WO2020259233A1 - 一种送餐机器人 - Google Patents

一种送餐机器人 Download PDF

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Publication number
WO2020259233A1
WO2020259233A1 PCT/CN2020/094052 CN2020094052W WO2020259233A1 WO 2020259233 A1 WO2020259233 A1 WO 2020259233A1 CN 2020094052 W CN2020094052 W CN 2020094052W WO 2020259233 A1 WO2020259233 A1 WO 2020259233A1
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WO
WIPO (PCT)
Prior art keywords
electric switch
tray
small box
unit
food
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Application number
PCT/CN2020/094052
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English (en)
French (fr)
Inventor
范雨琪
Original Assignee
范雨琪
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201910545863.XA external-priority patent/CN110328671B/zh
Application filed by 范雨琪 filed Critical 范雨琪
Publication of WO2020259233A1 publication Critical patent/WO2020259233A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels

Definitions

  • the invention relates to a food delivery robot, which belongs to the technical field of robots.
  • a small car robot such as a Chinese patent application with application number CN201711311857 discloses an automatic food delivery robot in a restaurant, which includes a car body, a vegetable storage box, a lifting mechanism, a heat preservation device, a vegetable serving mechanism, and an obstacle avoidance sensor , Positioning sensor, mobile power supply and control device.
  • the operation process of this automatic food delivery robot is as follows: 1. The lunch box is pushed into the food inlet, and the pressure sensor detects the pressure signal and then pushes the lunch box to the lunch box channel through an electric push rod Inside, after the lunch box enters the lunch box channel, the limit device limits the lunch box, and the counter counts and judges the number of loading until the lunch box channel is full; 2.
  • the automatic food delivery robot presets running routes for different table numbers, When the lunch box is full, the lunch box is automatically delivered to the corresponding table number; 3. The uppermost lunch box is pushed out of the lunch box channel through the electric push rod, and the clamping ring is driven by the motor to rotate to clamp the lunch box. Then the lunch box on the clamping ring is rotated to the side of the table by the rotation of the motor, the electric push rod is lowered to put the lunch box on the table, then the clamping ring is loosened, the serving mechanism is reset, and the diners move the cooking plate out of the lunch box. After putting the empty lunch box into the food inlet, the serving mechanism repeats the above steps to place the lunch box on the table.
  • the counter counts the number of times the empty lunch box is placed, and the meal delivery is completed when the total number of lunch boxes is counted. Return, and so on.
  • This kind of automatic food delivery robot can automatically deliver the lunch box to the designated table, and the diners must put the empty lunch box into the food inlet before continuing to serve the food.
  • the robot of this small model has the following disadvantages: it can only deliver food to one table at a time and the empty lunch box must be put into the food inlet before it can continue to serve. In this way, diners can only eat one dish before eating the next dish. It is not in line with the customer’s dining habits that it cannot serve multiple dishes at the same time. In addition, the robot has been standing at the table during the meal, and the robot’s work efficiency is low.
  • the purpose of the invention is to provide a robot that can deliver meals to multiple guests with high work efficiency.
  • the present invention provides a food delivery robot.
  • the robot includes a control system and a vegetable storage box.
  • the vegetable storage box is arranged on the vehicle body by a multi-degree-of-freedom mechanical arm.
  • the food storage box includes K ⁇ N small food storage boxes, each small food storage box includes an opening and a small box door for closing the opening, characterized in that the control system includes a matrix control module, the robot moves to the vicinity of the ordering customer, and the matrix control The module is connected to the matrix switch unit to send control information to open the door of the small box containing the food variety ordered by the customer at the table.
  • each small box is provided with a tray drive mechanism
  • the tray drive mechanism includes a motor, two guide rails, a synchronous pulley, a gear and a rack, wherein the two guide rails are symmetrically arranged inside the lower wall of the small box
  • the gears are set on the inner side of the lower wall of the small box.
  • the timing belt wheel is connected to the output shaft of the motor.
  • the rack is fixed to the lower end of the tray.
  • the timing belt wheel and the gear are connected by a timing belt. When the motor rotates, the timing belt wheel will be synchronized.
  • the driving force is transmitted to the gear, and the gear drives the rack to move, so that the tray moves along the guide rail.
  • the small box door is connected to the lower wall of the small box through a hinge and is equipped with a torsion spring.
  • the tray drive mechanism drives the tray to extend, the small box door is opened.
  • the torsion spring makes the small box door open. The box door closes the opening of the small box.
  • the matrix switch unit includes a column selector, a row selector and K ⁇ N unit circuits, each unit circuit includes a first electric switch T1, a second electric switch T2 and a motor driver, the motor driver is used for a motor, And the three windings U, V and W of the motor are supplied with drive current; the first end of the electric switch T1 is connected to the column selector, and the second end is connected to the motor driver.
  • the column selector provides position instructions to the motor driver through the first electric switch.
  • the control terminal is connected to the row selector; the first terminal of the electric switch T2 is connected to the DC power supply, the second terminal is connected to the motor driver, and the control terminal is connected to the row selector.
  • the DC power supply provides DC voltage to the motor driver through the second electric switch .
  • a light emitting device is provided on the top wall inside the small box, an opening is provided on the tray, and a light sensor probe is provided in the opening.
  • the matrix switch unit further includes a third electric switch T3, and a third electric switch T3. The control end of is connected to the row selector, the first end is connected to the optical sensor probe, the second end is connected to the detector, the optical sensor probe transmits the measured optical information to the device through the third electric switch; the second end of the electric switch T2 It is also connected to the light emitting device and the light sensor probe.
  • an opening is provided on the tray, a load cell is provided in the opening, the matrix switch unit further includes a third electric switch T3, the control end of the third electric switch T3 is connected to the row selector, and the first end is connected to the weighing
  • the second end of the sensor is connected to the detector, and the load cell transmits the measured weight information to the sensor via the third electric switch; the second end of the electric switch T2 is also connected to the load cell.
