CN109124057A - A kind of unmanned serving trolley in compartment - Google Patents
A kind of unmanned serving trolley in compartment Download PDFInfo
- Publication number
- CN109124057A CN109124057A CN201811022329.2A CN201811022329A CN109124057A CN 109124057 A CN109124057 A CN 109124057A CN 201811022329 A CN201811022329 A CN 201811022329A CN 109124057 A CN109124057 A CN 109124057A
- Authority
- CN
- China
- Prior art keywords
- serving trolley
- fixedly mounted
- carrier frame
- plate
- hinged seat
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 claims abstract description 17
- 235000012054 meals Nutrition 0.000 claims abstract description 9
- 238000005192 partition Methods 0.000 claims abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 5
- 239000000725 suspension Substances 0.000 claims description 5
- 235000013305 food Nutrition 0.000 abstract description 20
- 238000009434 installation Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000002498 deadly effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B31/00—Service or tea tables, trolleys, or wagons
- A47B31/06—Service or tea tables, trolleys, or wagons adapted to the use in vehicles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B97/00—Furniture or accessories for furniture, not provided for in other groups of this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B31/00—Service or tea tables, trolleys, or wagons
- A47B2031/002—Catering trolleys
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B2220/00—General furniture construction, e.g. fittings
- A47B2220/0091—Electronic or electric devices
- A47B2220/0097—Remote control for furniture, e.g. tables or shelves
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of unmanned serving trolley in compartment, including meal case and carrier loader；Meal case includes the cabinet and lateral partitions arranged in the box body and vertical baffle of cuboid；Carrier loader includes carrier frame, four driving motors, four motor reducers, four omni-directional wheels, battery, motor driver, controller and wireless communication module.Unmanned serving trolley whole installation is cuboid by the unmanned serving trolley in the compartment, it can be specifically for more than narrow space, passengers quantity and the high-speed rail train of environment complexity is using needing, it is positioned using WiFi fingerprint technique, interior environment is not destroyed, definite initial position is required no knowledge about, the accuracy of positioning can be enhanced, improve safety, the food delivery time can be saved, food delivery efficiency is improved, and then improves train service level.
Description
Technical field
The invention is related to a kind of robot, especially a kind of unmanned serving trolley in compartment.
Background technique
High-speed rail is the following important trip tool, and canteen be it is essential, at present in high-speed rail food delivery mainly by multiplying
Business person's hand push dining trolley is realized.This has the following problems: one, train continuous service, vehicle environment closing, narrow space, Er Qiegong
Work is more uninteresting, and food delivery personnel rate is larger and recruitment is difficult；Two, food delivery frequency is low, is difficult to purchase if missing the food delivery time
Buy canteen.The above high-speed rail food delivery there are aiming at the problem that, it is necessary to realize and install machines to replace manual labor food delivery in high-speed rail.
Currently, domestic meal delivery robot is only applied to the catering industries such as indoor dining room or restaurant, magnetic navigation is used mostly, is swashed
Light or two dimensional code location and navigation technology, these technologies need to cause potentially to influence using extras or on the safety of passenger,
It can not be applied to high-speed rail particular surroundings.
Summary of the invention
Innovation and creation purpose: providing one kind can satisfy unmanned serving trolley used in compartment, save the food delivery time,
Food delivery efficiency is improved, and then improves train service level.
Technical solution: the unmanned serving trolley in compartment described in the invention, including meal case and carrier loader；Case of eating includes length
The cabinet of cube shape and lateral partitions arranged in the box body and vertical baffle；Lateral partitions and vertical baffle separate cabinet
For each storage lattice, and door-plate is hingedly installed at the entrance of each storage lattice；It is hingedly equipped in each storage lattice
Electric telescopic rod for driving door-plate to open and close；Carrier loader includes carrier frame, four driving motors, four decelerating through motor
Device, four omni-directional wheels, battery, motor driver, controller and wireless communication module；Cabinet is fixedly mounted on carrier frame
On, and side coaming plate is surrounded by carrier frame；Photoelectric sensing is equipped on the side coaming plate of side before and after the carrier loader
Device；Proximity sensor is equipped on the side coaming plate of carrier loader left and right sides；The omni-directional wheel of two front sides is revolved by supporting plate
On the rotatable left and right side for being mounted on carrier frame front end；The omni-directional wheel of two rear sides is rotatably mounted on rear overhang by supporting plate
The lower section of extension；Suspension is fixedly mounted on the rear end of carrier frame afterwards；Four driving motors are driven respectively by four motor reducers
Dynamic four omni-directional wheels rotation；Controller respectively with motor driver, wireless communication module, photoelectric sensor, proximity sensor with
And each electric telescopic rod electrical connection；Motor driver is electrically connected with four driving motors, for respectively driving four driving electricity
Machine start and stop work；Battery be respectively controller respectively with motor driver, wireless communication module, photoelectric sensor, close to pass
Sensor and the power supply of each electric telescopic rod.
