CN114393606B - Robot meal distribution system and method for realizing temporary storage and transfer - Google Patents
Robot meal distribution system and method for realizing temporary storage and transfer Download PDFInfo
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- CN114393606B CN114393606B CN202111556490.XA CN202111556490A CN114393606B CN 114393606 B CN114393606 B CN 114393606B CN 202111556490 A CN202111556490 A CN 202111556490A CN 114393606 B CN114393606 B CN 114393606B
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- 238000012546 transfer Methods 0.000 title claims abstract description 134
- 235000012054 meals Nutrition 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims description 19
- 238000012544 monitoring process Methods 0.000 claims description 23
- 238000004140 cleaning Methods 0.000 claims description 21
- 230000005674 electromagnetic induction Effects 0.000 claims description 18
- 239000000523 sample Substances 0.000 claims description 18
- 238000011010 flushing procedure Methods 0.000 claims description 6
- 238000002716 delivery method Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract 1
- 230000006872 improvement Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000005389 magnetism Effects 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 235000021186 dishes Nutrition 0.000 description 3
- 239000011120 plywood Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 235000013305 food Nutrition 0.000 description 2
- 235000012046 side dish Nutrition 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000016776 visual perception 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
- 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
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B25J19/06—Safety devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to the technical field of meal delivery, in particular to a robot meal delivery system and a robot meal delivery method for realizing temporary storage transfer. The system comprises an allocation scheduling platform, a transmission platform and a control platform, wherein the allocation scheduling platform comprises a user unit, a transfer unit and a machine unit; the transfer unit is used for sending transfer information of the order articles placed in the transfer cabinet to the user unit and the machine unit; the machine unit is used for receiving the transfer information of the transfer unit, controlling the robot to go to the transfer cabinet to take out the order articles corresponding to the transfer information, and then sending the order articles to the address filled by the user unit. According to the invention, the order articles are temporarily stored through the transfer cabinet, then the transfer of the order articles temporarily stored in the transfer cabinet is completed through the carrying table and the driving trolley arranged on the robot, and the delivery of the order articles is completed through the robot, so that the delivery of the articles in a closed environment is completed in a mode of temporarily storing firstly, then delivering and then extracting.
Description
Technical Field
The invention relates to the technical field of meal delivery, in particular to a robot meal delivery system and a robot meal delivery method for realizing temporary storage transfer.
Background
Along with the development of the distribution industry, people can live more conveniently, for example, delivery of express delivery to the home and delivery of take-away to the home, and people can really taste the food under the sun without going home.
However, the possible distribution addresses cannot enter the positions of the users for various reasons, such as some closed parks and some security units, the objects ordered by the users in the closed environments cannot be delivered to the users, and the users are required to go to the express cabinets or the guardrooms to get the objects, so that inconvenience is brought to the users, and the objects are not classified under the condition of excessive storage, such as take-out or express storage in the guardrooms, so that the objects ordered by the users are difficult to find quickly, the users are troublesome, and the users are sometimes required to run for multiple times to get the objects.
Disclosure of Invention
The invention aims to provide a robot meal delivery system and a robot meal delivery method for realizing temporary storage transfer, so as to solve the problems in the background technology.
In order to achieve the above purpose, a robot meal delivery system for realizing temporary storage and transfer is provided, which comprises a distribution and dispatch platform, wherein the distribution and dispatch platform comprises a user unit, a transfer unit and a machine unit; the user unit is used for placing orders and receiving order related information; the transfer unit is used for sending transfer information of the order articles placed in the transfer cabinet to the user unit and the machine unit; the machine unit is used for receiving the transfer information of the transfer unit, controlling the robot to go to the transfer cabinet to take out the order articles corresponding to the transfer information, and then sending the order articles to the address filled by the user unit, wherein:
the robot comprises a moving base and a bearing piece, wherein the bearing piece is arranged at the top of the moving base, and a lifting carrier is arranged between the bearing piece and the moving base;
the transfer chamber is offered at the top of transfer cabinet, the transfer intracavity sets up a plurality of cabinet plywood along equidistant vertical direction, the top of cabinet plywood sets up holds the piece, hold the piece and include the layer board, layer board and cabinet plywood swing joint, and still be provided with the drive dolly between layer board and the holding box, the drive dolly is driven the layer board by machine unit control to the carrier on.
As a further improvement of this technical scheme, the carrier includes the plummer, bear the weight of the drive way has been seted up at the top of plummer, bear the weight of the drive way and offer along plummer length direction, in addition:
the cabinet laminate top has seted up the transfer drive way, the drive dolly sets up in the transfer drive way, bears the weight of the drive way and aligns the back with the transfer drive way, and the drive dolly is used for driving the layer board and gets into to bear the weight of the drive way by the transfer drive way.
