CN107030710A - Meal delivery robot and Intelligent cafeteria applied to Intelligent cafeteria - Google Patents
Meal delivery robot and Intelligent cafeteria applied to Intelligent cafeteria Download PDFInfo
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- CN107030710A CN107030710A CN201710261850.0A CN201710261850A CN107030710A CN 107030710 A CN107030710 A CN 107030710A CN 201710261850 A CN201710261850 A CN 201710261850A CN 107030710 A CN107030710 A CN 107030710A
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- 235000012054 meals Nutrition 0.000 title claims abstract description 137
- 235000013305 food Nutrition 0.000 claims abstract description 94
- 238000011084 recovery Methods 0.000 claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 20
- 230000004888 barrier function Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000036651 mood Effects 0.000 abstract description 7
- 230000008901 benefit Effects 0.000 description 7
- 230000004044 response Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 235000013311 vegetables Nutrition 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 239000004927 clay Substances 0.000 description 1
- 238000010411 cooking Methods 0.000 description 1
- 235000005911 diet Nutrition 0.000 description 1
- 230000037213 diet Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 230000000007 visual effect 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
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G23/00—Other table equipment
- A47G23/08—Food-conveying devices for tables; Movable or rotary food-serving devices
-
- 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/12—Hotels or restaurants
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- Business, Economics & Management (AREA)
- Tourism & Hospitality (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Health & Medical Sciences (AREA)
- Marketing (AREA)
- Primary Health Care (AREA)
- Strategic Management (AREA)
- Physics & Mathematics (AREA)
- General Business, Economics & Management (AREA)
- General Physics & Mathematics (AREA)
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- Theoretical Computer Science (AREA)
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- Health & Medical Sciences (AREA)
- Table Equipment (AREA)
- Manipulator (AREA)
Abstract
This application discloses the meal delivery robot and Intelligent cafeteria applied to Intelligent cafeteria.The meal delivery robot includes robot body, the control device on robot body, and placing device, obstacle detecting device and the speech prompting device electrically connected on robot body and with control device.The Intelligent cafeteria, including the area for preparing for a meal, dining area, delivery area, the meal delivery robot on delivery area, for order meal ordering system, for the system of preparing for a meal prepared for a meal, the drive mechanism, the recovery system for reclaiming tableware that are connected on delivery area and with meal delivery robot.The application, which is not only reduced, employs table steward, reduce cost of labor, and collided when can also avoid having dinner, and then improve the carefree mood of having dinner of eater, add favor degree of the eater to dining room, meanwhile, the meal delivery robot instead of the staff of food delivery, and then can reduce the operating cost in dining room to greatest extent.
Description
【Technical field】
The application is related to cafeteria's technical field, more particularly to a kind of meal delivery robot applied to Intelligent cafeteria
And Intelligent cafeteria.
【Background technology】
Growing with urbanization and science and technology, the life style of resident also can slowly change therewith, and with resident
The continuous improvement of income, and consumption idea change, increasing people, which have selected, to eat out, for example, busy
Nervous student race of working clan, school work etc. tends to go out to solve the problems, such as diet.
But, existing dining room is enables eater's happiness easily to have dinner, and most of dining room provides attendant to have dinner
Person provides and made a reservation and room service, and then service staff needs to before client's table to receive diner's oral account and made a reservation, Ran Houzai
Send information to the personnel of preparing for a meal to be prepared for a meal, after the completion of preparing for a meal, then by service staff's food delivery, it is therefore desirable to which configuration is a large amount of
Staff's food delivery, and then result in higher cost of labor；Meanwhile, when having dinner peak, even more easily cause person to person
Between collision, influence eater mood of having dinner, even injure health of human body.
【The content of the invention】
The application technical problem to be solved is to provide a kind of meal delivery robot applied to Intelligent cafeteria.It is not only
Automaticity is high, food delivery speed is fast, and is also avoided that the danger collided, continues and automatic food delivery can be significantly increased
Security, and then the carefree mood of having dinner of eater can be improved to greatest extent, increase favor of the eater to dining room
Degree；Meanwhile, the operating cost in dining room can be also greatly reduced.