  • the processing unit includes a peripheral environment recognition module, which recognizes the moving object according to the peripheral environment image provided by the image processing unit, which includes: selecting continuous m+1 frames of image data from the peripheral environment image; and sequentially finding the current frame of input image The difference between the data and the image data of the previous frame adjacent to it generates m differential images; adds the m differential images and obtains the average value of the differential images, thereby obtaining the average differential image; obtains the moving object from the average differential image Rectangular data: Obtain all moving areas from the average difference image, the left and right abscissas of each moving area are the left and right abscissas of the rectangular data of the active object; the smallest ordinate of each moving area is determined as the top of the active object; from top to bottom The image is retrieved to obtain the maximum ordinate of the motion area, which is determined as the bottom of the active object rectangle.
  • a peripheral environment recognition module which recognizes the moving object according to the peripheral environment image provided by the image processing unit, which includes: selecting continuous
  • all head data is obtained from the rectangular data of the moving object, and the feature vector is obtained from the head data, and the Euler distance between the obtained feature vector and the feature vector of the registered image of the dining customer is obtained.
  • the Euler distance is the smallest The person is the identified subscriber.
  • a display device is provided on the door of each small box for displaying information, and the information includes the corresponding table number and the type of food placed in the box.
  • the food delivery robot provided by the present invention can achieve the following beneficial effects: (1) Since all food is placed in a small box, and multiple layers of small boxes are provided, each layer has multiple, therefore, Many dishes can be delivered at one time, and they are hygienic and will not be contaminated; (2) Because the tray drive mechanism is set, it is convenient for customers to take and put food; (3) Because the display screen is set on the door of the small box, the display screen Information can be displayed on the screen, so that the customer can confirm the information before taking the food; (4) Since the matrix switch is set, only the box containing the food ordered by the customer is opened, so the customer will not take the wrong food.
  • Figure 1 is a schematic diagram of the composition of a food delivery robot provided by the present invention.
  • Figure 2 is a block diagram of the composition of the food delivery machine and human control system provided by the present invention.
  • Figure 3 is a circuit diagram of a matrix switch unit provided by the present invention.
  • FIG. 4 is a circuit diagram of a modification of the matrix switch unit provided by the present invention.
  • FIG. 5 is a block diagram of the motor driver provided by the present invention.
  • FIG. 6 is a schematic diagram of the structure of the tray servo mechanism provided by the present invention when the tray is pushed out;
  • Figure 7 is a schematic cross-sectional view of the tray servo mechanism provided by the present invention when the tray is pushed out.
  • connection should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral
  • the ground connection can also be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection between two components.
  • specific conditions of the above terms in the present invention can be understood according to specific conditions. meaning.
  • Fig. 1 is a schematic diagram of the composition of the food delivery robot provided by the present invention.
  • the food delivery robot provided by the present invention includes a car body 1, a vegetable storage box 2 and a control system.
  • the robot arm 3 is connected to the car body 1, and the control system and servo mechanism used to control the operation of the vegetable storage box are arranged in the vegetable storage box.
  • the control system is arranged in the control box on the vehicle body.
  • the lower part of the car body is provided with a pair of driving wheels, which are driven by the servo mechanism that the car body runs.
  • the front of the car body is provided with a universal wheel, which is a driven wheel, and a camera and a radar are installed in the front and rear of the car body.
  • the radar installed in the front of the vehicle body is used to measure the distance between the robot and the obstacle when the robot is running forward.
  • the camera installed in the front of the vehicle body is used to capture images of the environment in front of the robot; the radar installed in the rear of the vehicle body is used to The distance between the robot and the obstacle is measured when the robot is backing up, and a camera set at the back of the vehicle body is used to capture images of the environment in front of the robot.
  • the vegetable storage box includes K ⁇ N small vegetable storage boxes, each small vegetable storage box includes an opening and a door for closing the opening, and a tray driving mechanism is arranged in each small box.
  • a pair of cameras 4 are respectively provided on the left and right sides of the top of the vegetable storage box. The cameras 4 are used to capture images of the left and right of the robot, and determine the distance between the robot and the customer according to the images.
  • the control system includes a processing unit, a storage unit, a voice unit, a vehicle body servo drive unit, a communication unit and a positioning unit, and the drive unit Including vehicle body servo drive unit, multi-degree-of-freedom manipulator drive unit and tray servo drive unit.
  • the storage unit stores robot movement programs, voice programs, image programs, and cabinet control programs.
  • the communication unit is used for the processing unit to communicate with the upper computer.
  • the processing unit receives instructions from the upper computer through the communication unit and calls the robot movement program stored in the storage.
  • the voice unit includes a voice input unit and a voice output unit, voice input
  • the unit is used to convert the received voice information into electrical information.
  • the processing unit calls the voice program according to the received voice and electrical information to recognize the voice, then calls the response language stored in the storage unit, and then performs voice output through the voice output unit Convert electrical information into sound information to interact with users.
  • the positioning unit is used to determine the position of the robot.
  • the control system also includes a matrix switch unit and a weighing sensor or light receiving probe arranged under each tray.
  • the processing unit calls the voice program in the storage unit, and according to the operation The program sends pronunciation instructions to the voice unit, the voice unit sounds, and processes the user's response information.
  • the processing unit sends information to the matrix switch unit to place the user's order food
  • the doors of the small boxes of different varieties are opened in sequence, and the trays are pushed out; when the processing unit receives the weight information transmitted by all the weighing sensors in the opened small box and decreases below the set value, it sends the pronunciation command to the voice unit again, and Retract the tray and close the door.
  • control system further includes a multi-degree-of-freedom manipulator drive unit, which is used to provide a position command to the servo motor that drives the manipulator arm to move, so that multiple manipulator arms work together, so that the manipulator arm and its The carried vegetable storage box can move up and down, left and right, and back and forth with multiple degrees of freedom.
  • a multi-degree-of-freedom manipulator drive unit which is used to provide a position command to the servo motor that drives the manipulator arm to move, so that multiple manipulator arms work together, so that the manipulator arm and its The carried vegetable storage box can move up and down, left and right, and back and forth with multiple degrees of freedom.