As a further improvement of the technical scheme, the machine unit comprises an infrared identification module, a base control module and an infrared feedback module; the transfer unit comprises a trolley control module, wherein:
the base control module is used for controlling the movable base to drive the bearing piece at the top of the movable base to go to the transfer cabinet, and after the movable base reaches the transfer cabinet, the base control module controls the lifting carrier to lift so that the bearing table is kept flush with the cabinet laminate where the ordered article is located;
the infrared identification module is used for identifying the transit driving channel, and controlling the moving base to move by utilizing the base control module, so as to align the bearing driving channel with the transit driving channel;
the infrared feedback module is used for feeding back the information aligned by the bearing driving channel and the transfer driving channel to the trolley control module, and the trolley control module controls the driving trolley to drive the supporting plate to enter the bearing driving channel from the transfer driving channel.
As a further improvement of the technical scheme, two guide sliding plates are symmetrically arranged at the bottom of the supporting plate, the arrangement direction of the guide sliding plates and the arrangement direction of the transfer driving channel are kept horizontal, the bearing guide channel is arranged at the top of the bearing table along the sliding path of the guide sliding plates, and the transfer guide channel is arranged at the top of the cabinet layer plate along the sliding path of the guide sliding plates.
As a further improvement of the technical scheme, the top of the driving trolley is provided with an electromagnetic induction area, the bottom of the supporting plate is provided with a magnetic attraction area, and the electromagnetic induction area of the driving trolley moves the magnetic attraction area and then the trolley control module controls the electromagnetic induction area to be electrified, and the electromagnetic induction area is electrified to drive the supporting plate to move by the magnetic attraction generated by the magnetic attraction area.
As a further improvement of the technical scheme, the bottom of the supporting plate is provided with a reserved groove along the moving path of the driving trolley, the top of the reserved groove is provided with a storage groove, a magnetic suction plate is connected in the storage groove in a sliding manner, a magnetic suction area is formed at the bottom of the supporting plate by the magnetic suction plate, and a spring is fixedly connected between the magnetic suction plate and the inner wall of the storage groove.
As a further improvement of the technical scheme, the transfer unit further comprises an identity authentication module, a box control module and a cabinet information sending module; the identity authentication module comprises a touch screen, wherein the touch screen is arranged on the side wall of the transfer cabinet and is used for authenticating identity information of a person transferring an order article; the box control module controls the opening of the corresponding containing box of the ordered article after the identity information authentication is successful; the cabinet entering information sending module is used for sending information of order article transfer to the user unit and the base control module after the order article is placed in, wherein:
the box is arranged on the supporting plate and is multiple in length direction, the box comprises a box bottom, the top of the box bottom is provided with a box cover, the box bottom is hinged to the box cover through an elastic driving shaft, and the top of the box bottom is provided with an electric locking piece relative to one hinged end, and the electric locking piece is controlled to be opened by a box control module.
As a further improvement of the technical scheme, the machine unit further comprises a user identification module and a locking release module, wherein the user identification module is used for authenticating the identity of a user, and the locking release module opens an electric locking piece corresponding to an article of a user order after authentication is successful, wherein:
the user identification module comprises an operation panel and a scanning probe, wherein the operation panel and the scanning probe are respectively arranged on two sides of the front end of the bearing table, a display screen is arranged on the operation panel, and a key area is arranged on one side of the display screen.
As a further improvement of the technical scheme, the distribution scheduling platform further comprises a flushing monitoring unit, wherein the flushing monitoring unit comprises a monitoring identification module and a cleaning feedback module; the monitoring and identifying module identifies the stains on the box bottom through the monitoring probe, and feeds back the information with the stain box bottom to the cleaning station through the cleaning feedback module after identifying the stains, wherein:
the monitoring probe is fixedly connected with the bearing table through a support, and the box cover is of a transparent structure.
The robot dining distribution method for realizing temporary storage transfer comprises the following steps:
(one), temporary storage stage:
s1, carrying out identity authentication by a touch screen, unlocking an electric locking piece after the identity authentication is finished, and then automatically bouncing off a box cover;
s2, storing the order articles, and sending information transferred by the order articles to the user unit and the base control module by the cabinet-entering information sending module after storing;
(II) picking up the goods:
s3, the base control module receives order article transfer information sent by the cabinet information sending module;
s4, the base control module controls the movable base of the idle robot to go to the transfer cabinet;
s5, after the transfer cabinet is reached, the base control module controls the lifting carrier to be lifted, so that the carrier is kept flush with a cabinet laminate where the ordered article is located, and meanwhile, the infrared identification module identifies the transfer driving channel and controls the moving base to move by utilizing the base control module, so that the carrier driving channel is aligned with the transfer driving channel;
s6, the infrared feedback module feeds back the information after the bearing driving channel and the transfer driving channel are aligned to the trolley control module, and the trolley control module controls the driving trolley to drive the supporting plate to enter the bearing table from the transfer cavity;
(III), picking up goods:
and S7, authenticating the user by the user identification module, unlocking the electric locking piece after authentication is successful, and then automatically flicking the box cover.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the robot dining distribution system and method for realizing temporary storage and transfer, the order articles are temporarily stored through the set transfer cabinet, then the temporary storage of the order articles in the transfer cabinet is completed through the carrying table and the driving trolley arranged on the robot, and distribution of the order articles is completed through the robot, so that distribution of the articles in a closed environment is completed in a mode of temporarily storing firstly, then distributing and extracting secondly, namely transfer of the external articles is completed through the transfer cabinet, distribution of the internal articles is completed through the robot, and convenience of internal and external distribution in a sealed environment is improved.
