be more flexible and the passing efficiency of dish conveying vehicles to be higher according to the extension action of a main rail and a branch rail.

The purpose of the invention can be realized by the following technical scheme:

the utility model provides an overhead rail formula intelligence unmanned dish control system that passes, is including setting up the overhead rail in the floor board below of dining room and kitchen, locate on the overhead rail and can follow many dish passing cars that it removed for the kitchen main control system of dish passing order is published to the dish passing car, the ground touch screen is connected to the kitchen main control system, the kitchen main control system with the kitchen dish passing shelves department is located to the ground touch screen to pass dish car wireless connection through wireless communication module and each.

The overhead track comprises a main track and a plurality of branch tracks extending from the main track, the extending branch tracks are arranged above the dining table area, ID identifications are arranged at turning points of the main track on each branch track, ID identifications are arranged at the corresponding branch tracks above each dining table, and each dish conveying vehicle is provided with a vehicle-mounted RFID sensor for detecting the ID identifications.

Every biography dish car is including passing the dish case, passing dish car main control board, with pass running gear, steering wheel, lithium cell group, current collector, brake ware, wireless communication module, elevating system and the safe crashproof sensor that dish car main control board is connected respectively, pass dish car main control board and pass kitchen control host through wireless communication module connection, elevating system's bottom is connected and is passed the dish case.

Each dish conveying vehicle is provided with an independent ID identification card, and if the vehicle-mounted RFID sensor of each dish conveying vehicle detects that the ID identification cards of other dish conveying vehicles run on the moving track, the vehicle stops running.

Furthermore, locating pieces are arranged at the positions of the road junctions formed among the tracks and the target positions of the corresponding branch tracks above the dining tables, a vehicle-mounted road junction sensor and a vehicle-mounted station sensor which are used for sensing the locating pieces are further arranged on the dish delivery vehicle and are respectively connected with a main control board of the dish delivery vehicle, and when the vehicle-mounted road junction sensor or the vehicle-mounted station sensor senses the corresponding locating pieces, the main control board of the dish delivery vehicle controls the dish delivery vehicle to stop on the tracks.

Further, the overhead track comprises two L-shaped guide rails which are relatively parallel and fixedly arranged, a dish conveying track for a dish conveying vehicle to walk is formed between the two L-shaped guide rails, and the dish conveying track comprises a main track and a plurality of branch tracks extending out of the main track.

Furthermore, each dish conveying vehicle is provided with an inner cavity for placing the dish conveying box, and when a dish conveying instruction is received, the main control board of the dish conveying vehicle controls the lifting mechanism to lift, so that the dish conveying box rises to the inner cavity of the dish conveying vehicle.

Furthermore, a dish sensor used for detecting whether dishes are taken out or not is arranged in the dish conveying box.

Furthermore, each dish delivery vehicle is also provided with a voice reminding module, and the voice reminding module is connected with the dish delivery vehicle main control board.

Furthermore, each dish conveying vehicle adopts a hybrid power supply mode, each track is contacted with a slide wire through a contact slide head to supply power to each device on the dish conveying vehicle, a lithium battery pack is arranged in the dish conveying vehicle, the lithium battery pack can be automatically charged when the voltage of a static state or a lithium battery is insufficient, and when the contact slide head and the track are contacted with poor contact in the operation process of the dish conveying vehicle, the dish conveying vehicle is automatically converted into a lithium battery power supply mode.