  • control system further includes an obstacle recognition unit, which calculates the distance to the obstacle based on the information provided by the radar and/or camera arranged at the front and rear of the vehicle body and the cameras arranged on the left and right sides of the box body, thereby Adjust the trajectory of the car body and the movement of the robotic arm.
  • an obstacle recognition unit which calculates the distance to the obstacle based on the information provided by the radar and/or camera arranged at the front and rear of the vehicle body and the cameras arranged on the left and right sides of the box body, thereby Adjust the trajectory of the car body and the movement of the robotic arm.
  • control system further includes a touch screen, which can be provided on the vegetable storage box or on the vehicle body for the user to input instructions, display information, and Customer enters information.
  • the video unit is used to encode the image information of the peripheral environment provided by the two cameras and provide it to the processing unit.
  • the processing unit includes a peripheral environment recognition module and a determination module.
  • the recognition module recognizes the state of the peripheral environment according to the image information of the peripheral environment provided by the video unit, and outputs the state of the peripheral environment to the storage unit and the determination module; the determination module compares the historical state information of the peripheral environment with the current state information, when the historical state information When it is consistent with the current state information, the processing unit sends information to the robot's body servo mechanism to make the robot run according to the planned route and action; when the historical state information is inconsistent with the current state information, the planned route and action are corrected to make the robot follow The revised route and movement operation.
  • the peripheral environment recognition module determines the distance between the robot and obstacles in the peripheral environment based on the peripheral environment images input by the two cameras provided by the video unit. The distance is determined by the known two-image positioning principle.
  • the peripheral environment recognition module recognizes the moving object according to the peripheral environment image provided by the image processing unit, which includes: selecting continuous m+1 frames of image data from the peripheral environment image; sequentially calculating the current frame of input image data and the adjacent previous one The difference of the image data of the frame, generate m difference images; add the m difference images and obtain the average value of the difference images, thereby obtaining the average difference image; obtain the moving object rectangular data from the average difference image: from the average difference image Obtain all the moving areas, the left and right abscissas of each moving area are the left and right abscissas of the rectangular data of the active object; the smallest ordinate of each moving area is determined as the top of the active object; the image is retrieved from the top down to obtain the largest ordinate of the moving
  • the peripheral environment recognition module determines the distance between the vegetable storage box and the dining customer through image positioning according to the image information obtained by the two image sensors provided by the image processing unit, and controls the action of the multi-degree-of-freedom mechanical arm according to the distance.
  • the peripheral environment recognition module also judges the brightness information of the environment based on the images provided by the two cameras. If the brightness of the environment is lower than the set value, the information is sent to the processing unit, and the processing unit The lighting unit sends information, and the lighting unit turns on the light to illuminate the surrounding environment, so that the distance between the robot and the obstacle can be determined more accurately through image positioning.
  • Fig. 3 is a circuit diagram of a matrix switch unit provided by the present invention.
  • the matrix switch unit provided by the present invention includes a column selector, a row selector and K ⁇ N unit control circuits.
  • the column selector is used to provide the motor M position command signal to the unit control circuit; the row selector gives Each unit control provides a selection signal.
  • each unit control circuit includes a first electric switch T1, a second electric switch T2, a servo motor M, and a motor driver 100.
  • the motor driver drives the servo motor M and provides three windings U of the motor M. , V and W supply drive current.
  • the first end of the electric switch T1 is connected to the column line N1 of the column selector 300, the second end is connected to the position control section 105, and the control end is connected to a row line K1 of the row selector 200;
  • the first end is connected to the DC power supply Ecc, the second end is connected to the motor driver 100, and the control end is connected to a row line K1 of the row selector 200.
  • a load cell 500 is provided under the tray, and the unit circuit further includes a third electric switch T3.
  • the control end of the third electric switch T3 is connected to a row line of the row selector 200, and the first end is connected to At the load cell 500, the second end is connected to the detector 400, and the load cell 400 transmits the measured weight information to the detector through the third electric switch T3; the second end of the electric switch T2 is also connected to the load cell 500, Used to provide power to the load cell.
  • Fig. 4 is a circuit diagram of a modified example of the matrix switch unit provided by the present invention.
  • a light emitting device is provided on the top wall inside the small box, and an opening is provided on the tray.
  • the opening is provided with a light sensor probe (light receiving probe)
  • the matrix switch unit further includes a third electric switch T3, the control end of the third electric switch T3 is connected to a row line K1 of the row selector 200, and the first end is connected to The second end of the light sensor probe is connected to the detector 400.
  • the light sensor probe transmits the measured light information to the detector through the third electric switch T3; the second end of the electric switch T2 is also connected to the light emitting device and the light sensor probe, and the power supply
  • the electric switch T2 provides power to the light emitting device and the light sensor probe.
  • the door of each small box is also provided with a display device for displaying information, and the information includes the corresponding customer's avatar and the type of food placed in the box.
  • Fig. 5 is a circuit diagram of the motor driver provided by the present invention.
  • the motor driver 100 includes a PWM inverter 101 that supplies the servo motor M with a drive current for driving the servo motor M, and current detectors 102a, 102b, and 102c that detect the drive current values of the three windings.
  • the motor driver 100 further includes a position detector 112 that detects the rotation angle of the rotor of the servo motor M, and a position feedback circuit 113 that feeds back the position of the servo motor M detected in the position detector 112 to the position control unit 105.
  • the motor driver 100 further includes a position control section 105 that inputs a position command and position information of the motor M, and a speed control section 106 that inputs a position control section 105 and outputs a speed command and a motor speed command provided by the differentiator 110.
  • the motor driver 100 further includes the drive current value fed back from the current detector through each current feedback circuit 103 to input the drive current value fed back from the current detector through each current feedback circuit 103 to receive a current command that determines the drive current that controls the drive speed of the servo motor M in order to move the tray holder to a desired position.
  • the drive current value is a logic operation unit that corrects the current command by digital logic and outputs the corrected current command to the PWM inverter 101.
  • the logic operation unit has an input register 107 for inputting and holding a current command to the servo motor M, a current feedback register 111 for inputting and holding the drive current value of the servo motor M fed back from the current detector 102, and a correction current command input register 107. Instructs the current control unit 108 that is equal to the drive current value of the feedback register 111.