2. In the robot dining distribution system and method for realizing temporary storage and transfer, the electric locking piece is an electric lock, and locks the box cover, and unless the user unit authorizes or releases the box cover by the user, the box cover cannot be opened again, so that the safety of the ordered objects after storage is ensured.
3. In the robot dining distribution system and method for realizing temporary storage and transfer, when a plurality of order articles are required to be temporarily stored in the same transfer cabinet, multiple times of authentication are required to be carried out so as to prevent the order articles from being mixed due to the fact that a plurality of box covers are opened simultaneously.
4. In the robot dining and distribution system and the method for realizing temporary storage and transfer, the magnetic attraction plate is accommodated in the accommodating groove under the action of spring force and is not in contact with the top wall of the driving trolley, so that abrasion caused to the driving trolley is reduced, the trolley control module controls the electromagnetic induction area to be electrified after reaching the bottom of the magnetic attraction plate, then electromagnetic force is generated to enable the magnetic attraction plate to move downwards and be attracted with the top wall of the driving trolley, at the moment, the driving trolley is driven by the motor to drive the magnetic attraction plate and the supporting plate to synchronously move, and after reaching the top of the bearing table, the electromagnetic induction area is electrified continuously, so that the stability of the supporting plate on the bearing table is further improved.
5. In the robot dining distribution system and method for realizing temporary storage and transfer, the cleaning feedback module feeds back the information with the dirty box bottom to the cleaning station, so that cleaning personnel of the cleaning station can clean the box bottom in time, normal use of the box bottom next time is guaranteed, and under the condition of not timely processing, the box bottom with the dirty is disabled until the cleaning is completed.
Drawings
FIG. 1 is a schematic block diagram of the internal units of the dispatch platform of the present invention;
FIG. 2 is a schematic diagram of a transfer cabinet according to the present invention;
FIG. 3 is a schematic view of a cabinet laminate structure of the present invention;
FIG. 4 is a schematic view of a robot structure according to the present invention;
FIG. 5 is a schematic view of a container according to the present invention;
FIG. 6 is a block flow diagram of a transfer unit module of the present invention;
FIG. 7 is a schematic view of the front end of the stage according to the present invention;
FIG. 8 is a block flow diagram of a machine cell module of the present invention;
FIG. 9 is a schematic structural view of the docking principle of the pallet and cabinet laminate of the present invention;
FIG. 10 is a schematic view of the pallet removal principle of the present invention;
FIG. 11 is a schematic view of the magnetic plate of the present invention;
FIG. 12 is a schematic view of the structure of the driving cart of the present invention;
fig. 13 is a schematic block diagram of the operation principle of the subscriber identity module according to the present invention;
FIG. 14 is a schematic block diagram of a flush monitoring unit module of the present invention;
fig. 15 is a schematic structural view of a monitoring probe according to the present invention.