Compared with the prior art, the overhead rail type intelligent unmanned dish delivery control system provided by the invention at least has the following beneficial effects:

1) the dish transmission efficiency is improved: the main track is used as a main running channel, the branch tracks are in a layout mode of dish transferring and unloading points, the dining table dish transferring points are arranged on the branch tracks, the dish transferring vehicles drive into the branch tracks from the main track to transfer dishes, and other dish transferring vehicles passing on the main track are not affected, so that the passing efficiency of the dish transferring vehicles is greatly improved;

2) reliable performance, low system cost: compared with a vegetable conveying vehicle using an AGV as a carrier, the system has the advantages that the manufacturing cost of the vegetable conveying vehicle is greatly reduced, the environmental adaptability is strong, and the social benefit and the economic benefit are obvious;

3) the unique traffic dispatching mode comprises the following steps: the main rail is set as a main operation channel, the branch rails are set as a layout mode of dish transferring and unloading points, the RFID technology and a unique scheduling algorithm are adopted, a plurality of kitchen dish transferring shelves can be set, and more dish transferring vehicles are configured to participate in operation;

4) avoiding the collision problem: the invention utilizes the RFID technology as a multi-vehicle safe anti-collision scheme, an ID identification card is arranged on each food delivery vehicle as a vehicle-mounted identity identification card, when the food delivery vehicle on the branch track is driven out of the branch track at the intersection of the branch track and the main track, other vehicles approaching to the crossing on the main track can be detected through an RFID sensor, when the food delivery vehicle on the branch track stops driving when the vehicle approaching is detected, and the problem that two vehicles collide from different directions of the crossing is avoided;

5) two-way power supply system: by adopting the trolley line track power supply system and the lithium battery pack power supply module, the long-time online operation of the dish conveying vehicle can be ensured.

Drawings

FIG. 1 is a block diagram of an overhead rail-mounted intelligent unmanned dish-passing control system in an embodiment;

fig. 2 is a flow chart of the working principle of the overhead rail type intelligent unmanned dish delivery control system in the embodiment.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.

Examples

The invention relates to an overhead rail type intelligent unmanned dish delivery control system which is used for restaurants and kitchens.

The kitchen control host and the ground touch screen are arranged at a dish delivery port of a kitchen, and the kitchen control host is connected with the ground touch screen, is in wireless connection with each dish delivery vehicle through the wireless communication module and is used for issuing instructions to the dish delivery vehicles. The ground touch screen is provided with a target setting key and a starting key, the target setting key is used for selecting a target dining table of the dish delivery vehicle, each dining table is provided with a corresponding ID (identity) mark, and the starting key is used for executing a running instruction of the dish delivery vehicle after selection.

Pass the dish car and include the organism, pass the dish case, pass dish car main control board, running gear, steering wheel, lithium cell group, current collector, brake ware, wireless communication module, elevating system and safe crashproof sensor, pass dish car main control board and lithium cell group, current collector, brake ware, elevating system, running gear, steering wheel and safe crashproof sensor and be connected respectively. Set up in the organism and pass dish car master control board, steering wheel, lithium cell group, current collector, brake and wireless communication module. The main control board of the dish delivery vehicle is connected with the kitchen control host through the wireless communication module. The lifting mechanism is arranged on the body of the dish transferring vehicle, and the bottom end of the lifting mechanism is fixed with a dish transferring box for placing dishes. The organism is equipped with the inner chamber that is used for placing and passes the dish case, and when receiving and pass the dish instruction, pass dish car main control board control elevating system and rise, will pass the dish case and rise to passing in the dish car inner chamber to accomplish and load, and then walk on next step and pass the dish. After the dish delivery vehicle reaches the target position, the main control board of the dish delivery vehicle controls the lifting mechanism to descend, and the dish delivery box descends to the upper part of the dining table so that guests can take out the dishes. The walking mechanism is arranged at the bottom of the machine body and is connected with the steering engine; the running gear is preferably a wheeled running gear which is adapted to the overhead rail.

The safe anti-collision sensor can adopt an infrared diffuse reflection sensor, a laser reflection sensor, an ultrasonic sensor, a vision sensor and the like, and has the functions that when the distance between the safe anti-collision sensor and the front vegetable conveying vehicle is close to a specified distance, the safe anti-collision sensor sends a signal to be fed back to a main control board of the vegetable conveying vehicle, and the main control board sends an instruction to start a brake and stop a walking mechanism to run, so that the rear vegetable conveying vehicle and the front vegetable conveying vehicle keep a certain safe distance. The designated interval can be preset according to actual conditions, and is preferably 300-500 mm.