In order to solve the above technical problems, what the application was realized by following technical scheme：
Applied to the meal delivery robot of Intelligent cafeteria, including robot body, on the robot body
Control device, and placing device, the obstacle detection dress electrically connected on the robot body and with the control device
Put and speech prompting device, the obstacle detecting device to detect the meal delivery robot direction of advance whether there is barrier,
When there is barrier, the obstacle detecting device sends obstacle detection signal, the then control to the control device
Device sends alerting signal according to obstacle detection signal to the speech prompting device, and then the speech prompting device is received
Alerting signal and send prompting voice.
The meal delivery robot as described above for being applied to Intelligent cafeteria, the meal delivery robot also includes being located at the machine
Lowering or hoisting gear on device human body, the lowering or hoisting gear is located at the top of the placing device and is electrically connected with the control device
Connect；
The placing device includes：
Placing support, it is connected with the clutch end of the lowering or hoisting gear；
Placing driving part, it is on the placing support；
Placing transmission mechanism, it include located at described placing support one end and with the placing driving part clutch end
The driving shaft that is connected, the driven shaft located at the be set forth in placing support other end and be sheathed on the driving shaft and it is described from
Placing conveyer belt on moving axis；
When the placing driving part drives the driving shaft to rotate, the driving shaft drive the placing conveyer belt and
The driven shaft is rotated.
The meal delivery robot as described above for being applied to Intelligent cafeteria, the meal delivery robot also includes being located at the machine
The position signal acquisition device and food delivery information acquisition device electrically connected on device human body and with the control device, the position signalling
Collector is used for the center location information for gathering the robot body and sends the robot body to the control device
Center signal, the food delivery information acquisition device is used to gather food delivery information on tableware and sent to the control device
Food delivery signal, and then the control device then controls the meal delivery robot to enter by center signal and food delivery signal
Row food delivery works.
The meal delivery robot as described above for being applied to Intelligent cafeteria, the position signal acquisition device is position sensing
Device.
The meal delivery robot as described above for being applied to Intelligent cafeteria, the food delivery information acquisition device is visual sensing
Device.
Compared with prior art, the application has the following advantages applied to the meal delivery robot of Intelligent cafeteria：
1st, the meal delivery robot is engaged by the obstacle detecting device with the speech prompting device, to remind just
Meal person takes away the barrier being positioned in the meal delivery robot direction of advance, smooth, the saving so that meal delivery robot is passed through
The food delivery time, food delivery efficiency is improved, and be also avoided that and collide, continued and the safety of automatic food delivery can be significantly increased
Property, and then the carefree mood of having dinner of eater can be improved to greatest extent, increase favor degree of the eater to dining room；Together
When, the meal delivery robot instead of the staff of food delivery, and then can reduce the operating cost in dining room to greatest extent；
2nd, the meal delivery robot is engaged by the lowering or hoisting gear with the placing device, and a meal is being sent to realize
When, the placing device is risen by the lowering or hoisting gear, then the placing device crosses institute's food delivery tool, so that described send
Robot continuation of eating transmits next meal, and then further embodies the height intellectuality of the application, significantly embodies
The practicality of the application.
Another technical problem to be solved of the application is to provide a kind of Intelligent cafeteria.It can not only be greatly reduced
Table steward is employed, so that cost of labor is greatly lowered, and is collided when can also be effectively prevented from having dinner, Jin Erti
The carefree mood of having dinner of high eater, increases favor degree of the eater to dining room.
In order to solve the above technical problems, what the application was realized by following technical scheme：
Intelligent cafeteria, including meal delivery robot as described above.
Intelligent cafeteria as described above, in addition to the area for preparing for a meal, dining area, area and described have dinner through described prepare for a meal
Delivery area between area, for order meal ordering system, located at it is described prepare for a meal in area and with the meal ordering system mutually network it is standby
Meal system, the drive component being connected on the delivery area and with the meal delivery robot, the recovery for reclaiming tableware
System, the meal ordering system sends signal of preparing for a meal, the system of preparing for a meal according to the information of ordering of eater to the system of preparing for a meal
Reception, which is prepared for a meal, signal and according to signal of preparing for a meal prepare for a meal work, when being finished wait preparing for a meal, and the system of preparing for a meal is to the feeder
Device people sends pick-up signal, so that the meal delivery robot receives pick-up signal and controls the drive component to be driven to institute
Carrying tableware in the area for preparing for a meal is stated, and then is driven again through the drive component and carries out food delivery work along the bearing of trend of the delivery area
Make.