  • the motor driver 100 further includes a PWM generator 109 that modulates the signal of the current control unit 108 into a pulse amplitude modulation signal using a pulse amplitude modulation method, and outputs it to the PWM inverter 101.
  • the position control unit 105 receives the position of the control object from the position detector 112, and outputs a speed command based on the difference between the position feedback and the position command, so as to control the control object to the target position. In addition, the position control unit 105 calculates and outputs the electrical angle of the servo motor M based on the position feedback of the position detector 112.
  • the speed control unit 106 uses the speed command input from the position control unit 105 and receives feedback speed information from the differentiator, and outputs a current command based on the difference between the feedback speed information and the speed command of the position control unit 105 to control the control object to the target speed .
  • the current command is the data of the drive current supplied to the servo motor M.
  • the speed control unit 106 also outputs information on the electrical angle of the servo motor M.
  • the current command and electrical angle information are received by the logic operation unit and stored in the designated register area.
  • the current detector 102 detects the value of the drive current supplied from the PWM inverter 101 to the servo motor M.
  • the drive current value detected by the current detector 102 is fed back by the feedback circuit 102 to the logic operation unit. At this time, the drive current value is maintained in the feedback register 111.
  • the input register 107 and the feedback register 111 can share one register, and the current command and electrical angle information can be stored in the first storage area of the register, and the feedback current value can be stored in the second storage area of the register.
  • the current control unit 108 compares the current command input to the register 107 with the drive current value of the current feedback register 111, uses the current feedback information to correct the current command and provides it to the PWM generator 109 to generate a pulse width modulation signal.
  • PWM101 is based on the pulse width
  • the modulation signal converts the DC voltage into AC voltage and provides it to the three windings of the motor M.
  • the current control unit 108 can also calculate a current command corrected by the electrical angle of the input register 107 in the same way.
  • each small box 21 is provided with a tray drive mechanism, which includes a motor 22, two guide rails 23A and 23B, a timing belt wheel 24, a gear 25, and a rack 26.
  • the two guide rails 23A and 23B are symmetrically arranged at both ends of the inner side of the lower wall of the small box, extending along the front and back of the small box, the gear 25 is arranged in the small box 21, the inner side of the lower wall is close to the door, and the synchronous pulley 24 is connected
  • the rack 26 is fixed to the lower end of the tray 27, and the synchronous belt wheel 24 and the gear 25 are connected by a synchronous belt 28.
  • the synchronous belt wheel 24 transmits power to the gear 26 through the synchronous belt 28.
  • 26 meshes with the rack 26, and the rack 26 drives the four sliders 32 under the tray 27 to move along the guide rails 23A and 23B.
  • the small box door 31 is connected to the lower wall of the small box through a hinge 29 and is installed with a torsion spring 30.
  • the tray drive mechanism drives the tray 27 to extend, the small box door 31 is opened and the tray 27 is retracted.
  • the torsion spring 30 causes the small box body to close the opening of the small box body 21.
  • the working process of the robot is as follows: When the robot runs near a planned or recognized customer, the processing unit sends instructions to the voice unit, and the voice unit simulates a human to say hello to the customer, such as "Hello, did you order some food? "If the customer answers, the voice unit recognizes the customer’s voice information. If the recognized information is affirmative, the processing unit sends instructions to the matrix switch unit. The matrix switch unit sends instructions to the unit circuit where the food is placed, and the tray servo mechanism will The tray is pushed out.
  • the load cell measures the weight information to decrease below the set value
  • the detector sends the information to the processing unit
  • the processing unit sends the matrix switch again
  • the unit sends instructions, and the tray servo mechanism retracts the pallet.
  • the processing unit compares the order information with the information of the food placed in the small box. If the small box still stores the customer-ordered food, the above process is repeated until the customer takes away all the customized food in the small box.
  • the processing unit sends instructions to the voice unit, which simulates a human being to greet the customer and issue polite words, such as "Hello, please take your time, please wait for other foods ", if the food ordered by the customer is delivered all at once, the processing unit sends instructions to the voice unit, and the voice unit simulates a person saying hello to the customer, such as "Hello, please take your time” and other polite words, and then the processing unit sends the car body Run the servo mechanism to send instructions, repeat the above process, and the robot continues to deliver meals to other customers. If the voice unit recognizes the customer’s negative response information, the processing unit compares the customer’s order information with the storage information of the small box. If it is determined that the customer did not order a certain food, the processing unit will send an instruction to the car body servo mechanism , The robot delivers meals to other customers and sends an apology voice to the customers.