The meaning of each reference sign in the figure is:
100. a moving base; 110. lifting the carrying platform;
200. a carrier;
210. a carrying platform; 211. a load bearing guide way; 2111. connecting rails; 212. carrying a driving channel;
220. an operation panel; 221. a display screen; 222. a key region; 230. a scanning probe;
300. a holding member; 310. a supporting plate; 311. a guide slide plate; 312. a reserved groove; 313. a storage groove; 314. a magnetic suction plate; 315. a spring; 320. a storage case; 321. a box bottom; 3211. a limit groove; 3212. an electric locking member; 322. a box cover;
400. a transfer cabinet; 410. a transfer cavity; 420. a cabinet laminate; 421. transferring the guide way; 4211. a connecting groove; 422. transferring the driving channel; 430. a touch screen;
500. driving a trolley; 600. monitoring a probe; 610. and (3) a bracket.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, in the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1, the present embodiment is directed to a robot meal delivery system for implementing temporary storage transfer, including a distribution and dispatch platform, where the distribution and dispatch platform includes a user unit, a transfer unit and a machine unit; the user unit is configured to place an order on an app on a mobile phone or other mobile device, for example, take-out, food or express, and receive relevant information of the order after placing the order, on this basis, considering that a place where the order item (for example, express or take-out) is received many times cannot be sent to a user's hand, and the user needs to take the order item, the transfer cabinet 400 is configured for temporarily storing the order item, then the transfer unit sends transfer information of the order item placed in the transfer cabinet 400 to the user unit and the machine unit, the machine unit receives transfer information of the transfer unit, and controls the robot to go to the transfer cabinet 400 to take out the order item corresponding to the transfer information, and then sends the order item to an address filled by the user unit, where:
referring to fig. 2 and 3, a transfer chamber 410 is formed at the top of the transfer cabinet 400, a plurality of cabinet laminates 420 are disposed at the top of the cabinet laminates 420 at equal intervals along the vertical direction in the transfer chamber 410, a holding member 300 is disposed at the top of the cabinet laminates 420, the holding member 300 includes a pallet 310 for storing the ordered articles, in addition, referring to fig. 4, the robot includes a moving base 100 and a carrying member 200, the carrying member 200 is disposed at the top of the moving base 100, considering that the heights of the temporarily stored ordered articles (i.e., the heights of the pallet 310) of the transfer cabinet 400 may be different, a lifting platform 110 is disposed between the carrying member 200 and the moving base 100, the main purpose of which is to lift the height of the carrying member 200 to be flush with the pallet 310 where the ordered articles are located, and the pallet 310 is movably connected with the cabinet laminates 420, and then to transfer the ordered articles onto the carrying member 200, as shown in fig. 3, a driving trolley 500 is disposed between the pallet 310 and the holding box 320, and the driving trolley 500 is controlled by a machine unit to drive the pallet 310 onto the carrying member 200.
The specific operation is illustrated by the following examples:
example 1
Considering that if the ordered article is directly placed on the supporting plate 310, the ordered article is very unsafe and is easily taken away or damaged by others, for this purpose, referring to fig. 5, the containing boxes 320 are arranged on the supporting plate 310 and are arranged in a plurality, preferably 3, along the length direction, the containing boxes 320 comprise box bottoms 321, the top of each box bottom 321 is provided with a box cover 322, the box bottoms 321 and the box covers 322 are hinged through elastic driving shafts, the main purpose of the electronic locking pieces 3212 is that after the electronic locking pieces are unlocked, the box covers 322 can be automatically sprung, so that the ordered article is more convenient for the distribution personnel to store, the problem that the distribution personnel cannot conveniently open the box covers 322 when holding the ordered article by hand is solved, the electronic locking pieces 3212 are arranged at one end of the top of each box bottom 321 opposite to the hinge, and the electronic locking pieces 3212 are controlled to be opened by the box control module, wherein:
the controlled module is disposed in the transfer unit, please refer to fig. 6, the transfer unit further includes an identity authentication module and a cabinet entering information sending module, the identity authentication module includes a touch screen 430, the touch screen 430 is mounted on a side wall of the transfer cabinet 400, and a main purpose of the touch screen 430 is to input information of the distribution personnel, for example: the method comprises the steps of checking the identity information of a person transferring an order item (namely, a distribution person) by using a distribution code and the like, controlling the opening of a containing box 320 corresponding to the order item by a box control module after the identity information is checked successfully, namely, unlocking an electric locking piece 3212, automatically ejecting a box cover 322, storing the order item in a box bottom 321, covering the box cover 322 by the distribution person after storing, locking the box cover 322 by the electric locking piece 3212, and ensuring the safety of the stored order item unless authorized by a user unit or released by the user, wherein in addition, after the order item is put in, the box cover 322 is opened again, transmitting information transferred by the order item to the user unit and a base control module, and the base control module is arranged in a machine unit.
Working principle:
firstly, a distribution person completes identity authentication through the touch screen 430, the electric locking piece 3212 releases the locking after the authentication is completed, then the box cover 322 automatically pops open, the distribution person places a corresponding order item on the box bottom 321, closes the box cover 322, once the box cover 322 is closed, the electric locking piece 3212 continues locking, then the cabinet-entering information sending module sends information of order item transfer to the user unit and the base control module, if a plurality of order items need to be temporarily stored in the same transfer cabinet 400, multiple times of authentication are needed, and the situation that the order items are mixed due to the fact that the box covers 322 are opened simultaneously is prevented.
The electric lock 3212 is an electric lock, and is controlled by the box control module to be energized to perform unlocking and locking operations.
Example 2
In this embodiment, referring to fig. 7, the carrier 200 includes a carrier 210, a carrier driving path 212 is provided at the top of the carrier 210, the carrier driving path 212 is provided along the length direction of the carrier 210, in addition, referring to fig. 3, a transfer driving path 422 is provided at the top of the cabinet layer 420, a driving trolley 500 is disposed in the transfer driving path 422, and after the carrier driving path 212 is aligned with the transfer driving path 422, the driving trolley 500 drives the pallet 310 to enter the carrier driving path 212 from the transfer driving path 422.