Intelligent cafeteria as described above, the delivery area includes：
Head end framework, it prepares for a meal in area located at described；
End frame, it is in the dining area；
Central frame, it is removably connected between the head end framework and the end frame；
The head end framework and the top of the central frame and the end frame are equipped with guide part, the guide part
It is adapted with the lower end of the robot body.
Cavity is offered on Intelligent cafeteria as described above, the delivery area；
The tableware recovery system includes：
Conveying device is reclaimed, it is located in the cavity, to convey tableware；
Door is reclaimed, its bearing of trend along the delivery area is arranged on the delivery area；
Detection control apparatus, it is arranged on the cavity inner wall, and is divided along the direction of motion of the recovery conveying device
The front and rear sides of the recovery door are distributed in, and are electrically connected with the recovery door, to have detected whether that tableware is reclaimed by described
Door, and then control whether to unlock the recovery door.
Intelligent cafeteria as described above, the tableware recovery system also includes reminding module, and the reminding module is set
Electrically connect in the outside of the recovery door and with the detection control apparatus, to point out whether eater can open the recovery
Door.
Compared with prior art, the application Intelligent cafeteria has the following advantages：
1st, the Intelligent cafeteria realizes automatic food delivery by the meal delivery robot, and when eater's dining is finished,
Self-service to put tableware to the tableware recovery system, then tableware is recycled to the area for preparing for a meal by the tableware recovery system
It is interior, reach to greatly reduce and employed table steward, so that cost of labor is greatly lowered, and can also be effectively
Collided when avoiding having dinner, and then improve the carefree mood of having dinner of eater, increase favor degree of the eater to dining room；
2nd, the Intelligent cafeteria transports tableware to the recovery conveying device by the detection control apparatus and carried out
Monitoring, and then control whether to unlock the recovery door, then coordinate with the reminding module to point out whether eater can play back
Tableware, reaching prevents from repeating tableware to be positioned over the same position reclaimed in conveying device, upsets, breaks up so as to avoid
Tableware is put, meanwhile, enclosed recovery tableware structure can also avoid child with reclaiming tableware, the recovery conveying device
Contact, prevents injury, improves security, in addition, enclosed recovery tableware structure also can greatly improve the health cup in dining room
Border, and then improve the comfort level in dining room.
【Brief description of the drawings】
In order to illustrate more clearly of the technical scheme in the embodiment of the present application, make required in being described below to embodiment
Accompanying drawing is briefly described.
Fig. 1 is the stereogram for the meal delivery robot that the embodiment of the present application is applied to Intelligent cafeteria.
Fig. 2 is the exploded view for the meal delivery robot exploded that the embodiment of the present application is applied to Intelligent cafeteria.
Fig. 3 is that the embodiment of the present application is applied to placing device exploded described in the meal delivery robot of Intelligent cafeteria
Exploded view.
Fig. 4 is the stereogram of the embodiment of the present application Intelligent cafeteria.
Fig. 5 is the partial perspective view of the embodiment of the present application Intelligent cafeteria.
Fig. 6 is the stereogram of head end framework described in the embodiment of the present application Intelligent cafeteria.
Fig. 7 is the stereogram of central frame described in the embodiment of the present application Intelligent cafeteria.
Fig. 8 is the partial perspective view after central frame described in the embodiment of the present application Intelligent cafeteria is split.
Fig. 9 is Fig. 4 partial enlarged view I.
Figure 10 is Fig. 5 partial enlarged view II.
Figure 11 is Fig. 8 partial enlarged view III.
【Embodiment】
As shown in Figure 1 to 11, the meal delivery robot applied to Intelligent cafeteria, including robot body 411, control
Device, placing device 412, obstacle detecting device, speech prompting device, lowering or hoisting gear 413, position signal acquisition device and food delivery letter
Cease collector.
