CN209394674U - A kind of Omni-mobile meal delivery robot based on double magnetic navigations correction - Google Patents
A kind of Omni-mobile meal delivery robot based on double magnetic navigations correction Download PDFInfo
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- CN209394674U CN209394674U CN201822228932.8U CN201822228932U CN209394674U CN 209394674 U CN209394674 U CN 209394674U CN 201822228932 U CN201822228932 U CN 201822228932U CN 209394674 U CN209394674 U CN 209394674U
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- vehicle body
- master control
- control system
- meal delivery
- delivery robot
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Abstract
The utility model relates to a kind of Omni-mobile meal delivery robots based on double magnetic navigations correction comprising vehicle body, interior of body are provided with the master control system storehouse for installing master control system；Two groups of ultrasonic sensors are respectively arranged with positioned at vehicle foreside two sides, are transmitted to master control system for acquiring vehicle body preceding data, and by collected vehicle front data；It is provided with article platform bracket at the top of vehicle body, several article mounting tables are provided on article platform bracket, the article to be completed to be sent to is placed by article mounting table；The magnetic navigation sensor connecting with master control system is respectively arranged with positioned at the front and rear of vehicle body, the lowest part of vehicle body end is arranged in magnetic navigation sensor, setting is matched with the preparatory magnetic stripe being laid on the ground, the information that magnetic navigation sensor will test is transmitted to master control system.The utility model improves food delivery efficiency, is not limited by place, can work normally in complicated narrow landform.Simple to install article holder utmostly improves food delivery efficiency.
Description
Technical field
The utility model relates to a kind of meal delivery robot, especially with regard to it is a kind of applied in food and drink field of tool based on
The Omni-mobile meal delivery robot of double magnetic navigation corrections.
Background technique
The intelligent epoch have arrived, scientific and technological fast development, have brought many conveniences, meanwhile, more and more
Sci-tech product starts to come into people's lives, affects daily life.It has had already appeared and has sent in many dining rooms at present
Meal robot.Catering industry comes in recent years, with the continuous improvement of people's quality of life, the continuous quickening of rhythm of life, and point
Meal and food delivery have become an important factor for influencing people's service experience.Ordering with food delivery is a kind of lower work of difficulty, it
Requirement for staff is lower, but is a kind of comparatively laborious work, and the staff needed is more, can mention significantly
The job costs in dining room are risen, while being not easy to manage.With the continuous progress of science and technology, robot is not only merely to be applied to industry
Industry is also gradually applied to closely bound up various industries of living with people.But it is applied to the robot of food and beverage sevice at present
It is less.Meanwhile existing meal delivery robot function is less at present, and its structure is complicated, higher cost, and it is larger by extraneous factor, such as
Ground is skidded, and revolving speed is undesirable, can be had a huge impact to the stability of robot, and catering industry is not too much suitable for.
Summary of the invention
In view of the above problems, the object of the present invention is to provide a kind of Omni-mobile food deliveries based on double magnetic navigations correction
Robot relies on Mecanum wheel, improves food delivery efficiency, is not limited by place, and can complicated narrow landform just
Often work.Simple to install article holder utmostly improves food delivery efficiency.
To achieve the above object, the utility model takes following technical scheme: a kind of omnidirectional based on double magnetic navigations correction
Mobile meal delivery robot comprising vehicle body, the interior of body are provided with the master control system storehouse for installing master control system；It is located at
The vehicle foreside two sides are respectively arranged with two groups of ultrasonic sensors, for acquiring vehicle body preceding data, and will be collected
Vehicle front data are transmitted to the master control system；Article platform bracket, the article platform branch are provided at the top of the vehicle body
It is provided with several article mounting tables on frame, the article to be completed to be sent to is placed by the article mounting table；Positioned at the vehicle
The front and rear of body is respectively arranged with the magnetic navigation sensor connecting with the master control system, the magnetic navigation sensor setting
Lowest part in the vehicle body end, setting is matched with the preparatory magnetic stripe being laid on the ground, and the magnetic navigation sensor will be examined
The information measured is transmitted to the master control system.
Further, be laid be provided on the magnetic stripe on the ground it is several perpendicular for carrying out station recognition
Lateral magnetic stripe makes the magnetic navigation sensor that can obtain special sampled value when being located above the lateral magnetic stripe, is transmitted to
The master control system；The special sampled value is OXFF value.
Further, four peripheral wall surfaces of vehicle body are respectively arranged with rubber anti-collision device.
Further, the vehicle body two sides are respectively arranged with two pairs of Mecanum wheels, and two pairs of Mecanum wheels are by fixing
Four groups on the chassis essences with encoder receive servo motor driving, four groups of essences receive servo motor with it is described
Master control system connection.
Further, power battery storehouse is set on the vehicle body.
Further, the ultrasonic sensor of the vehicle foreside two sides is installed close to ground, the supersonic sensing
The installation site of device is higher than the installation site of the magnetic navigation sensor.
Further, the ultrasonic sensor uses the analog quantity supersonic sensing of model UB500-18GM75-U-V15
Device.