In this embodiment, as preferred scheme, pass the dish car and be equipped with the electrically operated gate, pass the dish car main control board and be connected with the electrically operated gate, after the dish was put into and is passed the dish case, and pass the dish car main control board and receive and pass the dish instruction after, control the electrically operated gate and close.

In this embodiment, as preferred scheme, pass the dish car and be equipped with pronunciation warning module, pronunciation warning module is located and is passed on the dish car organism to be connected with passing dish car main control board.

In this embodiment, as preferred scheme, pass the dish car and adopt mixed power supply mode, touch each track through touching the slippery fellow and touch the slippery line and supply power for each equipment on passing the dish car, its built-in lithium cell group can automatic charging when static state or lithium cell voltage are not enough, when passing the dish car and touch the slippery fellow contact failure with the track in the operation process, automatic conversion is the lithium cell power supply mode.

In this embodiment, as a preferable scheme, a dish sensor is arranged in the dish delivery box and used for detecting whether dishes are taken out. The dish sensor can be a film pressure sensor, a vision sensor, an infrared sensing sensor, a microswitch array and the like to realize the detection of dishes. For example, a film type pressure sensor is selected and arranged at the bottom of the dish transmission box, when dishes are placed at any place of the bottom plate of the dish transmission box, the pressure value sensed by the film type pressure sensor is increased, namely, a feedback signal is output to the main control board, the main control board judges that the dishes are placed in the dish transmission box and can execute a dish transmission task, otherwise, when the dish transmission vehicle reaches a target dining table, a guest takes the dishes out of the dish transmission box, when the pressure value sensed by the film type pressure sensor is reduced to an original value, the feedback signal is sent to the main control board, the main control board judges that the dishes are taken out, and the dish transmission vehicle is instructed to execute a return program.

The overhead track is erected below floor panels of restaurants and kitchens. The dish conveying vehicle is arranged on the overhead track and can move along the overhead track. The overhead track comprises two L-shaped guide rails which are relatively parallel and fixedly arranged, a dish conveying channel for a dish conveying vehicle to travel is formed between the two L-shaped guide rails, the dish conveying channel is divided into a main track and a branch track, the main track is a main operation channel, the branch track is connected with one side of the main track and is intersected with the main track, and the branch track extends to the upper part of a dining table area, namely, the branch track is used as a dish conveying unloading point. The branch track is provided with an ID identification at the turning point of the main track, and the corresponding branch track position above each dining table area, namely the dish conveying and unloading point is also provided with the ID identification. The dish conveying vehicle is provided with a vehicle-mounted RFID sensor for detecting ID identifications distributed at each turning point and target station of the track. The vehicle-mounted RFID sensor is connected with the main control board of the dish delivery vehicle. In addition, each dish conveying vehicle is provided with an independent ID identification card, and the vehicle-mounted RFID sensor of each dish conveying vehicle can also stop running by detecting the ID identification cards of other vehicles running on the channel (so as to control the dish conveying vehicles), so that the problem of two vehicles colliding at the turnout is avoided.

The invention also provides a vehicle-mounted crossing sensor and a vehicle-mounted station sensor which are arranged at different positions of the vegetable delivery vehicle, are respectively connected with a main control board of the vegetable delivery vehicle and are used for combining a positioning sheet to accurately position the vegetable delivery vehicle at a crossing and a target point, and the vehicle-mounted crossing sensor and the station sensor both adopt Hall induction type sensors, and the induction mode is magnetic induction or metal induction. The positioning sheet is a metal sheet or an S/N pole magnetic metal sheet, and is arranged at a place (such as a crossing formed by each track or a corresponding track right above a dining table) needing to be accurately positioned by the dish conveying vehicle in the track, and when the vehicle-mounted crossing sensor of the dish conveying vehicle senses the positioning sheet arranged at the crossing, the vehicle immediately stops on the track. When the vehicle-mounted station sensor of the dish delivery vehicle senses the positioning sheet right above the corresponding dining table, the vehicle stops on the track right above the dining table immediately.