Specifically, the control device is on the robot body 411.The placing device 412, obstacle detection dress
Put with speech prompting device on the robot body 411, and electrically connected with the control device.The obstacle inspection
It is ultrasonic sensor or infrared sensor to survey device, to detect that the meal delivery robot direction of advance whether there is barrier,
When there is barrier, the obstacle detecting device sends obstacle detection signal, the then control to the control device
Device sends alerting signal according to obstacle detection signal to the speech prompting device, and the alerting signal is the control voice
Alarm set sends the control instruction for reminding voice, and then the speech prompting device receives alerting signal and sends reminding language
Sound.It the advantage is that and be engaged by the obstacle detecting device with the speech prompting device, to remind eater to take away
The barrier in the meal delivery robot direction of advance is positioned over, so that the meal delivery robot is passed through smooth, the saving food delivery time,
Food delivery efficiency is improved, and is also avoided that and collides, continues and the security of automatic food delivery can be significantly increased, and then can be most
The carefree mood of having dinner of eater is improved to limits, increases favor degree of the eater to dining room；Meanwhile, the food delivery machine
People instead of the staff of food delivery, and then can reduce the operating cost in dining room to greatest extent.
The lowering or hoisting gear 413 on the robot body 411, positioned at the top of the placing device 412 and with
The control device electrical connection.The quantity of the lowering or hoisting gear 413 and the placing device 412 is both preferably 2, and is respectively positioned on
The both sides of the robot body 411.Its object is to which more food delivery work can be completed, while also can further improve
Food delivery efficiency.
The placing device 412 includes placing support 4121, placing driving part 4122 and placing transmission mechanism 4123.Institute
The clutch end that placing support 4121 is stated with the lowering or hoisting gear 413 is connected.The placing driving part 4122 is located at institute
State on placing support 4121.The placing transmission mechanism 4123 includes driving shaft 41231, driven shaft 41232 and placing conveyer belt
41233.The driving shaft 41231 is located on described one end of placing support 4121, and dynamic with the placing driving part 4122
Power output end is connected.The driven shaft 41232 is located at and is set forth on the other end of placing support 4121.The placing transmission
Band 41233 is sheathed on the driving shaft 41231 and the driven shaft 41232.When the placing driving part 4122 drives institute
When stating the rotation of driving shaft 41231, the driving shaft 41231 drives 41232 turns of the placing conveyer belt 41233 and the driven shaft
It is dynamic, and then tableware is delivered on the delivery area 3, until tableware departs from the placing conveyer belt 41233, the then control
Device controls the lowering or hoisting gear 413 to rise the placing device 412, and then completes first time food delivery work.Sent when for the second time
Seats in a restaurant is put at the rear of first time food delivery position, and the placing device 412 crosses first time institute's food delivery tool, and then makes described send
Meal robot 41 can continue to second of food delivery work.It the advantage is that the height for having embodied the application is intelligent, also enter one
The food delivery time is saved to step, food delivery efficiency is improved, and then improve the practicality of the application to greatest extent.
The position signal acquisition device and food delivery information acquisition device on the robot body 411 and with the control
Device electrical connection processed.The position signal acquisition device is preferably position sensor, for gathering in the robot body 411
Heart positional information and the center signal that the robot body 411 is sent to the control device, the center signal
For the center position coordinates of the robot body 411.The food delivery information acquisition device is preferably vision sensor, for gathering
The food delivery information on Quick Response Code or bar-code label that is attached on tableware simultaneously sends food delivery signal, the food delivery to the control device
Signal is the position coordinates of dining table of having dinner.The control device then controls this to send by center signal and food delivery signal
Meal robot carries out food delivery work.It the advantage is that by the position signal acquisition device and the food delivery information acquisition device and institute
State control device to be engaged, not only can rapidly, accurately complete food delivery work, and when greatly can also save food delivery
Between, food delivery efficiency is improved, while being also to further increase restaurant service level.
A kind of Intelligent cafeteria mentioned by the application, including meal delivery robot as described above, and also include preparing for a meal
Area 1, dining area 2, through the delivery area 3 prepared for a meal between area and the dining area, for order meal ordering system, be located at
The system of preparing for a meal prepared for a meal in area and mutually networked with the meal ordering system, on the delivery area 3 and with the feeder
The drive component that device people is connected and the tableware recovery system 5 for reclaiming tableware.The meal delivery robot is located at the conveying
Mutually networked in area and with the system of preparing for a meal.
