CN206925866U - A kind of intelligent robot food delivery system of electromagnetic tracking - Google Patents
A kind of intelligent robot food delivery system of electromagnetic tracking Download PDFInfo
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- CN206925866U CN206925866U CN201720654359.XU CN201720654359U CN206925866U CN 206925866 U CN206925866 U CN 206925866U CN 201720654359 U CN201720654359 U CN 201720654359U CN 206925866 U CN206925866 U CN 206925866U
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Abstract
The utility model discloses a kind of intelligent robot food delivery system of electromagnetic tracking, including：Electromagnetic path, meal delivery robot and dining table locating module, wherein, meal delivery robot built in machine people's control module, for according to setting instruction that tableware is sent to specified dining table and returned, robot control module to include electromagnetic path detection module, setup module, tongue tube, control module, power drive module and the first wireless communication module；Dining table locating module is used to produce positioning signal to determine purpose dining table, including the second wireless communication module, switch control module, switch module and electromagnet.Using the technical solution of the utility model, it is used as positioning signal by the way that whether the electromagnet in dining table locating module produces magnetic signal, so as to enormously simplify system architecture, robot can be accurately positioned purpose dining table, so as to which wall scroll electromagnetic path can complete the dispatching of multiple dining tables.
Description
Technical field
It the utility model is related to robot field, more particularly to a kind of intelligent robot food delivery system of electromagnetic tracking.
Background technology
With the arriving in robot epoch, at present, industry-by-industry has all risen " empty-cage-change-bird " plan, originally much by people
The work position of completion, is gradually substituted by robot." automatic food delivery " technology of the prior art is applied to Self service dining table mostly,
Various dish are sent to by the dish for selection liked in face of client with transmission belt automatically.But this mode has great limitation
Property, it is necessary to take certain position space, and be not suitable for the dining room freely ordered.With advances in technology, prior art is also released
The meal delivery robot that can freely dispense, state-of-the-art navigated by camera real-time image acquisition, this increases greatly
Add the complexity of robot, meanwhile, dining room environment mixes, and can not ensure that accurate navigation positions dining table；Prior art is also adopted
With infrared tracking technology, but had a great influence by light, easily by external environmental interference, so as to be unable to reach the journey of practical application
Degree.
Therefore for drawbacks described above present in currently available technology, it is necessary to be studied in fact, to provide a kind of scheme,
Solves defect present in prior art.
Utility model content
In view of this, it is necessory to provide the intelligent robot food delivery of electromagnetic tracking a kind of simple in construction and convenient to carry out
System, automatic food delivery can be realized and reach the purpose for being accurately positioned dining table.
The defects of in order to overcome prior art, the technical solution of the utility model are as follows：
A kind of intelligent robot food delivery system of electromagnetic tracking, including：
Electromagnetic path, the electromagnetic path are to be laid on ground and the wire by multiple dining tables and the logical alternation in wire
Electric current is to produce magnetic field signal；
Meal delivery robot, its built in machine people's control module, the robot control module are used for according to setting instruction control
Tableware is sent to specified dining table and returned by meal delivery robot processed, and it includes electromagnetic path detection module, setup module, dry spring
Pipe, control module, power drive module and the first wireless communication module, wherein, the electromagnetic path detection module is used to detect
The magnetic field signal of electromagnetic path is simultaneously sent to the control module, and the control module controls the power drive module according to this
Parameter moves electromagnetic path described in robot tracking；The setup module is used to set the purpose dining table that robot to be sent to
Purpose dining table information is sent to dining table locating module by information, the control module by first wireless communication module；Institute
State tongue tube to be used to sense the positioning signal that dining table locating module is sent, the control module is believed according to the sensing of the tongue tube
Number judge whether robot is sent to specified dining table；
Dining table locating module, for producing positioning signal to determine purpose dining table, including the second wireless communication module, switch
Control module, switch module and electromagnet, wherein, second wireless communication module is used to receive the robot control module
The purpose dining table information of transmission；The switch control module is used for the dining table information pre-set and the purpose dining table received
Information is matched, and control instruction is sent if both match makes the switch module conducting and then electromagnet connection
Power supply produces magnetic signal, and otherwise, the switch module disconnects and then the electromagnet access failure power supply does not produce magnetic signal, described
Magnetic signal is as positioning signal so as to which robot control module can be by sensing the signal and determining purpose dining table.