  • the voice unit simulates a human being to greet the customer and issue polite words, such as "Hello, please take your time,

Abstract

一种送餐机器人，其机器人包括控制系统和储菜箱体（2），储菜箱体（2）通过多自由度机械臂（3）设置于车体（1）上，储菜箱体（2）包括K×N个储菜小箱体，每个储菜小箱体包括开口和用于关闭开口的小箱体门（31），控制系统包括矩阵控制模块，机器人移动到订餐客户附近，矩阵控制模块接给矩阵开关单元发送控制信息以打开放置该餐桌客户所订食物品种的小箱体的门。该送餐机器人一次性可给多个客户送餐，取拿方便。

Description

一种送餐机器人
本申请要求于2019年6月23日提交的申请号为201910545863.X、发明名称为“一种送餐机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及一种送餐机器人，属于机器人技术领域。
背景技术
随着智能机器人技术的不断发展，机器人所涉及的领域越来越广泛，在餐饮行业中的机器人正受到人们的青睐。如送餐机器人等。目前市场上的送餐机器人主要包括仿人形机器人和小车型机器人，仿人形机器人如申请号为的CN201710309917的中国专利申请，公开了一种新型送餐机器人，但该类机器人一次性送餐数量有限,工作效率低；小车型机器人如申请号为CN201711311857的中国专利申请公开了一种餐厅自动送餐机器人，其包括车体、储菜箱体、升降机构、保温装置、端菜机构、避障传感器、定位传感器、移动电源以及控制装置，该种自动送餐机器人在运行过程如下：1、餐盒推到进菜口内，压力传感器感应到压力信号之后通过电动推杆将餐盒顶到餐盒通道内，在餐盒进入到餐盒通道后限位装置将餐盒限位，计数器计数判断装入个数直至装满餐盒通道；2、自动送餐机器人对不同桌号预设有运行路线，当餐盒装满时自动将餐盒送至对应的桌号；3、通过电动推杆伸出将最上方的餐盒顶出餐盒通道，通过电机转动带动夹持环将餐盒夹紧，然后通过电机转动将夹持环上的餐盒转动至桌子一侧，电动推杆下降将餐盒放到桌子上，然后夹持环松开，端菜机构复位，食客将烹饪板移出餐盒， 并将空餐盒放入到进菜口后，端菜机构再重复上述步骤将餐盒放置到桌上，计数器对空餐盒放入次数进行计数，在计数到总餐盒数量时完成送餐返回，如此循环。该种自动送餐机器人能够自动将餐盒送到指定餐桌，并且食客必须要将空餐盒放入到进菜口之后才能继续出菜。但该小车型机器人存在如下缺点：一次只能给一个餐桌送餐且必须将空餐盒放入到进菜口之后才能继续出菜，如此，食客只能吃完一个菜才能吃下一个菜，而不能同时品偿多个菜，不符合客户的用餐习惯，且食客用餐期间，机器人一直立在桌旁，机器人工作效率低。
发明内容
为克服现有技术存在的缺点，本发明的发明目的是提供一种能够给多位客人送餐的机器人，工作效率高。
为实现所述发明目的，本发明提供一种送餐机器人，其机器人包括控制系统和储菜箱体，所述储菜箱体通过多自由度机械臂设置于车体上，储菜箱体包括K×N个储菜小箱体，每个储菜小箱体包括开口和用于关闭开口的小箱体门，其特征在于，控制系统包括矩阵控制模块，机器人移动到订餐客户附近，矩阵控制模块接给矩阵开关单元发送控制信息以打开放置该餐桌客户所订食物品种的小箱体的门。
优选地，每个小箱体内设置有托盘驱动机构，所述托盘驱动机构包括电机、两个导轨、同步带轮、齿轮和齿条，其中，两个导轨对称设置在小箱体的下壁内侧两端，齿轮设置在小箱内下壁内侧，同步带轮连接于电机的输出轴，齿条固定于托盘下端，同步带轮和齿轮通过同步带连接，电机旋转时，同步带轮将经同步带动力传送给齿轮，齿轮带动齿条运动，从而托盘沿导轨移动。
优选地，所述小箱体门通过铰链与小箱体的下壁连接并安装有扭簧，托盘驱 动机构驱动托盘伸出时，将小箱体门打开，托盘缩回时，扭簧使小箱体门关闭小箱体的开口。
优选地，矩阵开关单元包括列选择器、行选择器和K×N个单元电路，每个单元电路包括第一电开关T1、第二电开关T2和电机驱动器，所述电机驱动器用于电机，并且给电机的三个绕组U,V和W供给驱动电流；电开关T1的第一端连接列选择器,第二端连于电机驱动器,列选择器通过第一电开关给电机驱动器提供位置指令，控制端连接于行选择器；电开关T2的第一端连接直流电源，第二端连于接电机驱动器,控制端连接于行选择器，直流电源通过第二电开关给电机驱动器提供直流电压。
优选地，在小箱体内的内的顶壁上设置有光发射装置，在托盘上设置有开口，开口内设置有光传感器探头，矩阵开关单元还包括第三电开关T3，第三电开关T3的控制端连接于行选择器，第一端连接于光传感器探头，第二端连接于检测器，光传感器探头将测量的光信息经第三电开关传送给器；电开关T2的第二端还连接于光发射装置和光传感器探头。
优选地，在托盘上设置有开口，开口内设置有称重传感器，矩阵开关单元还包括第三电开关T3，第三电开关T3的控制端连接于行选择器，第一端连接于称重传感器，第二端连接于检测器，称重传感器将测量的重量信息经第三电开关传送给器；电开关T2的第二端还连接于称重传感器。
优选地，处理单元包括外周环境识别模块，其根据图像处理单元提供的外周环境图像识别活动物体，其包括：从外周环境图像中选择连续m+1帧的图像数据；依次求出当前帧输入图像数据和与其相邻的上一帧的图像数据的差，生成m个差分图像；将m个差分图像相加并且取得差分图像的平均值，由此获得平均 差分图像；从平均差分图像获得活动物体矩形数据：从平均差分图像中获取所有运动区域，每个运动区域的左右横坐标为活动物体矩形数据的左右横坐标；每个运动区域的最小纵坐标被确定为活动物体顶部；从顶部向下检索图像以获得运动区域最大纵坐标，该最大纵坐标被确定为活动物体矩形的底部。
优选地，从活动物体矩形数据获到所有头部数据，并从头部数据中获取特征向量，求所获取的特征向量与就餐客户的配准图像的特征向量的欧拉距离，欧拉距离最小的人为所识别的订人。