The working principle of the system of the invention is as follows:

at kitchen pass shelves mouth, kitchen staff puts into the dish case that passes of passing the dish car with the dish at first, then sets for the target dining table number (the ID sign of passing dish discharge department promptly) through ground touch screen, presses the start key, passes the dish instruction and sends to passing the dish car through wireless communication module, passes the dish car and receives and passes the dish instruction, closes and passes dish case electrically operated gate, starts elevating system and rises to passing the dish car inner chamber with passing the dish case, starts to pass dish car travelling wheel, goes to the target dining table.

In the process of transmission, the vehicle-mounted RFID sensor can detect ID identifications distributed at each turning point and a target station of a track, when a food conveying vehicle runs to L, T or the vicinity of a cross crossing (namely a branch track is at the turning point of a main track), the vehicle-mounted RFID sensor can read ID identification information of the crossing, a main control board of the food conveying vehicle controls the speed of the food conveying vehicle to be reduced, when the food conveying vehicle runs into the crossing, the vehicle-mounted crossing sensor detects a positioning sheet and feeds back the positioning sheet to the main control board, the main control board of the food conveying vehicle instructs the food conveying vehicle to stop, the main control board of the food conveying vehicle instructs a steering engine to execute turning action according to the read ID identification information, then instructs the food conveying vehicle to continue running, when the food conveying vehicle runs to the vicinity of the target dining table, the vehicle-mounted RFID sensor detects the ID identifications of the crossing, the main control board instructs the food conveying vehicle to reduce the speed, when the food conveying vehicle runs to the, the control panel instruction steering wheel carries out the action of turning, then the instruction passes the dish car and drives into the branch track, and the branch track sets up in the dining table top, detects the spacer when on-vehicle website sensor, then passes dish car main control panel instruction and passes the dish car and stop to instruct start elevating system, will pass the dish case and descend to the dining table top, open and pass dish case electrically operated gate and pronunciation warning guest and take away the dish.

When the dish sensor detects that dishes are taken out, signals are fed back to the main control board of the dish transferring vehicle, the main control board of the dish transferring vehicle instructs the electric door of the dish transferring box to close, the lifting mechanism ascends to lift the dish transferring box to the inner cavity of the dish transferring vehicle, the main control board of the dish transferring vehicle instructs the dish transferring vehicle to start the travelling wheels, the dish transferring vehicle runs to the opening of the main track from the branch track, the main control board of the dish transferring vehicle instructs the steering engine to perform turning action, then the dish transferring vehicle is instructed to run into the main track, and the dish transferring vehicle returns to the queuing area of the kitchen from the main track to wait for the next dish transferring.

The invention sets the main track as the main operation channel and sets the branch track as the vegetable transferring and discharging point, the operation track layout mode enables the vegetable transferring vehicle to transfer the vegetable operation point on the branch track, and the other vegetable transferring vehicles are not limited in operation on the main track, thereby greatly improving the passing efficiency of the vegetable transferring vehicle. Besides the conventional safe anti-collision infrared sensor, an ID identification card is arranged on each food delivery vehicle as a vehicle-mounted identity identification card, when the food delivery vehicle on the branch track is driven out of the branch track at the intersection of the branch track and the main track, other vehicles approaching to the crossing on the main track can be detected through the RFID sensor, and when the food delivery vehicle on the branch track stops driving to avoid two vehicles colliding at the crossing.