The delivery area 3 includes head end framework 31, central frame 32 and end frame 33.The head end framework 31 is located at institute
State and prepare for a meal in area 1.The end frame 33 is in the dining area 2.The central frame 32 is removably connected to the head
Between end frame 31 and the end frame 33, its quantity can be multiple.Its object is to the convenient different area according to dining room
To set the delivery area 3, in addition, being also to be easy disassembly, so that applicability is improved, while dismounting workman can also be reduced
Labor intensity.
The head end framework 31 and the top of the central frame 32 and the end frame 33 are equipped with guide part 300.
The guide part 300 is adapted with the lower end of the robot body 411, and its object is to improve the meal delivery robot food delivery
During stability.
The system of preparing for a meal includes label output device and display screen of preparing for a meal, and the label output device is used for basis and prepared for a meal
Signal generation Quick Response Code or bar-code label, the Quick Response Code or bar-code label can be attached on tableware and subsidiary food delivery information.It is described
Display screen of preparing for a meal is used for according to needed for being shown signal of preparing for a meal vegetable of preparing for a meal, and auxiliary guides employee's operation.It the advantage is that each
Quick Response Code or bar code represent every a vegetable, can not only reach one-to-one effect, and can also improve the accurate of food delivery
Rate, complains, and then substantially increase the service level in dining room so as to avoid eater because sending wrong eat.
The drive component includes food delivery driving part and food delivery transmission mechanism.The food delivery driving part is located at the head
On end frame 31.The food delivery transmission mechanism includes the food delivery main belt being connected on the food delivery driving part clutch end
Wheel, the food delivery driven pulley in the end frame 33 and it is sheathed on the food delivery driving pulley and the food delivery driven belt
Food delivery conveyer belt on wheel.The food delivery conveyer belt is timing belt, its inner side and the food delivery driving pulley and the food delivery from
Movable belt pulley is meshed, and its outside is connected with the lower end of the robot body 411, when food delivery driving part driving is described
When food delivery driving pulley is rotated, the food delivery driving pulley drives the food delivery conveyer belt and the food delivery driven pulley to rotate,
And then drive the meal delivery robot to be moved back and forth along the guide part 300.Its object is to drive the meal delivery robot edge
The guide part 300 is moved back and forth, while also enabling the meal delivery robot reach the purpose of high precisely food delivery.
Cavity 301 is offered on the delivery area 3.The tableware recovery system 5 includes reclaiming conveying device 511, reclaimed
Door 512 and detection control apparatus 513.The recovery conveying device 511 is located in the cavity 301, to convey tableware.It is described
Reclaim bearing of trend of the door 512 along the delivery area 3 to be arranged on the delivery area 3, positioned at the side of delivery area 3 or two
Side, and its quantity can have multiple.The detection control apparatus 513 is arranged on the inwall of cavity 301, and is reclaimed along described
The direction of motion of conveying device 511 is distributed in the front and rear sides of the recovery door 512, and is electrically connected with the recovery door 512, uses
To have detected whether tableware by the recovery door 512, and then control whether to unlock the recovery door 512.The detection control
Device 513 is infrared sensing switch, and it is 90 °~120 ° that it, which senses angle,.It the advantage is that by the detection control apparatus
513 pairs of recovery conveying devices 511 are transported tableware and are monitored, and control whether to be unlocked the recovery door 512,
To prevent from repeating tableware to be positioned over the same position reclaimed in conveying device 511, upset so as to avoid, break up meal
What is had puts, meanwhile, enclosed recovery tableware structure can also avoid child with reclaiming tableware, the recovery conveying device
511 contacts, prevent injury, improve security, in addition, enclosed recovery tableware structure also can greatly improve the health in dining room
Environment, and then improve the comfort level in dining room.
The tableware recovery system 5 also includes the reminding module 514 on the recovery door 512, the reminding module
514 electrically connect with the detection control apparatus 513, to point out whether eater can open the recovery door 512.The prompting
Module 514 is display screen.Whether its purpose can play back to tableware in the tableware recovery system 5 in prompting eater.