Further, rear overhang satchel includes lower hinged seat, articulated shaft, upper hinged seat and loading frame；After carrier frame
End is horizontally disposed rear side bottom plate；Loading frame is fixedly mounted on the downside of rear side bottom plate；Upper hinged seat is fixedly mounted on
The lower section of grillage；Upper hinged seat is fixedly mounted on the supporting plate of rear side；Lower hinged seat is hinged by articulated shaft with upper hinged seat
Formula installation, and upper hinged seat is located at the top of lower hinged seat.
Further, the vertical mounting plate flipped up is equipped on rear side bottom plate；Vertical mounting plate is fixedly mounted on bottom
On disk frame.
Further, controller, motor driver and wireless communication module are fixedly mounted on rear side bottom plate.
Further, being horizontally disposed in the front end of carrier frame has front side bottom plate；Battery is fixedly mounted on front side bottom plate
On.
Further, front side bottom plate equipped with the vertical mounting plate being turned over downwards；Vertical mounting plate is fixedly mounted on bottom
On disk frame.
Further, the loudspeaker being electrically connected with the controller is installed in carrier frame；Battery is power speakers.
The invention compared with prior art, the beneficial effect is that: by unmanned serving trolley whole installation be cuboid,
It can be specifically for more than narrow space, passengers quantity and the high-speed rail train of environment complexity is using needing.Utilize WiFi fingerprint skill
Art positioning, does not destroy interior environment, requires no knowledge about definite initial position, can enhance the accuracy of positioning, improve safety.
Using long-range control food delivery, and it is provided with suggestion voice, use is more humane, and canteen conveying is more convenient.It can be kept away according to environment
Barrier can also be carried out manual intervention when deadly condition and be checked by host computer, can reach pass through it is smooth, thus when saving food delivery
Between, food delivery efficiency is improved, and then improve train service level.
Detailed description of the invention
Fig. 1 is the whole left side structure schematic diagram of the invention；
Fig. 2 is the whole rear structure schematic diagram of the invention；
Fig. 3 is the carrier loader inside left structural schematic diagram of the invention；
Fig. 4 is the carrier loader bottom substance schematic diagram of the invention；
Fig. 5 is the carrier loader inside top structural schematic diagram of the invention；
Fig. 6 is suspension rear side mounting structure schematic diagram after the carrier loader of the invention；
Fig. 7 is suspension left side mounting structure schematic diagram after the carrier loader of the invention.
Specific embodiment
The invention technical solution is described in detail with reference to the accompanying drawing, but the protection scope of the invention
It is not limited to the embodiment.