Preferably, the robot control module also includes pressure sensor, the pressure sensor and the control mould
Block is connected, and for sensing the pressure of pallet Chinese dinner service, when tableware is lifted, the pressure sensor senses pressure change
Signal is simultaneously sent to the control module, and the control module, which produces, makes a return voyage signal and then robot control module enters the shape that makes a return voyage
State simultaneously continues electromagnetic path described in tracking and maked a return voyage position to terminal.
Preferably, it is additionally provided with terminal magnet, robot control module is in when making a return voyage state, when the tongue tube senses
During to terminal magnet, the robot control module stops tracking.
Preferably, the electromagnetic path detection module realizes the detection of magnetic field signal using multiple LC resonance circuits.
Preferably, a plurality of electromagnetic path is set.
Preferably, the electromagnetic path is laid on below ground.
Preferably, in addition to signal source, it is serially connected in electromagnetic path, for producing the friendship of certain frequency in electromagnetic path
Time-dependent current.
Preferably, the signal source can adjust the frequency of caused alternating current.
Preferably, the setup module uses key-press module or touch display screen.
Preferably, the robot control module also includes voice cue module, the voice cue module and the control
Molding block is connected, for sending information of voice prompt.
Compared with prior art, it is used as positioning letter by the way that whether the electromagnet in dining table locating module produces magnetic signal
Number, so as to enormously simplify system architecture, robot can be accurately positioned purpose dining table, so as to which wall scroll electromagnetic path can be completed
The dispatching of multiple dining tables.
Brief description of the drawings
Fig. 1 is the theory diagram of the intelligent robot food delivery system of the utility model electromagnetic tracking.
Fig. 2 is the theory diagram of robot control module in the utility model.
Fig. 3 is the theory diagram of dining table locating module in the utility model.
Fig. 4 is the theory diagram of the intelligent robot food delivery system another embodiment of the utility model electromagnetic tracking.
Fig. 5 is a kind of arrangement schematic diagram being preferable to carry out of electromagnetic path detection module.
Specific examples below will further illustrate the utility model with reference to above-mentioned accompanying drawing.
Embodiment
Technical scheme provided by the utility model is described further below with reference to accompanying drawing.
Referring to Fig. 1, it show the utility model and a kind of principle frame of the intelligent robot food delivery system of electromagnetic tracking is provided
Figure, including electromagnetic path, meal delivery robot and dining table locating module, electromagnetic path pass through multiple dining tables, and it is to be laid on ground
Wire and lead to alternating current in wire to produce magnetic field signal.Electromagnetism can be laid according to the layout of dining table in actual dining room
Track, robot can realize difficulty, Neng Goushi according to the specific path trace tracking of electromagnetic path so as to greatly reduce technology
For most dining room.
Referring to Fig. 2, the theory diagram of robot control module in the utility model, meal delivery robot built in machine are shown
People's control module, robot control module are used to tableware is sent to specified dining table and returned along electromagnetic path according to setting instruction
Return, it further comprises electromagnetic path detection module, setup module, tongue tube, control module, power drive module and the first nothing
Line communication module, wherein, electromagnetic path detection module is used to detect the magnetic field signal of electromagnetic path and is sent to control module, controls
Molding block is the core of control, its magnetic field signal obtained according to electromagnetic path detection module, calculates current robot deviation
The situation of electromagnetic path, controlling the parameter of power drive module according to this makes robot keep the motion of tracking electromagnetic path；Mould is set
Block is used to set the purpose dining table information that robot to be sent to, at the same control module by the first wireless communication module by purpose
Dining table information is sent to dining table locating module；Tongue tube is used to sense the positioning signal that dining table locating module is sent, control module
Judge whether robot is sent to specified dining table according to the induced signal of tongue tube.