The operation principle of the Intelligent cafeteria：
The meal ordering system and Internet connection, and then eater can be ordered by terminal devices such as mobile phones on the net
Meal, and waited and having dinner according to indicated dining table of having dinner after making a reservation.Meanwhile, the meal ordering system sends standby to the system of preparing for a meal
Eat signal, the signal of preparing for a meal orders vegetable by eater, for example, chop steamed rice in clay pot is a, cooking portion etc., it is then described standby
Meal system, which is received, prepares for a meal signal and carries out work of preparing for a meal according to signal of preparing for a meal, and the work of preparing for a meal can be by being accomplished manually.Wait to prepare for a meal
When finishing, the system of preparing for a meal sends pick-up signal to the control device in the meal delivery robot.The pick-up is believed
Number to control the meal delivery robot to be moved to the control instruction in the area 1 for preparing for a meal, the control device receive pick-up signal and
Control the food delivery driving part to rotate, so that the food delivery driving part drives the food delivery conveyer belt operating, and then drive
The meal delivery robot is moved to carrying tableware in the area 1 for preparing for a meal.
Then, the position signal acquisition device gathers the center location information of the robot body 411 and to the control
Device processed sends the center signal of the robot body 411.The food delivery information acquisition device collection is located at two on tableware
Tie up code or food delivery information on bar-code label and send food delivery signal to the control device.The control device passes through centre bit
Confidence number and food delivery signal, then control bearing of trend of the meal delivery robot 41 along the delivery area 3 to carry out food delivery work.
When there is barrier on the delivery area 3, the obstacle detecting device sends barrier to the control device
Signal is detected, then the control device sends alerting signal according to obstacle detection signal to the speech prompting device, from
And the speech prompting device receives alerting signal and sends prompting voice, the voice reminder is positioned over to remind eater to take away
Barrier on the delivery area 3, and then the meal delivery robot continues to move to, until food delivery position is reached, it is described therewith to carry
Device 412 is put under the driving of the lowering or hoisting gear 413, is dropped on the delivery area 3, is then delivered to tableware described defeated
Send in area 3, then the lowering or hoisting gear 413 rises the placing device 412, and then completes first time food delivery work.
When rear of second of food delivery position in first time food delivery position, the control device controls the food delivery driving
Part is rotated further, so as to drive the food delivery conveyer belt to remain in operation, and then drives the meal delivery robot to continue along described
The bearing of trend of delivery area 3 continues to move backward, the placing device 412 is crossed first time institute's food delivery tool, and then described send
Meal robot 41 continues to complete second of food delivery work.
When the meal delivery robot receives pick-up signal and food delivery signal again, new food delivery work is continued to complete.
When eater is having a meal and the reminding module 514 prompts for opening the recovery door 512, eater can
It is self-service to play back to tableware in the recovery conveying device 511 by opening the recovery door 512, it is then described to reclaim conveying
Tableware is recycled in the area 1 for preparing for a meal and cleaned by device 511, or is positioned in casing, is convenient to outgoing cleaning service
Stand and carry out cleaning again.
It is to combine a kind of embodiment that particular content is provided as described above, does not assert the specific implementation office of the application
It is limited to these explanations.It is all approximate with the present processes, structure etc., identical, if or for being made under the application concept thereof
Dry technology deduction or replace, should all be considered as the protection domain of the application.
Claims (10)
1. applied to the meal delivery robot of Intelligent cafeteria, including robot body (411), it is characterised in that the feeder
Device people also includes the control device on the robot body (411), and on the robot body (411) simultaneously
Placing device (412), obstacle detecting device and the speech prompting device electrically connected with the control device, the obstacle detection dress
Put to detect that the meal delivery robot direction of advance whether there is barrier, when there is barrier, the obstacle detecting device
Send obstacle detection signal to the control device, then the control device according to obstacle detection signal to the voice
Alarm set sends alerting signal, and then the speech prompting device receives alerting signal and sends prompting voice.