Specifically, referring to fig. 8, the machine unit includes an infrared identification module, a base control module, and an infrared feedback module; the transfer unit includes dolly control module, wherein:
the base control module is used for controlling the moving base 100 to drive the bearing piece 200 on the top of the moving base 100 to go to the transfer cabinet 400, in order to realize autonomous movement of the moving base 100, the base control module adopts a visual perception algorithm to drive in a complex environment, the base control module controls the lifting carrier 110 to lift after reaching the transfer cabinet 400, so that the bearing platform 210 is kept flush with the cabinet laminate 420 where the order article is located, meanwhile, the infrared identification module works, the work purpose is to identify the transfer driving channel 422 and control the moving base 100 to move by using the base control module, so that the bearing driving channel 212 is aligned with the transfer driving channel 422, after the alignment, the infrared feedback module feeds back the information after the alignment of the bearing driving channel 212 and the transfer driving channel 422 to the trolley control module, and the trolley control module controls the driving trolley 500 to drive the supporting plate 310 to enter the bearing driving channel 212 from the transfer driving channel 422.
Working principle:
the base control module immediately controls the mobile base 100 of the idle robot after receiving the order article transfer information sent by the cabinet entering information sending module, so that the mobile base 100 drives the bearing piece 200 carried by the robot to go to the transfer cabinet 400 where the order article is located, then the base control module controls the lifting carrier 110 to lift after reaching the transfer cabinet 400, so that the carrier 210 is kept flush with the cabinet laminate 420 where the order article is located, meanwhile, the infrared identification module identifies the transfer drive channel 422 and controls the mobile base 100 to move by utilizing the base control module, so that the bearing drive channel 212 is aligned with the transfer drive channel 422, after the alignment, the infrared feedback module feeds back the aligned information of the bearing drive channel 212 and the transfer drive channel 422 to the trolley control module, the trolley control module controls the driving trolley 500 to drive the supporting plate 310 to enter the bearing drive channel 212 from the transfer drive channel 422, thereby completing the transfer of the order article from the transfer cavity 410 to the carrier 210, and then the mobile base 100 drives the robot to carry the order article to a detailed address filled by a user.
In addition, considering that after the pallet 310 moves onto the carrying platform 210, stability is poor because the pallet 310 is not limited, if the pallet 310 may deviate or even fall when being shaken during the running process of the robot, for this reason, as shown in fig. 9, two guiding sliding plates 311 are symmetrically arranged at the bottom of the pallet 310, in order to ensure that the pallet 310 can slide on the carrying platform 210, the arrangement direction of the guiding sliding plates 311 is kept horizontal to the arrangement direction of the transit driving channel 422, the top of the carrying platform 210 is provided with the carrying guiding channel 211 along the sliding path of the guiding sliding plates 311, the top of the cabinet layer 420 is provided with the transit guiding channel 421 along the sliding path of the guiding sliding plates 311, when the carrying guiding channel 211 and the transit guiding channel 421 are connected into a whole after alignment, and then the guiding sliding plates 311 also slide in the groove formed by connecting the carrying guiding channel 211 and the transit guiding channel 421 during the sliding process of the driving trolley 500, and limit of the pallet 310 is realized, and stability during the moving process is ensured.
In addition, in order to ensure the connection between the carrying guide way 211 and the middle turning guide way 421, the carrying platform 210 is provided with a receiving rail 2111 corresponding to the opening end of the receiving rail 2111, the middle turning guide way 421 is aligned with the opening end thereof and is provided with a receiving groove 4211, and after the carrying platform 210 is aligned with the cabinet layer board 420, the receiving rail 2111 is inserted into the receiving groove 4211, thereby improving the connection between the carrying guide way 211 and the middle turning guide way 421, ensuring that the pallet 310 can be stably moved out, and please refer to fig. 10, in which a is the moving direction of the pallet 310.
Example 3
The embodiment specifically discloses the working principle of the driving trolley 500, and considers that in the process of moving the robot carrying the supporting plate 310, the stability is not high enough because the supporting plate 310 and the carrying table 210 are still in an active state, for this purpose, please refer to fig. 11, the top of the driving trolley 500 is provided with an electromagnetic induction area, the bottom of the supporting plate 310 is provided with a magnetic attraction area, a trolley control module controls the electromagnetic induction area to be electrified after the electromagnetic induction area of the driving trolley 500 moves the magnetic attraction area, and the electromagnetic induction area is utilized to electrify the magnetic attraction force generated by the magnetic attraction area to drive the supporting plate 310 to move, and specifically:
the contact type magnetic attraction can be adopted, that is, the electromagnetic induction area of the driving trolley 500 is attached to the bottom wall of the supporting plate 310 to move to the magnetic attraction area, but larger abrasion is caused to the top wall of the driving trolley 500, in order to solve the problem, the bottom of the supporting plate 310 is provided with the reserved groove 312 along the moving path of the driving trolley 500, the main purpose is to provide space for the movement of the driving trolley 500, avoid with the contact of layer board 310 diapire to reduce the wearing and tearing that the contact brought, offer simultaneously at the top of reserving groove 312 and accomodate groove 313, sliding connection has magnetism to inhale board 314 in accomodating groove 313, magnetism inhale board 314 and form magnetism at layer board 310 bottom and inhale the district, and magnetism inhale board 314 and accomodate fixedly connected with spring 315 between the groove 313 inner wall.