Referring to Fig. 3, show the theory diagram of dining table locating module in the utility model, for produce positioning signal so as to
Robot determines purpose dining table, further comprises the second wireless communication module, switch control module, switch module and electromagnet,
Wherein, the second wireless communication module is used for the purpose dining table information for receiving robot control module's transmission；Switch control module is used
In the dining table pre-set information is matched with the purpose dining table information received, control is sent if both match
Instruction make switch module turn on so that electromagnet switch on power produce magnetic signal, otherwise, switch module disconnect so that electromagnet not
Switch on power and do not produce magnetic signal, magnetic signal is as positioning signal so as to which robot control module can be by sensing the signal simultaneously
Determine purpose dining table.
Using above-mentioned technical proposal, it is necessary to when dispensing tableware, tableware is placed on the pallet of robot simultaneously by staff
The purpose dining table information of setting, robot enter food delivery state, start tracking electromagnetic path traveling, while pass through the first channel radio
News module sends purpose dining table information to the dining table locating module being arranged on each dining table, and each dining table locating module has
The dining table information of unique mark, if its default dining table information is with received purpose dining table information match, dining table
Locating module makes the electromagnet built in it send magnetic signal, and when robot passes through the dining table, built-in tongue tube detects the magnetic
Signal, thus robot judges to reach purpose dining table and stops travelling, and waits client to take tableware away, after completing food delivery, robot enters
Enter state of making a return voyage, continue tracking electromagnetic path until returning to terminal, into standby mode.In the utility model, determined by dining table
Whether the electromagnet in the module of position produces magnetic signal as positioning signal, and so as to enormously simplify system architecture, robot can
Purpose dining table is accurately positioned, so as to which wall scroll electromagnetic path can complete the dispatching of multiple dining tables.
In a preferred embodiment, robot control module also includes pressure sensor, pressure sensor and control
Molding block is connected, and for sensing the pressure of pallet Chinese dinner service, passes through the pressure value changes control machine of pressure sensor detection
People's state.When tableware is lifted, pressure sensor senses pressure change signal and is sent to control module, control module production
It is raw to make a return voyage signal and then robot control module enters state of making a return voyage and continues tracking electromagnetic path and makes a return voyage position to terminal.Due to
There is provided pressure sensor, the generation that the signal that makes a return voyage need not be artificial, as long as service plate is picked up, pressure sensor will automatically generate one
The individual signal that makes a return voyage.
In a preferred embodiment, the system is additionally provided with terminal magnet, and robot control module, which is in, makes a return voyage
During state, when tongue tube senses terminal magnet, robot control module stops tracking, into standby mode.Due to setting
Terminal magnet, robot completes that during food delivery specified location can be rested in automatically, so as to facilitating food delivery arrangement.
In a preferred embodiment, the system also includes signal source, is serially connected in electromagnetic path, in electromagnetism
The alternating current of certain frequency is produced in track.Alternating current is produced by signal source, so as to be set by practical service environment
The frequency of alternating current is put, can reach signal interference existing for the extraneous specific environment of elimination by changing frequency.Preferably, hand over
The frequency of time-dependent current is 20KHz.
In a preferred embodiment, electromagnetic path is laid on below ground.Such as be laid on dining room floor or
Below ceramic tile, so as to not interfere with guest's walking, simultaneously as magnetic field signal is spatial distribution, also will not be to robot
Tracking has any impact.
In a preferred embodiment, setup module uses key-press module or touch display screen, facilitates staff
Operation.
In a preferred embodiment, in addition to voice cue module, voice cue module are connected with control module
Connect, for sending information of voice prompt.For example when starting robot food delivery, the prompting of " unlatching food delivery " can be sent, reports and submits mesh
Dining table information, so as to staff examine information；When robot reaches purpose dining table, carrying for " food delivery completion " can be sent
Show, such as, " Delivered of ordering, woulding you please use slowly ", remind user's pick-up.
In a preferred embodiment, power drive module is used for control machine including at least motor and steering wheel, motor
The speed of device people, steering wheel are used for the direction of control machine people.Control module is used for startup and the speed of travel of control machine people.
Electromagnetic path detection module checks electromagnetic signal, and control module judges that robot deviates the situation of electromagnetic path, same time control according to this
The motion state of the parameter change robot of motor and steering wheel processed makes it keep tracking electromagnetic path.General motor needs motor to drive
Dynamic model block realizes control, and control module controlled motor drive module changes the motion state of motor.Control module passes through pwm signal
Control steering wheel.Preferably, pid algorithm is run in control module, can be with distance in the speed of control machine people and traveling process
Optimal selection.