优选地，每个小箱的门上设置有显示装置，用于显示信息，所述信息包括对应桌号、箱体所放置食物的品种。
与现有技术相比，本发明提供的送餐机器人可达到如下有益效果：(1)由于将所有食物放置在小箱体内，且设置了多层小箱体，每层又多个，因此，一次性可送多份菜，且卫生，不会被污染；(2)由于设置了托盘驱动机构，便于客户取放食物；(3)由于在小箱体的门上设置了显示屏，显示屏上可显示信息，便于客户在取食物之前确定信息；(4)由于设置了矩阵开关，只打开放置了客户所订食物的箱体，因此客户不会拿错食物。
附图说明
图1是本发明提供的送餐机器人组成示意图；
图2是本发明提供的送餐机人控制系统的组成框图；
图3是本发明提供的矩阵开关单元的电路图；
图4是本发明提供的矩阵开关单元变形例的电路图；
图5是本发明提供的电机驱动器的组成框图；
图6是本发明提供的托盘伺服机构在托盘推出时的结构示意图；
图7是本发明提供的托盘伺服机构在托盘推出时的截面示意图。
具体实施方式
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接，也可以是直接相连，也可以通过中间媒介间接相连，还可以是两个元件内部的连通，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
图1是本发明提供的送餐机器人组成示意图，如图1所示，本发明提供的送餐机器人包括车体1、储菜箱体2和控制系统，所述储菜箱体2通过多自由度机械臂3连于车体1上，用于控制储菜箱体的工作的控制系统及伺服机构设置于储菜箱体内，用于控制车体运行的伺服机构和控制多自由度机械臂的控制系统设置于车体上的控制箱内。车体下部设置有一对主动轮，其由车体运行的伺服机构驱动，车体的前方设置有万向轮，其为从动轮，在车体的前方和后方均设置有摄向机和雷达，设置在车体前方的雷达用于测量在机器人向前方运行时，其与障碍物的距离，设置在车体前方的摄像机用于拍摄处于机器人前方环境的图像；设置在车体后方的雷达用于测量在机器人后退时，其与障碍物的距离，设置在车体后 方的摄像机用于拍摄处于机器人前方环境的图像。储菜箱体包括K×N个储菜小箱体，每个储菜小箱体包括开口和用于关闭开口的门，每个小箱体内设置有托盘驱动机构。储菜箱体顶部的左侧和右侧分别设置有一对摄像头4，所述摄像头4分别用于拍摄机器人左方和右方的图像，并根据图像确定机器人和与客户的距离。
图2是本发明提供的送餐机人控制系统的组成框图，如图2所示，控制系统包括处理单元、存储单元、语音单元、车体伺服机构驱动单元、通信单元和定位单元，驱动单元包括车体伺服机构驱动单元、多自由度机械臂驱动单元和托盘伺服机构驱动单元。存储单元中存储有机器人移动程序、语音程序、图像程序、箱体控制程序，通信单元用于处理单元与上位机进行通信，处理单元通过通信单元接收上位机指令并调用存储中存储的机器人移动程序，规划车体运行路径，并给车体伺服机构驱动单元提供行迹指令，以给用于驱动车体运行的伺服电机提供指令，根据指令工作；语音单元包括语音输入单元和语音输出单元，语音输入单元用于将接收的语音信息转换为电信息，处理单元根据接收的语音电信息调用语音程序，对语音进行识别，而后调用存储单元中存储的应答语言，而后进行语音输出，以通过音输出单元将电信息转换为声音信息，以与用户进行交互。定位单元用于确定机器人的位置。
所述控制系统还包括矩阵开关单元和设置在每个托盘下的称重传感器或者光接收探头，定位单元测量到车体运行到设定位置时，处理单元调用存储单元中的语音程序，根据运行程序给语音单元发送发音指令，语音单元发音，并处理用户的回应信息，当回应信息与上位机发送来的用户定餐信息一致时，处理单元给矩阵开关单元发送信息，使放置该用户所定食品品种的小箱体的门依次打开，并推出托盘；处理单元接收到所打开的小箱内所有称重传感器传送来的重量信息减 少到设定值以下时，再次给语音单元发送发音指令，并使托盘收回，使门关闭。
根据本发明一个实施例，所述控制系统还包括多自由度机械臂驱动单元，其用于给驱动机械臂动作的伺服电机提供位置指令，使多个机械臂协同工作，从而使机械臂及其所携带的储菜箱体上下、左右、前后多自由度移动。
根据本发明一个实施例，所述控制系统还包括障碍识别单元，其根据设置在车体前后方的雷达和/或摄像机和设置箱体左右侧的摄像机提供的信息计算与障碍物的距离，从而调整与车体的运行轨迹，机械臂的动作。
根据本发明一个实施例，所述控制系统还包括触摸显示屏，其可设置有储菜箱体上，也可以设置在车体上，用于用户输入指令，也用于显示信息，还用于客户输入信息。
下面说明障碍识别单元的工作过程，视频单元用于对两个摄像机提供的外周环境的图像信息进行编码处理并提供给处理单元，所述处理单元包括外周环境识别模块和判定模块，所述外周环境识别模块根据视频单元提供的外周环境图像信息来识别外周环境的状态，并将外周环境状态输出到存储单元和判定模块；所述判定模块比较外周环境历史状态信息和当前状态信息，当历史状态信息和当前状态信息一致时，处理单元给机器人的车体伺服机构发送信息，使机器人根据规划的路线、动作运行；当历史状态信息和当前状态信息不一致时，修正规划的路线、动作，使机器人根据修正后的路线、动作运行。外周环境识别模块根据视频单元提供的两个摄像机输入的外周环境图像判定机器人与外周环境中障碍物的距离。所述距离通过已知的两图像定位原理来确定。
根据本发明一个实施例，就餐客户点订餐成功后，对其人脸进行识别，其面部图像作为配准图存储于后台服务器以供机器人后续进行配准，后台服务器发送 给机器人。外周环境识别模块根据图像处理单元提供的外周环境图像识别活动物体，其包括：从外周环境图像中选择连续m+1帧的图像数据；依次求出当前帧输入图像数据和与其相邻的上一帧的图像数据的差，生成m个差分图像；将m个差分图像相加并且取得差分图像的平均值，由此获得平均差分图像；从平均差分图像获得活动物体矩形数据：从平均差分图像中获取所有运动区域，每个运动区域的左右横坐标为活动物体矩形数据的左右横坐标；每个运动区域的最小纵坐标被确定为活动物体顶部；从顶部向下检索图像以获得运动区域最大纵坐标，该最大纵坐标被确定为活动物体矩形的底部。从活动物体矩形数据获到所有头部数据，并从头部数据中获取特征向量，求所获取的特征向量与就餐客户的配准图像的特征向量的欧拉距离，欧拉距离最小的人为所识别的订餐人。