Working principle:
the driving trolley 500 enters the magnetic attraction area at the bottom of the supporting plate 310 through the reserved groove 312, namely the position of the magnetic attraction plate 314, because the electromagnetic induction area of the driving trolley 500 is not electrified at this moment, the magnetic attraction plate 314 is not attracted, the magnetic attraction plate 314 is accommodated in the accommodating groove 313 under the action of the spring 315 and is not contacted with the top wall of the driving trolley 500, the abrasion to the driving trolley 500 is reduced, the trolley control module controls the electromagnetic induction area to electrify after reaching the bottom of the magnetic attraction plate 314, then an electromagnetic force is generated to enable the magnetic attraction plate 314 to move downwards to be attracted with the top wall of the driving trolley 500, at the moment, the driving trolley 500 is driven by a motor to drive the magnetic attraction plate 314 and the supporting plate 310 to synchronously move, and after reaching the top of the supporting table 210, the electromagnetic induction area is electrified continuously, so that the stability of the supporting plate 310 on the supporting table 210 is further improved, and the two supporting plates 310 can be accommodated on the supporting table 210 generally.
It should be noted that, the driving trolley 500 is driven by the motor to drive the roller at the bottom of the driving trolley 500 to move, and in this embodiment, the roller is meshed with the bearing driving channel 212 through the teeth, so as to improve the ground grabbing force of the movement of the driving trolley 500 and realize stable movement.
In addition, referring to fig. 5, in order to facilitate the distribution of bottled articles, a plurality of limiting grooves 3211 are formed in the top of the box bottom 321 to store the bottled articles and limit the bottled articles at the same time, and in addition, a containing cavity is formed in the box bottom 321 to store a heater and an ice bag, so that the temperature of the articles, especially take-out and drinks, can be maintained, and users can eat hot meal in winter and drink ice drinks in summer can be ensured.
Example 4
Referring to fig. 13, the machine unit further includes a user identification module and a locking release module, the user identification module is used for authenticating the identity of the user, and the locking release module opens an electric locking piece 3212 corresponding to the user order item after the authentication is successful, wherein:
the user identification module comprises an operation panel 220 and a scanning probe 230, wherein the operation panel 220 and the scanning probe 230 are respectively arranged on two sides of the front end of the carrying platform 210, a display screen 221 is arranged on the operation panel 220, and a key area 222 is arranged on one side of the display screen 221, so that a user can take out a two-dimensional code or a bar code to scan through the scanning probe 230, after the scanning is successful, an electric locking piece 3212 corresponding to an order article of the user is opened, then a box cover 322 is sprung out, the order article is taken out, the distribution of the order is completed, a single number of the order can be input through the key area 222, the display screen 221 is displayed, and after the input is successful, the electric locking piece 3212 corresponding to the single number can be played.
Example 5
Considering that the articles on the box bottom 321 will leak during the distribution process, especially during the distribution process of takeaway or catering articles, once the articles leak, the next storage will be affected, for this reason, as shown in fig. 14 and 15, the distribution and dispatch platform further comprises a flushing monitoring unit, and the flushing monitoring unit comprises a monitoring and identification module and a cleaning feedback module; the monitoring and identifying module identifies the stains on the box bottom 321 through the monitoring probe 600, and feeds back the information with the stain box bottom 321 to the cleaning station through the cleaning feedback module after identifying the stains, wherein:
the monitoring probe 600 is fixedly connected with the bearing table 210 through the arranged support 610, and the box cover 322 is of a transparent structure, so that the monitoring probe 600 can conveniently identify the conditions on the box bottom 321, the monitoring probe 600 can collect images on all the box bottoms 321 during operation, and the collected images can be identified by adopting a color difference comparison algorithm, and the specific algorithm comprises the following steps:
setting a contrast image, namely a box bottom 321 image without stains;
comparing the acquired image with the comparison image to obtain a color difference value, if the color difference value is greater than 10%, identifying that the box bottom 321 is attached with stains, and feeding back the information with the stain box bottom 321 to the cleaning station through the cleaning feedback module so that a cleaning person at the cleaning station can timely clean the box bottom 321, and ensuring that the box bottom 321 can be normally used next time, if not timely processed, the box bottom 321 can be disabled until the cleaning is completed.