Embodiment 1:
As shown in figs. 1-7, the unmanned serving trolley in compartment that the invention provides includes: meal case and carrier loader；Meal luggage
The lateral partitions 2 and vertical baffle 3 for including the cabinet 1 of cuboid and being set in cabinet 1；Lateral partitions 2 and vertical baffle 3
Cabinet 1 is divided into each storage lattice, and door-plate is hingedly installed at the entrance of each storage lattice；In each storage lattice
Electric telescopic rod for driving door-plate to open and close hingedly is installed；Carrier loader include 5, four driving motors 11 of carrier frame,
Four motor reducers, 12, four omni-directional wheels 6, battery 7, motor driver 8, controller 23 and wireless communication module 24；
Cabinet 1 is fixedly mounted on carrier frame 5, and is surrounded by side coaming plate 4 in carrier frame 5；The side before and after carrier loader
Side coaming plate 4 on be equipped with photoelectric sensor 10；Proximity sensor is equipped on the side coaming plate 4 of carrier loader left and right sides
9；The omni-directional wheel 6 of two front sides is rotatably mounted on the left and right side of 5 front end of carrier frame by supporting plate 13；Two rear sides
Omni-directional wheel 6 be rotatably mounted on by supporting plate 13 after the lower section that hangs；After suspension is fixedly mounted on carrier frame 5 afterwards
End；Four driving motors 11 respectively drive four omni-directional wheels 6 by four motor reducers 12 and rotate；Controller 23 respectively with electricity
Machine driver 8, wireless communication module 24, photoelectric sensor 10, proximity sensor 9 and the electrical connection of each electric telescopic rod；Electricity
Machine driver 8 is electrically connected with four driving motors 11, for respectively driving four 11 start and stop of driving motor work；Battery 7 divides
Not Wei controller 23 respectively with motor driver 8, wireless communication module 24, photoelectric sensor 10, proximity sensor 9 and each
Electric telescopic rod power supply.
Further, rear overhang satchel includes lower hinged seat 14, articulated shaft 15, upper hinged seat 16 and loading frame 17；On chassis
The rear end of frame 5 is horizontally disposed rear side bottom plate 18；Loading frame 17 is fixedly mounted on the downside of rear side bottom plate 18；It is upper hinged
Seat 16 is fixedly mounted on the lower section of loading frame 17；Upper hinged seat 16 is fixedly mounted on the supporting plate 13 of rear side；Lower hinged seat 14
It is installed with upper hinged seat 16 by 15 radial type of articulated shaft, and upper hinged seat 16 is located at the top of lower hinged seat 14.Utilize rear overhang
Hang and can be realized the supported at three point of carrier frame 5, on uneven or inclined passageway can normally travel, be not in complete
To 6 hanging states of wheel, it is ensured that the stability of traveling.
Further, the vertical mounting plate 19 flipped up is equipped on rear side bottom plate 18；The fixed peace of vertical mounting plate 19
On carrier frame 5, the mounting structure intensity of rear side bottom plate 18 and carrier frame 5 can be enhanced using vertical mounting plate 19.
Controller 23, motor driver 8 and wireless communication module 24 are fixedly mounted on rear side bottom plate 18.In carrier frame 5
Front end is horizontally disposed front side bottom plate 20；Battery 7 is fixedly mounted on the bottom plate 20 of front side.Being equipped with for front side bottom plate 20 is downward
The vertical mounting plate 21 of fold；Vertical mounting plate 21 is fixedly mounted on carrier frame 5；It can be enhanced using vertical mounting plate 21
The mounting structure intensity of front side bottom plate 20 and carrier frame 5.The loudspeaking being electrically connected with controller 23 is installed in carrier frame 5
Device 22 can be controlled by controller 23 using loudspeaker 22 and issue voice prompting；Battery 7 is the power supply of loudspeaker 22.
In the unmanned serving trolley in compartment that the invention provides, controller 23 is made of single-chip microcontroller, for receiving and dispatching control letter
Number；Wireless communication module 24 uses WiFi module, can receive WiFi signal, and obtained by controller 23 and receive the strong of signal
Degree, and it is used for the wireless communication of controller 23 and host computer；Proximity sensor 9 and photoelectric sensor 10 are all made of existing sensing
Device, meets the signal acquisition of carrier loader surrounding barrier, and the mounting height of proximity sensor 9 and photoelectric sensor 10 is away from ground
Face 40cm；Motor driver 8 uses stepper motor driver, full for carrying out respectively driving control to four driving motors 11
The movement of sufficient carrier loader and course changing control；Loudspeaker 22 is for playing voice prompting.