外周环境识别模块根据图像处理单元提供的两个图像传感器获取的图像信息通过图像定位确定储菜箱体与就餐客户的距离，根据该距离控制多自由度机械臂动作。
根据本发明一个实施例，外周环境识别模块还根据图像两个摄像机提供的图像判断所处环境的亮度信息，如果所处环境的亮度低于设定值时，给处理单元发送信息，处理单元给照明单元发送信息，照明单元给使灯打开，以对周围环境进行照明，从而能更加准确地通过图像定位来确定机器人与障碍物的距离。
图3是本发明提供的矩阵开关单元的电路图。如图3所示，本发明提供的矩阵开关单元包括列选择器、行选择器和K×N个单元控制电路，列选择器用于给单元控制电路提供的电机M位置指令信号；行选择器给每个单元控制提供选择信号。如图4所示，每个单元控制电路包括第一电开关T1、第二电开关T2、伺服电机M和电机驱动器100，所述电机驱动器驱动伺服电机M，并且给电机M 的三个绕组U,V和W供给驱动电流。本发明中，电开关T1的第一端连接列选择器300的列线N1,第二端连于接位置控制部105,控制端连接于行选择器200的一条行线K1；电开关T2的第一端连接直流电源Ecc，第二端连于接电机驱动器100,控制端连接于行选择器200的一条行线K1。
根据本发明一个实施例，在托盘下设置有称重传感器500，单元电路还包括第三电开关T3，第三电开关T3的控制端连接于行选择器200的一条行线，第一端连接于称重传感器500，第二端连接于检测器400，称重传感器400将测量的重量信息经第三电开关T3传送给检测器；电开关T2的第二端还连接于称重传感器500，用于给称重传感器提供电能。
图4是本发明提供的矩阵开关单元变形例的电路图，如图4所示，根据本发明一个变形例，在小箱体内的内的顶壁上设置有光发射装置，在托盘上设置有开口，开口内设置有光传感器探头(光接收探头)，矩阵开关单元还包括第三电开关T3，第三电开关T3的控制端连接于行选择器200的一条行线K1，第一端连接于光传感器探头，第二端连接于检测器400，光传感器探头将测量的光信息经第三电开T3传送给检测器；电开关T2的第二端还连接于光发射装置和光传感器探头，电源经电开关T2给光发射装置和光传感器探头提供电能。
根据本发明一个实施例，每个小箱体的门上还设置有显示装置，用于显示信息，所述信息包括对应客户头像、箱体所放置食物的品种。
图5是本发明提供的电机驱动器的电路图。如图5所示，电机驱动器100包括向伺服电机M提供用于驱动伺服电机M的驱动电流的PWM逆变器101和检测三个绕组驱动电流值的电流检测器102a、102b、102c。
电机驱动器100还包括检测伺服电机M的转子旋转角度的位置检测器112 和将在位置检测器112中检测的伺服电机M的位置向位置控制部105反馈的位置反馈电路113。
电机驱动器100还包括输入位置指令和电机M位置信息的位置控制部105和输入位置控制部105输出速度指令和差分器110提供的电机速度指令的速度控制部106。电机驱动器100还包括为了使托盘支架移动到所希望的位置，接收决定控制伺服电机M的驱动速度的驱动电流的电流指令而通过各个电流反馈电路103从电流检测器输入反馈的驱动电流值并根据该驱动电流值利用数字逻辑方式修正电流指令从而将该修正后的电流指令向PWM逆变器101输出的逻辑运算部。
逻辑运算部具有向伺服电机M输入并保持电流指令的输入寄存器107、输入并保持从电流检测器102反馈的伺服电机M的驱动电流值的电流反馈寄存器111和修正电流指令使输入寄存器107的电流指令与反馈寄存器111的驱动电流值相等的电流控制部108。
电机驱动器100还包括PWM发生器109，其利用脉冲幅度调制方式将电流控制部108的信号调制为脉冲幅度调制信号，向PWM逆变器101输出。
下面，说明本发明实施例的电机驱动器100和伺服电机M的工作过程。
位置控制部105从位置检测器112接收控制对象的位置，根据该位置反馈与位置指令之差输出速度指令，用以将控制对象控制到目的位置。另外，位置控制部105根据位置检测器112的位置反馈计算并输出伺服电机M的电角。
速度控制部106利用从位置控制部105输入速度指令并从差分器接收反馈速度信息，根据该反馈速度信息与位置控制部105的速度指令之差输出电流指令，用以将控制对象控制为目的速度。电流指令是向伺服电机M的提供的驱动电流 的数据。除了电流指令外，速度控制部106也输出伺服电机M的电角的信息。电流指令和电角的信息由逻辑运算部接收，保存在指定的寄存区域。
电流检测器102检测从PWM逆变器101向伺服电机M供给的驱动电流值。电流检测器102检测的驱动电流值由反馈电路102向逻辑运算部反馈。这时，驱动电流值保持在反馈寄存器111。本发明中，输入寄存器107和反馈寄存器111可以共用一个寄存器，可将电流指令和电角的信息保存于寄存器的第一存储区域，将反馈电流值存储于寄存器的第二存储区域。
电流控制部108进行将输入寄存器107的电流指令与电流反馈寄存器111的驱动电流值比较的运算，利用电流反馈信息修正电流指令并提供给PWM发生器109以产生脉宽调制信号，PWM101根据脉宽调制信号将直流电压转换为交流电压并提供给电机M的三个绕组。电流控制部108同样也可以计算利用输入寄存器107的电角进行修正的电流指令。