2. the meal delivery robot according to claim 1 applied to Intelligent cafeteria, it is characterised in that：The food delivery machine
People also includes the lowering or hoisting gear (413) on the robot body (411), and the lowering or hoisting gear (413) is located at described carry
Put the top of device (412) and electrically connected with the control device；
The placing device (412) includes：
Placing support (4121), it is connected with the clutch end of the lowering or hoisting gear (413)；
Placing driving part (4122), it is on the placing support (4121)；
Placing transmission mechanism (4123), it include located at described placing support (4121) one end and with the placing driving part
(4122) clutch end is connected driving shaft (41231), located at be set forth in placing support (4121) other end from
Moving axis (41232) and the placing conveyer belt (41233) being sheathed on the driving shaft (41231) and the driven shaft (41232)；
When the placing driving part (4122) drives the driving shaft (41231) to rotate, the driving shaft (41231) drives
The placing conveyer belt (41233) and the driven shaft (41232) are rotated.
3. the meal delivery robot according to claim 2 applied to Intelligent cafeteria, it is characterised in that：The food delivery machine
People also includes on the robot body (411) and the position signal acquisition device electrically connected with the control device and food delivery
Information acquisition device, the position signal acquisition device is used to gather the center location information of the robot body (411) and to institute
The center signal that control device sends the robot body (411) is stated, the food delivery information acquisition device, which is used to gather, eats
Food delivery information on tool simultaneously sends food delivery signal to the control device, so the control device by center signal and
Food delivery signal, then controls the meal delivery robot (41) to carry out food delivery work.
4. the meal delivery robot according to claim 3 applied to Intelligent cafeteria, it is characterised in that：The position letter
Number collector is position sensor.
5. the meal delivery robot according to claim 3 applied to Intelligent cafeteria, it is characterised in that：The food delivery letter
Breath collector is vision sensor.
6. Intelligent cafeteria, it is characterised in that including the meal delivery robot as any one of claim 1 to 5.
7. Intelligent cafeteria according to claim 6, it is characterised in that：The Intelligent cafeteria also includes preparing for a meal
Area (1), dining area (2), through the delivery area (3) between the area for preparing for a meal (1) and the dining area (2), for what is ordered
Meal ordering system, the system of preparing for a meal mutually networked in the area for preparing for a meal (1) and with the meal ordering system, located at the delivery area
(3) drive component being connected on and with the meal delivery robot, the recovery system (5) for reclaiming tableware, described order be
System sends signal of preparing for a meal according to the information of ordering of eater to the system of preparing for a meal, and the system of preparing for a meal receives prepare for a meal signal and root
According to preparing for a meal, signal carries out work of preparing for a meal, and when being finished wait preparing for a meal, the system of preparing for a meal sends pick-up signal to the meal delivery robot,
Carried so as to which the meal delivery robot receives pick-up signal and controls the drive component to be driven to the area for preparing for a meal (1)
Tableware, and then driven again through the drive component and carry out food delivery work along the bearing of trend of the delivery area (3).
8. Intelligent cafeteria according to claim 7, it is characterised in that：The delivery area (3) includes：
Head end framework (31), it is in the area (1) for preparing for a meal；
End frame (33), it is in the dining area (2)；
Central frame (32), it is removably connected between the head end framework (31) and the end frame (33)；
The head end framework (31) and the top of the central frame (32) and the end frame (33) are equipped with guide part
(300), the guide part (300) is adapted with the lower end of the robot body (411).
9. Intelligent cafeteria according to claim 7, it is characterised in that：Cavity is offered on the delivery area (3)
(301)；
The tableware recovery system (5) includes：
Conveying device (511) is reclaimed, it is located in the cavity (301), to convey tableware；
Door (512) is reclaimed, its bearing of trend along the delivery area (3) is arranged on the delivery area (3)；
Detection control apparatus (513), it is arranged on the cavity (301) inwall, and along the recovery conveying device (511)
The direction of motion is distributed in the front and rear sides of the recovery door (512), and is electrically connected with the recovery door (512), is to detect
It is no to have tableware by the recovery door (512), and then control whether to unlock the recovery door (512).
10. Intelligent cafeteria according to claim 9, it is characterised in that：The tableware recovery system (5) also includes carrying
Show module (514), the reminding module (514) located at the outside of the recovery door (512) and with the detection control apparatus
(513) electrically connect, to point out whether eater can open the recovery door (512).
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| CN201710261850.0A CN107030710B (en) | 2017-04-20 | 2017-04-20 | Be applied to intelligent cafeteria's food delivery robot and intelligent cafeteria |
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