Further, the model CNS-MGS-08 that the magnetic navigation sensor uses.
Further, the vehicle body is made of aluminium alloy.
Further, the master control system uses model Freescale ARM Cortex-A9i MX6Qseven
The industrial master control borad of Module.
Because the utility model adopts the above technical scheme, it has the following advantages: 1, the utility model is using increased
Lateral magnetic stripe completes station recognition, and precision is high, steady point property is good, station recognition is accurate and reliable, simultaneously effective hardware complexity
And hardware cost, traditional increase RFID card is not used to complete station recognition.The computational burden of master control system is reduced, so that
Algorithm is easier, effectively improves the efficiency of food delivery.2, the utility model master control system uses Freescale ARM
The industrial master control borad of Cortex-A9i MX6Qseven Module model, high-performance, low-power consumption, standardized software and hardware, tool
There are outstanding ease for use, design flexibility.It 3, is so that meal delivery robot can easily carry out steering control in advance, retrogressing
System, the utility model are fitted with magnetic navigation sensor in headstock and tailstock position, can be more accurately using double Magnetic Sensors
The bias size and angle of trolley are obtained, to realize more accurate and quickly correction.
Detailed description of the invention
Fig. 1 is the meal delivery robot structural schematic diagram of the utility model；
Fig. 2 is that the Magnetic Sensor installation of the utility model is laid with schematic diagram with magnetic stripe；
Fig. 3 is the Mecanum wheel layout and each wheel stress diagram of the utility model.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1, the utility model provides a kind of Omni-mobile meal delivery robot based on double magnetic navigations correction, packet
Vehicle body 1 is included, vehicle body 1 is internally provided with the master control system storehouse 2 for installing master control system.It is set respectively positioned at 1 front part sides of vehicle body
Two groups of ultrasonic sensors 3 are equipped with, are transmitted to master control for acquiring vehicle body preceding data, and by collected vehicle front data
System, master control system is according to the data real-time judge junction ahead information received, and front obstacle, prevents from missing for identification
It hits, realizes avoidance.It is provided with article platform bracket 4 at the top of vehicle body 1, several article mounting tables are provided on article platform bracket 4
5, the article to be completed to be sent to is placed by article mounting table 5.Respectively positioned at the front (headstock) of vehicle body 1 and rear portion (tailstock)
It is provided with the magnetic navigation sensor 6 connecting with master control system, the lowest part of 1 end of vehicle body is arranged in magnetic navigation sensor 6, and pre-
It is first laid with magnetic stripe matching setting (as shown in Figure 2) on the ground, the information that magnetic navigation sensor 6 will test is transmitted to master control
System, so that vehicle body 1 is walked according to the path of regulation along magnetic stripe.
In above-described embodiment, as shown in Fig. 2, being provided with several perpendicular transverse directions on being laid with magnetic stripe on the ground
Magnetic stripe 7, for carrying out station recognition, so that magnetic navigation sensor 6 can obtain special sampling when being located above transverse magnetic item 7
Value, is transmitted to master control system.Wherein, special sampled value is OXFF value, and meal delivery robot is during advance, when encountering transverse direction
When magnetic stripe 7, the numerical value collected of magnetic navigation sensor 6 can be jumped from non-OXFF value to OXFF value, with this as station
Point knows another characteristic.Due to being fitted with magnetic navigation sensor 6 before and after meal delivery robot, in order to avoid the repeatability of detection, if
The front end magnetic navigation sensor 6 when being advanced by meal delivery robot is determined to complete collecting work.
In the various embodiments described above, it is respectively arranged with rubber anti-collision device 8 positioned at 1 four peripheral wall surfaces of vehicle body, for protecting trolley
Accident collision occurs, in order to avoid cause unnecessary damage.
In the various embodiments described above, two pairs of Mecanum wheels 9, two pairs of Mecanum wheels 9 are respectively arranged with positioned at 1 two sides of vehicle body
Servo motor driving is received with the essences of encoder by be fixed on 1 chassis of vehicle body four groups, and four groups of essences receive servo motor and master control
System connection, controls its movement by master control system, the arrangement of Mecanum wheel 9 and each wheel force analysis are as shown in Figure 3.In Fig. 3,
The offset angle of Mecanum wheel 9 is 45 °, several rollers is distributed on Mecanum wheel 9, these rollers can be freely rotated, and make
It obtains wheel and is only faced the upward power of roller axle by ground, that is, when wheel rotation, the axial direction that the roller of each wheel is subject to is rubbed
Wiping power is respectively F1, F2, F3, F4, is F1x, F1y, F2x, F2y, F3x, F3y, F4x, F4y by its horizontal decomposition.It is assumed that trolley
Advance, at this point, the horizontal component F1x, F2x, F3x, F4x of roller axial friction are all offset, only driving trolley advances
Power F1y, F2y, F3y, F4y.
In the various embodiments described above, power battery storehouse 10 is additionally provided on vehicle body 1, for being each sensor, driving electricity
Machine and master control system power supply.