In a preferred embodiment, a plurality of electromagnetic path is set, so as to cover whole dining room comprehensively.Referring to
Fig. 4, a kind of theory diagram of the intelligent robot food delivery system another embodiment of electromagnetic tracking of the utility model is shown,
It is there is provided the situation of two electromagnetic paths, similarly extends also to any bar electromagnetic path, every electromagnetic path certainly
Dispatching is responsible for by a robot, independent operating, not co-orbital robot can dispense simultaneously, so as to substantially increase food delivery
Efficiency.
In the above-mentioned technical solutions, due to laying a plurality of electromagnetic path, there can be the track that cross interlocks, this is to robot
Tracking navigation causes new technical difficulty.Prior art, the multiple LC resonance circuits of electromagnetic path detection module generally use are real
The detection of existing magnetic field signal, and the inductance in LC resonance circuits be horizontal symmetrical be distributed in both sides above track, utilize a left side
The inductance detection of right symmetric position to magnetic field signal difference determine offset track size.From electromagnetic induction principle, inductance
During parallel electromagnetic path, induced-current is produced in inductance, the position with electromagnetic path can be determined that by faradic size
Relation；And induced-current is can't detect when inductance vertical electromagnetism, therefore, prior art uses Parallel Symmetric inductance arrangement side
Formula, accurate tracking can be realized in common rail.But tested under the track situation that cross interlocks, horizontal inductance distribution
Easily signal interference be present when track interlocks, so as to cause robot to exceed the bounds phenomenon, cause dispatching to malfunction.
In order to overcome above-mentioned technological deficiency, in a preferred embodiment, electromagnetic path detection module uses four road LC
Resonance circuit, referring to Fig. 5, a kind of arrangement schematic diagram of the electromagnetic path detection module in be preferable to carry out is shown, four LC are humorous
Circuit shake along the symmetrical distribution of track, wherein the symmetrical LC resonance circuits (inductance) of two on the inside of electromagnetic path and electromagnetism
Track is vertical, and it is in 45° angle that two symmetrical LC resonance circuits (inductance) on the outside of electromagnetic path are vertical with electromagnetic path, this
Kind arrangement mode is advantageous to detect right-angled intersection track, can also be rapidly to correct in off-track.Robot exists
When being travelled on non-crossing track, the LC resonance circuits in outside can detect track, and inner side LC resonance circuits can not detect signal.
And when dolly drives to cross track, it can be detected simultaneously by what two tracks obtained because outside LC resonance circuits are in 45 °
Signal value increase, inner side LC resonance circuits can detect the trajectory signal in vertical travel direction, can know more accurately rail
Road information, so as to which there is higher discrimination to the track of right-angled intersection, it is ensured that robot is along default electromagnetic path
Traveling.
In a preferred embodiment, the frequency of caused alternating current is 20kHz in electromagnetic path, thus, is set
LC resonance circuits use frequency also for 20kHz, can specifically use the inductance that capacitance is 10nH for 6.8n electric capacity and inductance value
Form a LC resonance circuit.In order to avoid the interference of other outside frequency signals, can be believed by changing electrified wire
The frequency in number source realizes the change to gathering signal frequency, electric capacity C1 and inductance L1 and collection signal frequency relation formula：
LC resonance circuits can select the signal frequency of collection, and extraneous spy is eliminated to reach so as to change the frequency of signal source
Fixed interference signal.
The explanation of above example is only intended to help and understands method and its core concept of the present utility model.It should refer to
Go out, for those skilled in the art, can also be to this on the premise of the utility model principle is not departed from
Utility model carries out some improvement and modification, and these are improved and modification also falls into the protection domain of the utility model claims
It is interior.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or new using this practicality
Type.A variety of modifications to these embodiments will be apparent for those skilled in the art, determine herein
The General Principle of justice can be realized in other embodiments in the case where not departing from spirit or scope of the present utility model.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide scope consistent with features of novelty.