The unmanned serving trolley in compartment that the invention provides is at work: passing through WiFi progress by host computer and controller 23
Target position is successively transmitted to controller 23 by communication, host computer, and controller 23 controls four driving motors 11 according to target position
Work, so that unmanned serving trolley is travelled along the aisle of mid-train, photoelectric sensor 10 and proximity sensor 9 detect unmanned food delivery
Obstacle information around vehicle, and it is transferred to controller 23, controller 23 controls four driving motors 11 and dining car is stopped
It only runs and avoids.What wireless communication module 24 was used to be distributed in the transparent transmission and acquisition high-speed rail train of controller 23 and host computer
The strength information of each WiFi signal, unmanned serving trolley constantly position to judge self-position by the strength information of WiFi signal
(position for each Wi-Fi hotspot being distributed in high-speed rail train is fixed and known, is comparative maturity using signal strength positioning
Technology), to more accurately calculate at a distance from target position.When unmanned serving trolley reaches target position, controller
23 control 22 voice prompting passenger's canteens of loudspeaker reach.Passenger inputs the pick-up code (pick-up of host computer transmission in cell phone application
Code is generated after cell phone application orders and places an order by host computer in passenger, and cell phone application is simple software design, is set without special
Meter, is not that the invention is claimed), after host computer determines that the pick-up code of passenger's input is correct, to unmanned serving trolley
Controller 23 issues instruction of unpacking, and opens corresponding storage lattice by electric telescopic rod, passenger takes the meal placed in storage lattice away
Food, after the time of setting, controller 23 controls electric telescopic rod and closes door-plate；Four driving motors 11 of control are then proceeded to move
It is dynamic to enter next dispatching place.The row of host computer manual intervention serving trolley can be passed through in unmanned serving trolley driving process
It sails.
Since above-mentioned technical proposal is used, the invention has the advantage that compared with prior art
(1) the invention provide unmanned serving trolley whole installation be cuboid, can specifically for narrow space,
Passengers quantity is mostly and the high-speed rail train of environment complexity uses needs.
(2) the unmanned serving trolley that the invention provides makes that food delivery is more convenient, efficient, safety, low running cost, leads to
It crosses voluntarily avoidance and improves food delivery efficiency.
(3) the unmanned serving trolley that the invention provides is positioned using WiFi fingerprint technique, does not destroy interior environment,
Definite initial position is required no knowledge about, the accuracy of positioning can be enhanced, improve safety.
(4) the unmanned serving trolley that the invention provides is using long-range control food delivery, and is provided with suggestion voice, using more
Hommization, canteen conveying are more convenient.
(5) the unmanned serving trolley that the invention provides can be according to environment avoidance, and when deadly condition can also be by upper
Position machine carries out manual intervention and checks, it is smooth to can reach passage, to save the food delivery time, improves food delivery efficiency, and then improve
Train service level.
As described above, although the invention has been indicated and described referring to specific preferred embodiment, it must not
It is construed to the limitation to the invention itself.In the spirit and scope for not departing from the invention that appended claims define
Under the premise of, it can various changes can be made in the form and details to it.
Claims (7)
1. a kind of unmanned serving trolley in compartment, it is characterised in that: including meal case and carrier loader；Meal case includes the cabinet of cuboid
(1) and the lateral partitions (2) and vertical baffle (3) that are set in cabinet (1)；Lateral partitions (2) and vertical baffle (3) are by case
Body (1) is divided into each storage lattice, and is hingedly equipped with door-plate at the entrance of each storage lattice；It is cut with scissors in each storage lattice
Connect the electric telescopic rod being equipped with for driving door-plate to open and close；Carrier loader includes carrier frame (5), four driving motors
(11), four motor reducers (12), four omni-directional wheels (6), battery (7), motor driver (8), controller (23) and
Wireless communication module (24)；Cabinet (1) is fixedly mounted on carrier frame (5), and is surrounded by side in carrier frame (5)
Coaming plate (4)；Photoelectric sensor (10) are equipped on the side coaming plate (4) of side before and after the carrier loader；In carrier loader left and right sides
Side coaming plate (4) on be equipped with proximity sensor (9)；The omni-directional wheel (6) of two front sides is rotatably pacified by supporting plate (13)
On the left and right side of carrier frame (5) front end；The omni-directional wheel (6) of two rear sides is rotatably mounted on by supporting plate (13)
The lower section hung afterwards；Suspension is fixedly mounted on the rear end of carrier frame (5) afterwards；Four driving motors (11) are subtracted by four motors
Fast device (12) respectively drives four omni-directional wheel (6) rotations；Controller (23) respectively with motor driver (8), wireless communication module
(24), photoelectric sensor (10), proximity sensor (9) and the electrical connection of each electric telescopic rod；Motor driver (8) with four
Driving motor (11) electrical connection, for respectively driving four driving motor (11) start and stop work；Battery (7) is respectively controller
(23) respectively with motor driver (8), wireless communication module (24), photoelectric sensor (10), proximity sensor (9) and each
Electric telescopic rod power supply.