While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides an overhead rail formula intelligence unmanned dish control system that passes, is including setting up the overhead rail in the floor board below of dining room and kitchen, locate on the overhead rail and can follow many dish passing cars of its removal, its characterized in that, this control system still includes the kitchen main control system who is used for issuing dish passing car dish instruction, the overhead rail includes main track and many branch rails that extend from the main track, and the branch rail that extends locates dining table region top, and each branch rail is equipped with the ID sign in the turning point department of main track, and the branch rail department that corresponds above each dining table is equipped with the ID sign, and each dish passing car is equipped with the on-vehicle RFID sensor that is used for detecting the ID sign.

2. The overhead rail-mounted intelligent unmanned dish delivery control system according to claim 1, wherein the kitchen control host is connected with a ground touch screen, the kitchen control host and the ground touch screen are arranged at a dish delivery notch of the kitchen and are wirelessly connected with each dish delivery vehicle through a wireless communication module.

3. The overhead rail-mounted intelligent unmanned dish conveying control system according to claim 1, wherein each dish conveying vehicle comprises a dish conveying box, a dish conveying vehicle main control board, a traveling mechanism, a steering engine, a lithium battery pack, a current collector, a brake, a wireless communication module, a lifting mechanism and a safety anti-collision sensor, the traveling mechanism, the steering engine, the lithium battery pack, the current collector, the brake, the wireless communication module, the lifting mechanism and the safety anti-collision sensor are respectively connected with the dish conveying vehicle main control board, the dish conveying vehicle main control board is connected with a kitchen control host through the wireless communication module, and the bottom of the lifting mechanism is connected.

4. The overhead rail-mounted intelligent unmanned dish-conveying control system according to claim 1, wherein each dish-conveying vehicle is provided with an independent ID identification card, and the vehicle-mounted RFID sensor of each dish-conveying vehicle stops driving when detecting that the ID identification cards of other dish-conveying vehicles run on the moving rail.

5. The overhead rail-type intelligent unmanned dish-passing control system according to claim 3, wherein positioning pieces are provided at the crossing formed between the rails and the target position of the corresponding branch rail above each dining table, the dish-passing vehicle is further provided with a vehicle-mounted crossing sensor and a vehicle-mounted station sensor for sensing the positioning pieces, the two sensors are respectively connected with the dish-passing vehicle main control board, and when the vehicle-mounted crossing sensor or the vehicle-mounted station sensor senses the corresponding positioning piece, the dish-passing vehicle main control board controls the dish-passing vehicle to stop on the rail.

6. The overhead rail type intelligent unmanned dish conveying control system according to claim 1, wherein the overhead rail comprises two L-shaped guide rails which are relatively parallel and fixedly arranged, a dish conveying rail for a dish conveying vehicle to travel is formed between the two L-shaped guide rails, and the dish conveying rail comprises a main rail and a plurality of branch rails extending out of the main rail.

7. The overhead rail-mounted intelligent unmanned dish delivery control system according to claim 3, wherein each dish delivery vehicle is provided with an inner cavity for placing a dish delivery box, and when receiving a dish delivery instruction, the dish delivery vehicle main control board controls the lifting mechanism to lift up, so that the dish delivery box is lifted into the inner cavity of the dish delivery vehicle.

8. The overhead rail-mounted intelligent unmanned dish delivery control system according to claim 3, wherein a dish sensor for detecting whether dishes are taken out is arranged in the dish delivery box.

9. The overhead rail-mounted intelligent unmanned dish delivery control system according to claim 3, wherein each dish delivery vehicle is further provided with a voice reminding module, and the voice reminding module is connected with a dish delivery vehicle main control board.

10. The overhead rail-mounted intelligent unmanned dish delivery control system according to claim 3, wherein each dish delivery vehicle adopts a hybrid power supply mode, power is supplied to each device of the dish delivery vehicle through a sliding contact line of a sliding contact head contacting each rail, and a lithium battery pack is arranged in each dish delivery vehicle.