Claims (10)
- A kind of 1. intelligent robot food delivery system of electromagnetic tracking, it is characterised in that including：Electromagnetic path, the electromagnetic path are to be laid on ground and the wire by multiple dining tables and the logical alternating current in wire To produce magnetic field signal；Meal delivery robot, its built in machine people's control module, the robot control module are used to be sent according to setting instruction control Tableware is sent to specified dining table and returned by meal robot, and it includes electromagnetic path detection module, setup module, tongue tube, control Molding block, power drive module and the first wireless communication module, wherein, the electromagnetic path detection module is used to detect electromagnetism rail The magnetic field signal in road is simultaneously sent to the control module, and the control module controls the parameter of the power drive module to make according to this Electromagnetic path described in robot tracking moves；The setup module is used to set the purpose dining table information that robot to be sent to, Purpose dining table information is sent to dining table locating module by the control module by first wireless communication module；The dry spring The positioning signal sent for sensing dining table locating module is managed, the control module judges according to the induced signal of the tongue tube Whether robot is sent to specified dining table；Dining table locating module, for producing positioning signal to determine purpose dining table, including the second wireless communication module, switch control Module, switch module and electromagnet, wherein, second wireless communication module is used to receive robot control module's transmission Purpose dining table information；The switch control module is used for the dining table information pre-set and the purpose dining table information received Matched, control instruction is sent if both match makes that the switch module turns on and then the electromagnet switches on power Magnetic signal is produced, otherwise, the switch module disconnects and then the electromagnet access failure power supply does not produce magnetic signal, the magnetic letter Number as positioning signal so as to which robot control module can be by sensing the signal and determining purpose dining table.
- 2. the intelligent robot food delivery system of electromagnetic tracking according to claim 1, it is characterised in that the robot control Molding block also includes pressure sensor, and the pressure sensor is connected with the control module, for sensing pallet Chinese dinner service Pressure, when tableware is lifted, the pressure sensor senses pressure change signal and is sent to the control module, institute State control module produce make a return voyage signal and then meal delivery robot enter state of making a return voyage and continue electromagnetic path described in tracking make a return voyage to Final position.
- 3. the intelligent robot food delivery system of electromagnetic tracking according to claim 2, it is characterised in that be additionally provided with terminal Magnet, meal delivery robot be in make a return voyage state when, when the tongue tube senses terminal magnet, the robot control module Stop tracking.
- 4. the intelligent robot food delivery system of electromagnetic tracking according to claim 1, it is characterised in that the electromagnetic path Detection module realizes the detection of magnetic field signal using multiple LC resonance circuits.
- 5. the intelligent robot food delivery system of electromagnetic tracking according to claim 1, it is characterised in that a plurality of electromagnetism is set Track.
- 6. the intelligent robot food delivery system of electromagnetic tracking according to claim 1, it is characterised in that the electromagnetic path It is laid on below ground.
- 7. the intelligent robot food delivery system of electromagnetic tracking according to claim 1, it is characterised in that also including signal Source, it is serially connected in electromagnetic path, for producing the alternating current of certain frequency in electromagnetic path.
- 8. the intelligent robot food delivery system of electromagnetic tracking according to claim 7, it is characterised in that the signal source energy The frequency of alternating current caused by enough regulations.
- 9. the intelligent robot food delivery system of electromagnetic tracking according to claim 1, it is characterised in that the setup module Using key-press module or touch display screen.
- 10. the intelligent robot food delivery system of electromagnetic tracking according to claim 1, it is characterised in that the robot Control module also includes voice cue module, and the voice cue module is connected with the control module, for sending voice Prompt message.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720654359.XU CN206925866U (en) | 2017-06-07 | 2017-06-07 | A kind of intelligent robot food delivery system of electromagnetic tracking |
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| CN201720654359.XU CN206925866U (en) | 2017-06-07 | 2017-06-07 | A kind of intelligent robot food delivery system of electromagnetic tracking |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112996634A (en) * | 2018-10-11 | 2021-06-18 | 索尼集团公司 | Information processing apparatus, information processing method, and information processing program |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112996634A (en) * | 2018-10-11 | 2021-06-18 | 索尼集团公司 | Information processing apparatus, information processing method, and information processing program |
| CN112996634B (en) * | 2018-10-11 | 2024-03-19 | 索尼集团公司 | Information processing apparatus, information processing method, and information processing program |
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