It should be noted that, the cleaning personnel in the cleaning station also regularly clean and disinfect all the box bottoms 321, so as to ensure the sanitation degree in the box bottoms 321.
Example 6
In this embodiment, the robot may also be used in a restaurant, and the specific principle is as follows:
the customer places a list through the user unit, the transfer unit in the embodiment is a side dish place of a restaurant, the cooked dishes are stored in the side dish place, then the robot is used for taking the dishes, and the distribution of the dishes is completed.
Example 7
The embodiment specifically discloses a robot meal distribution method for realizing temporary storage transfer, which specifically comprises the following method steps:
(one), temporary storage stage:
s1, carrying out identity authentication by a touch screen 430, unlocking an electric locking piece 3212 after the identity authentication is finished, and then automatically bouncing off a box cover 322;
s2, storing the order articles, and sending information transferred by the order articles to the user unit and the base control module by the cabinet-entering information sending module after storing;
(II) picking up the goods:
s3, the base control module receives order article transfer information sent by the cabinet information sending module;
s4, the base control module controls the movable base 100 of the idle robot to go to the transfer cabinet 400;
s5, after the transfer cabinet 400 is reached, the base control module controls the lifting carrier 110 to lift, so that the carrier 210 is kept flush with the cabinet laminate 420 where the ordered object is located, and meanwhile, the infrared identification module identifies the transfer drive channel 422 and controls the mobile base 100 to move by using the base control module, so that the carrier drive channel 212 is aligned with the transfer drive channel 422;
s6, the infrared feedback module feeds back the information aligned by the bearing driving channel 212 and the transit driving channel 422 to the trolley control module, and the trolley control module controls the driving trolley 500 to drive the supporting plate 310 to enter the bearing table 210 from the transit cavity 410;
(III), picking up goods:
and S7, authenticating the user by the user identification module, unlocking the electric locking piece 3212 after authentication is successful, and automatically flicking the box cover 322.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. Realize robot meal delivery system of transfer of keeping in, including distributing dispatch platform, its characterized in that: the distribution scheduling platform comprises a user unit, a transfer unit and a machine unit; the user unit is used for placing orders and receiving order related information; the transfer unit is used for sending transfer information of the ordered articles placed in the transfer cabinet (400) to the user unit and the machine unit; the machine unit is used for receiving the transfer information of the transfer unit, controlling the robot to go to the transfer cabinet (400) to take out the order articles corresponding to the transfer information, and then sending the order articles to the address filled by the user unit, wherein:
the robot comprises a moving base (100) and a bearing piece (200), wherein the bearing piece (200) is arranged at the top of the moving base (100), and a lifting carrier (110) is arranged between the bearing piece (200) and the moving base (100);
the top of the transfer cabinet (400) is provided with a transfer cavity (410), a plurality of cabinet laminates (420) are arranged in the transfer cavity (410) at equal intervals along the vertical direction, the top of each cabinet laminate (420) is provided with a containing piece (300), each containing piece (300) comprises a supporting plate (310), each supporting plate (310) is movably connected with each cabinet laminate (420), a driving trolley (500) is further arranged between each supporting plate (310) and each containing box (320), and each driving trolley (500) is controlled by a machine unit to drive each supporting plate (310) to the corresponding bearing piece (200);
the bearing piece (200) comprises a bearing table (210), a bearing driving channel (212) is formed in the top of the bearing table (210), the bearing driving channel (212) is formed in the length direction of the bearing table (210), and in addition:
a transit driving channel (422) is formed in the top of the cabinet layer plate (420), the driving trolley (500) is arranged in the transit driving channel (422), and after the bearing driving channel (212) is aligned with the transit driving channel (422), the driving trolley (500) is used for driving the supporting plate (310) to enter the bearing driving channel (212) from the transit driving channel (422);
the machine unit comprises an infrared identification module, a base control module and an infrared feedback module; the transfer unit comprises a trolley control module, wherein:
the base control module is used for controlling the moving base (100) to drive the bearing piece (200) at the top of the moving base to go to the transfer cabinet (400), and after the moving base reaches the transfer cabinet (400), the base control module controls the lifting carrier (110) to lift so that the bearing table (210) is kept flush with the cabinet laminate (420) where the ordered article is located;
the infrared identification module is used for identifying the transit driving channel (422) and controlling the moving base (100) to move by utilizing the base control module so as to align the bearing driving channel (212) with the transit driving channel (422);
the infrared feedback module is used for feeding back the information of the bearing driving channel (212) aligned with the transit driving channel (422) to the trolley control module, and the trolley control module controls the driving trolley (500) to drive the supporting plate (310) to enter the bearing driving channel (212) from the transit driving channel (422);