2. the unmanned serving trolley in compartment according to claim 1, it is characterised in that: rear overhang satchel includes lower hinged seat (14), hinge
Spindle (15), upper hinged seat (16) and loading frame (17)；Being horizontally disposed in the rear end of carrier frame (5) has rear side bottom plate
(18)；Loading frame (17) is fixedly mounted on the downside of rear side bottom plate (18)；Upper hinged seat (16) is fixedly mounted on loading frame
(17) lower section；Upper hinged seat (16) is fixedly mounted on the supporting plate (13) of rear side；Lower hinged seat (14) and upper hinged seat
(16) it is installed by articulated shaft (15) radial type, and upper hinged seat (16) is located at the top of lower hinged seat (14).
3. the unmanned serving trolley in compartment according to claim 2, it is characterised in that: be equipped on rear side bottom plate (18) to turning over
The vertical mounting plate (19) of folding；Vertical mounting plate (19) is fixedly mounted on carrier frame (5).
4. the unmanned serving trolley in compartment according to claim 2, it is characterised in that: controller (23), motor driver (8) with
And wireless communication module (24) is fixedly mounted on rear side bottom plate (18).
5. the unmanned serving trolley in compartment according to claim 1, it is characterised in that: set in the front end level of carrier frame (5)
It is equipped with front side bottom plate (20)；Battery (7) is fixedly mounted on front side bottom plate (20).
6. the unmanned serving trolley in compartment according to claim 5, it is characterised in that: being equipped with for front side bottom plate (20) is turned over downwards
The vertical mounting plate (21) of folding；Vertical mounting plate (21) is fixedly mounted on carrier frame (5).
7. the unmanned serving trolley in compartment according to claim 1, it is characterised in that: be equipped with and control in carrier frame (5)
The loudspeaker (22) of device (23) electrical connection processed；Battery (7) is loudspeaker (22) power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811022329.2A CN109124057A (en) | 2018-09-02 | 2018-09-02 | A kind of unmanned serving trolley in compartment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811022329.2A CN109124057A (en) | 2018-09-02 | 2018-09-02 | A kind of unmanned serving trolley in compartment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109124057A true CN109124057A (en) | 2019-01-04 |
Family
ID=64826417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811022329.2A Pending CN109124057A (en) | 2018-09-02 | 2018-09-02 | A kind of unmanned serving trolley in compartment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109124057A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110328671A (en) * | 2019-06-23 | 2019-10-15 | 大国重器自动化设备(山东)股份有限公司 | A kind of meal delivery robot |
| CN113017267A (en) * | 2021-03-02 | 2021-06-25 | 浙江树人学院（浙江树人大学） | Working method of high-speed rail unmanned dining car and intelligent dining car thereof |
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| CN107600221A (en) * | 2017-08-28 | 2018-01-19 | 电子科技大学 | A kind of intelligent omnidirectional AGV dollies and its control method |
| CN207640083U (en) * | 2017-04-24 | 2018-07-24 | 湖北工业大学 | A kind of Intelligent meal delivery robot |
| CN209219460U (en) * | 2018-09-02 | 2019-08-09 | 南京吉目希自动化科技有限公司 | A kind of unmanned serving trolley in compartment |
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| CN103440602A (en) * | 2013-08-21 | 2013-12-11 | 杭州电子科技大学 | Dish-ordering robot system |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110328671A (en) * | 2019-06-23 | 2019-10-15 | 大国重器自动化设备(山东)股份有限公司 | A kind of meal delivery robot |
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| CN113017267A (en) * | 2021-03-02 | 2021-06-25 | 浙江树人学院（浙江树人大学） | Working method of high-speed rail unmanned dining car and intelligent dining car thereof |
| CN113017267B (en) * | 2021-03-02 | 2022-02-18 | 浙江树人学院（浙江树人大学） | Working method of high-speed rail unmanned dining car and intelligent dining car thereof |
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