图6是本发明提供的托盘伺服机构在托盘推出时的结构示意图；图7是本发明提供的托盘伺服机构在在托盘推出时的截面示意图。如图6-7所示，每个小箱体21内设置有托盘驱动机构，所述托盘驱动机构包括电机22、两个导轨23A和23B、同步带轮24、齿轮25和齿条26，其中，两个导轨23A和23B对称设置在小箱体的下壁内侧两端，沿小箱体的前后延伸，齿轮25设置在小箱内21下壁内侧离门口近的位置，同步带轮24连接于电机22的输出轴，齿条26固定于托盘27下端，同步带轮24和齿轮25通过同步带28连接，电机22旋转时，同步带轮24经同步带28将动力传送给齿轮26，齿轮26与齿条26啮合,齿条26带动托盘27下的4个滑块32沿导轨23A和23B移动。优选地，所述小箱体门31通过铰链29与小箱体的下壁连接并安装有扭簧30，托盘驱动机构驱动托盘27伸 出时，将小箱体门31打开，托盘27缩回时，扭簧30使小箱体关闭小箱体21的开口。
本发明提供的机器人工作过程如下：当机器人运行到规划或已识别的客户附近，处理单元给语音单元发送指令，语音单元模拟人向客户打招呼，如“您好，您点了某某食品吗？”如果客户回答，则语音单元识别客户的声音信息，如果识别的信息是肯定的信息，则处理单元给矩阵开关单元发送指令，矩阵开关单元给放置该食品的单元电路发送指令，托盘伺服机构将托盘推出，当用户将托盘上的容纳了该食品的容器取走后，称重传感器测量到重量信息减小到设定值以下，则检测器将信息发送给处理单元，处理单元再次给矩阵开关单元发送指令，托盘伺服机构将托拖盘收回。而后，处理单元比较订餐信息与小箱体的放置食品的信息，如果小箱体还存储了该客户订制的食品，则重复上述过程，直到客户取走了小箱体内其所有定制的食品，如果客户所订制的食品还没有送完，则处理单元给语音单元发送指令，语音单元模拟人向客户打招呼，发出礼貌用语，如“您好，请慢用，其它的食品还请您稍等”，如果客户所订制的食品一次性送完，则处理单元给语音单元发送指令，语音单元模拟人向客户打招呼，如“您好，请慢用”等礼貌用语，而后处理单元给车体运行伺服机构发送指令，重复上述过程，机器人继续给其它客户送餐。如果语音单元识别客户回答信息是否定的信息，处理单元会比较客户的订餐信息与小箱体的储餐信息，如果确定确实客户没有订制某食品，则处理单元会给车体伺服机构发送指令，机器人给其它客户送餐，并向客户发送道歉语音。
以上所述仅对本发明的实施方式做了详细的说明，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干 改进和变型，这些改进和变型也应视为本发明的保护范围。

Claims (9)

  1. 一种送餐机器人，其机器人包括控制系统和储菜箱体，所述储菜箱体通过多自由度机械臂设置于车体上，储菜箱体包括K×N个储菜小箱体，每个储菜小箱体包括开口和用于关闭开口的小箱体门，其特征在于，控制系统包括矩阵控制模块，机器人移动到订餐客户附近，矩阵控制模块接给矩阵开关单元发送控制信息以打开放置该餐桌客户所订食物品种的小箱体的门。
  2. 根据权利要求1所述的送餐机器人，其特征在于，每个小箱体内设置有托盘驱动机构，所述托盘驱动机构包括电机、两个导轨、同步带轮、齿轮和齿条，其中，两个导轨对称设置在小箱体的下壁内两侧，齿轮设置在小箱内下壁内侧，同步带轮连接于电机的输出轴，齿条固定于托盘下端，同步带轮和齿轮通过同步带连接，电机旋转时，同步带轮将经同步带动力传送给齿轮，齿轮带动齿条运动，从而托盘沿导轨移动。
  3. 根据权利要求2所述的送餐机器人，其特征在于，所述小箱体门通过铰链与小箱体的下壁连接并安装有扭簧，托盘驱动机构驱动托盘伸出时，将小箱体门打开，托盘缩回时，扭簧使小箱体门关闭小箱体的开口。
  4. 根据权利要求3所述的送餐机器人，其特征在于，矩阵开关单元包括列选择器、行选择器和K×N个单元电路，每个单元电路包括第一电开关T1、第二电开关T2和电机驱动器，所述电机驱动器用于电机，并且给电机的三个绕组U,V和W供给驱动电流；电开关T1的第一端连接列选择器,第二端连于电机驱动器,列选择器通过第一电开关给电机驱动器提供位置指令，控制端连接于行选择器；电开关T2的第一端连接直流电源，第二端连于接电机驱动器,控制端连接于行选择器，直流电源通过第二电开关给电机驱动器提供直流电 压。
  5. 根据权利要求4所述的送餐机器人，其特征在于，在小箱体内的内的顶壁上设置有光发射装置，在托盘上设置有开口，开口内设置有光传感器探头，矩阵开关单元还包括第三电开关T3，第三电开关T3的控制端连接于行选择器，第一端连接于光传感器探头，第二端连接于检测器，光传感器探头将测量的光信息经第三电开关传送给器；电开关T2的第二端还连接于光发射装置和光传感器探头。
  6. 根据权利要求4所述的送餐机器人，其特征在于，在托盘下设置有称重传感器，矩阵开关单元还包括第三电开关T3，第三电开关T3的控制端连接于行选择器，第一端连接于称重传感器，第二端连接于检测器，称重传感器将测量的重量信息经第三电开关传送给器；电开关T2的第二端还连接于称重传感器。
  7. 根据权利要求1所述的送餐机器人，其特征在于，处理单元包括外周环境识别模块，其根据图像处理单元提供的外周环境图像识别活动物体，其包括：从外周环境图像中选择连续m+1帧的图像数据；依次求出当前帧输入图像数据和与其相邻的上一帧的图像数据的差，生成m个差分图像；将m个差分图像相加并且取得差分图像的平均值，由此获得平均差分图像；从平均差分图像获得活动物体矩形数据：从平均差分图像中获取所有运动区域，每个运动区域的左右横坐标为活动物体矩形数据的左右横坐标；每个运动区域的最小纵坐标被确定为活动物体顶部；从顶部向下检索图像以获得运动区域最大纵坐标，该最大纵坐标被确定为活动物体矩形的底部。
  8. 根据权利要求7所述的送餐机器人，其特征在于，从活动物体矩形数据获到 所有头部数据，并从头部数据中获取特征向量，求所获取的特征向量与就餐客户的配准图像的特征向量的欧拉距离，欧拉距离最小的人为所识别的订餐客户。
  9. 根据权利要求1-8任一所述的送餐机器人，其特征在于，每个小箱的门上设置有显示装置，用于显示信息，所述信息包括对应客户头像、箱体所放置食物的品种。
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