an electromagnetic induction area is arranged at the top of the driving trolley (500), a magnetic attraction area is arranged at the bottom of the supporting plate (310), and a trolley control module controls the electromagnetic induction area to be electrified after the electromagnetic induction area of the driving trolley (500) moves the magnetic attraction area and drives the supporting plate (310) to move by utilizing the magnetic attraction generated by the electromagnetic induction area to electrify the magnetic attraction area;
a reserved groove (312) is formed in the bottom of the supporting plate (310) along a moving path of the driving trolley (500), a storage groove (313) is formed in the top of the reserved groove (312), a magnetic suction plate (314) is connected in a sliding manner in the storage groove (313), a magnetic suction area is formed in the bottom of the supporting plate (310) by the magnetic suction plate (314), and a spring (315) is fixedly connected between the magnetic suction plate (314) and the inner wall of the storage groove (313);
the transfer unit also comprises an identity authentication module, a box control module and a cabinet information sending module; the identity authentication module comprises a touch screen (430), wherein the touch screen (430) is arranged on the side wall of the transfer cabinet (400) and is used for authenticating identity information of a person transferring an order article; the box control module controls the opening of the containing box (320) corresponding to the ordered article after the identity information authentication is successful; the cabinet entering information sending module is used for sending information of order article transfer to the user unit and the base control module after the order article is placed in, wherein:
the accommodating boxes (320) are arranged on the supporting plate (310) and are arranged in a plurality of lengths, each accommodating box (320) specifically comprises a box bottom (321), a box cover (322) is arranged at the top of each box bottom (321), each box bottom (321) is hinged with each box cover (322) through an elastic driving shaft, an electric locking piece (3212) is arranged at the top of each box bottom (321) relative to one hinged end, and each electric locking piece (3212) is controlled to be opened by a box control module;
the distribution scheduling platform further comprises a flushing monitoring unit, wherein the flushing monitoring unit comprises a monitoring identification module and a cleaning feedback module; the monitoring and identifying module identifies the stains on the box bottom (321) through the monitoring probe (600), and feeds back the information with the stain box bottom (321) to the cleaning station through the cleaning feedback module after identifying the stains, wherein:
the monitoring probe (600) is fixedly connected with the bearing table (210) through a support (610), and the box cover (322) is of a transparent structure.
2. The robotic meal delivery system for effecting temporary storage of claim 1, wherein: two guide sliding plates (311) are symmetrically arranged at the bottom of the supporting plate (310), the arrangement direction of the guide sliding plates (311) and the arrangement direction of the transit driving channel (422) are kept horizontal, the top of the bearing table (210) is provided with a bearing guide channel (211) along the sliding path of the guide sliding plates (311), and the top of the cabinet layer plate (420) is provided with a transit guide channel (421) along the sliding path of the guide sliding plates (311).
3. The robotic meal delivery system for effecting temporary storage of claim 1, wherein: the machine unit further comprises a user identification module and a locking release module, wherein the user identification module is used for authenticating the identity of a user, and the locking release module opens an electric locking piece (3212) corresponding to the user order article after authentication is successful, wherein:
the user identification module comprises an operation panel (220) and a scanning probe (230), wherein the operation panel (220) and the scanning probe (230) are respectively arranged on two sides of the front end of the bearing table (210), a display screen (221) is arranged on the operation panel (220), and a key area (222) is arranged on one side of the display screen (221).
4. A method for robot meal delivery implementing temporary transit based on the system of any one of claims 1-3, characterized by comprising the following method steps:
(one), temporary storage stage:
s1, carrying out identity authentication by a touch screen (430), unlocking an electric locking piece (3212) after the identity authentication is finished, and then automatically bouncing off a box cover (322);
s2, storing the order articles, and sending information transferred by the order articles to the user unit and the base control module by the cabinet-entering information sending module after storing;
(II) picking up the goods:
s3, the base control module receives order article transfer information sent by the cabinet information sending module;
s4, the base control module controls the movable base (100) of the idle robot to go to the transfer cabinet (400);
s5, after the transfer cabinet (400) is reached, the base control module controls the lifting carrier (110) to lift, so that the carrier (210) is kept flush with a cabinet laminate (420) where an order article is located, and meanwhile, the infrared identification module identifies the transfer drive channel (422) and controls the moving base (100) to move by utilizing the base control module, so that the carrier drive channel (212) is aligned with the transfer drive channel (422);
s6, the infrared feedback module feeds back the information aligned by the bearing driving channel (212) and the transit driving channel (422) to the trolley control module, and the trolley control module controls the driving trolley (500) to drive the supporting plate (310) to enter the bearing table (210) from the transit cavity (410);
(III), picking up goods:
and S7, authenticating the user by the user identification module, unlocking the electric locking piece (3212) after authentication is successful, and automatically bouncing off the box cover (322).
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