In the various embodiments described above, the ultrasonic sensors 3 of 1 front part sides of vehicle body is installed close to ground, must not install it is excessively high,
It prevents from not detecting short and small barrier, to influence the normal work of trolley.The installation site of ultrasonic sensor 3 is higher than magnetic
The installation site of navigation sensor 6.Wherein, ultrasonic sensor 3 uses the analog quantity of model UB500-18GM75-U-V15
Ultrasonic sensor.As needed, the low coverage point for defining ultrasonic sensor is 50mm, remote point 500mm；Analog quantity ultrasound
The processing of wave sensor ranging nominal data is as shown in table 1.
In the various embodiments described above, the model CNS-MGS-08 of the use of magnetic navigation sensor 6.There is average row on the sensor
8 sampled points of column interval 10mm, can incude the position of magnetic stripe, export 8 on-off models, so provide trolley relative to
The location information of magnetic stripe.
In the various embodiments described above, vehicle body 1 is made of aluminium alloy, lighter weight and meets hardness requirement.
In the various embodiments described above, master control system uses model Freescale ARM Cortex-A9i MX6Qseven
The industrial master control borad of Module controls coupled ultrasonic sensor 3, magnetic navigation sensor 6, works as real-time judge
Preceding robot present position.
The various embodiments described above are merely to illustrate the utility model, and structure and size, setting position and the shape of each component are all
Can be varied, on the basis of technical solutions of the utility model, it is all according to the utility model principle to individual part into
Capable improvement and equivalents, should not exclude except the protection scope of the utility model.
Claims (10)
1. a kind of Omni-mobile meal delivery robot based on double magnetic navigations correction, it is characterised in that: including vehicle body, in the vehicle body
Portion is provided with the master control system storehouse for installing master control system；Two groups of ultrasonic waves are respectively arranged with positioned at the vehicle foreside two sides
Sensor is transmitted to the master control system for acquiring vehicle body preceding data, and by collected vehicle front data；Positioned at institute
It states and is provided with article platform bracket at the top of vehicle body, several article mounting tables are provided on the article platform bracket, pass through the article
Mounting table places the article to be completed to be sent to；It is respectively arranged with and the master control system positioned at the front and rear of the vehicle body
The lowest part of the vehicle body end is arranged in the magnetic navigation sensor of connection, the magnetic navigation sensor, and is laid on ground in advance
Magnetic stripe on face matches setting, and the information that the magnetic navigation sensor will test is transmitted to the master control system.
2. meal delivery robot as described in claim 1, it is characterised in that: be laid on the magnetic stripe on the ground be provided with it is several
The perpendicular lateral magnetic stripe for being used to carry out station recognition is being located at the magnetic navigation sensor above the lateral magnetic stripe
When can obtain special sampled value, be transmitted to the master control system；The special sampled value is OXFF value.
3. meal delivery robot as described in claim 1, it is characterised in that: four peripheral wall surfaces of vehicle body are respectively arranged with rubber anti-collision
Device.
4. meal delivery robot as described in claim 1, it is characterised in that: the vehicle body two sides are respectively arranged with two pairs of Mecanums
Wheel, two pairs of Mecanum wheels are received servo motor with the essences of encoder by be fixed on the chassis four groups and are driven
Dynamic, four groups of essences are received servo motor and are connect with the master control system.
5. meal delivery robot as described in claim 1, it is characterised in that: power battery storehouse is arranged on the vehicle body.
6. meal delivery robot as described in claim 1, it is characterised in that: the ultrasonic sensor of the vehicle foreside two sides
It is installed close to ground, the installation site of the ultrasonic sensor is higher than the installation site of the magnetic navigation sensor.
7. meal delivery robot as claimed in claim 6, it is characterised in that: the ultrasonic sensor uses model UB500-
The analog quantity ultrasonic sensor of 18GM75-U-V15.
8. meal delivery robot as claimed in claim 6, it is characterised in that: the model CNS- that the magnetic navigation sensor uses
MGS-08。
9. meal delivery robot as described in claim 1, it is characterised in that: the vehicle body is made of aluminium alloy.
10. meal delivery robot as described in claim 1, it is characterised in that: the master control system uses model Freescale
The industrial master control borad of ARM Cortex-A9 i MX6 Qseven Module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822228932.8U CN209394674U (en) | 2018-12-28 | 2018-12-28 | A kind of Omni-mobile meal delivery robot based on double magnetic navigations correction |
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| CN201822228932.8U CN209394674U (en) | 2018-12-28 | 2018-12-28 | A kind of Omni-mobile meal delivery robot based on double magnetic navigations correction |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531595A (en) * | 2018-12-28 | 2019-03-29 | 石家庄铁道大学 | A kind of Omni-mobile meal delivery robot and air navigation aid based on double magnetic navigations correction |
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2018
- 2018-12-28 CN CN201822228932.8U patent/CN209394674U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531595A (en) * | 2018-12-28 | 2019-03-29 | 石家庄铁道大学 | A kind of Omni-mobile meal delivery robot and air navigation aid based on double magnetic navigations correction |
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