CN112743553A

CN112743553A - Intelligent food delivery robot

Info

Publication number: CN112743553A
Application number: CN202011508365.7A
Authority: CN
Inventors: 龚心兰; 骆敏舟; 卢钰
Original assignee: Institute of Intelligent Manufacturing Technology JITRI
Current assignee: Institute of Intelligent Manufacturing Technology JITRI
Priority date: 2020-12-18
Filing date: 2020-12-18
Publication date: 2021-05-04

Abstract

The invention provides an intelligent food delivery robot and relates to the technical field of robots. The intelligent food delivery robot comprises a detection walking mechanism, a detection control mechanism and a control mechanism, wherein the detection walking mechanism is used for acquiring and detecting the condition of a front path, controlling walking and automatically avoiding obstacles; the shell fixing mechanism is used for fixing and installing the detection walking mechanism and the intelligent meal delivery mechanism; the intelligent food delivery mechanism is used for placing food and displaying and broadcasting food information; the detection walking mechanism comprises a hub motor, a battery, a detection radar, a controller and an industrial personal computer, wherein the battery is electrically connected with the controller, the industrial personal computer and the hub motor, and the industrial personal computer is in signal connection with the detection radar. The detection walking mechanism bearing the main weight of the robot is arranged at the bottom, so that the balance gravity center of the meal delivery robot is reduced, and the walking and turning processes are more stable; and the walking power components such as the hub motor, the battery, the detection radar, the controller, the industrial personal computer and the like and the control components are separately arranged, the layout is simple and clear, and the assembly efficiency is high.

Description

Intelligent food delivery robot

Technical Field

The invention relates to the technical field of robots, in particular to an intelligent food delivery robot.

Background

As the popularity continues to rise, many places face the phenomenon of difficult recruitment, and the catering industry faces similar problems. Although the operation of the waiters is simple, the working environment needs to look at the face and endure the tableware used by the pickers, so that the waiters are difficult to attract the headaches in the catering industry. The catering industry introduces automatic food delivery robots, so that the food delivery service efficiency is improved, the cost is saved, the benefit is improved, and more consumers enjoy dishes and add a comfortable enjoyment and entertainment mode. However, the current intelligent food delivery robot has the following technical problems in structural design: 1) the balance center of gravity is higher, so that the walking and turning processes are not stable enough; 2) the walking power element and the control element are separately arranged, the layout is complex, and the assembly efficiency is low.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an intelligent food delivery robot.

The invention solves the technical problems through the following technical means:

an intelligent food delivery robot comprises a detection walking mechanism, a detection control mechanism and a control mechanism, wherein the detection walking mechanism is used for acquiring and detecting the condition of a front path, controlling walking and automatically avoiding obstacles; the shell fixing mechanism is used for fixing and installing the detection walking mechanism and the intelligent meal delivery mechanism; the intelligent food delivery mechanism is used for placing food and displaying and broadcasting food information;

the shell fixing mechanism comprises a chassis shell, an upper mounting cover and a fixing shell, wherein the upper mounting cover is fixed at the top of the chassis shell, and the fixing shell is fixedly connected to the top of the upper mounting cover;

the detection walking mechanism is fixedly arranged in a cavity of the chassis shell and the upper mounting cover and comprises a hub motor, a battery, a detection radar, a controller and an industrial personal computer, wherein the battery is electrically connected with the controller, the industrial personal computer and the hub motor, and the industrial personal computer is in signal connection with the detection radar.

Furthermore, the detection travelling mechanism further comprises a chassis mounting plate, a middle mounting plate and an upper mounting plate, wherein the chassis mounting plate is arranged in the inner cavity of the chassis shell, four support columns are arranged on the outer edge of the upper surface of the chassis shell, the middle mounting plate is arranged at the tops of the support columns, and the middle mounting plate is fixedly connected with the upper mounting plate through the four support plates on the outer edge of the middle mounting plate.

Furthermore, two in-wheel motors are symmetrically arranged on the chassis mounting plate, and a motor shaft of the same in-wheel motor is connected with two universal wheels arranged at the bottom of the chassis shell.

Furthermore, the number of the batteries is two, and the batteries are respectively arranged on the front side and the rear side of the upper surface of the chassis mounting plate; all be equipped with the through-hole in four backup pads, controller and industrial computer are located four backup pads and enclose the region that closes and form.

Furthermore, an ultrasonic sensor arranged on the mounting hole in the side wall of the upper mounting cover is arranged on the chassis mounting plate, and the ultrasonic sensor is positioned on one side of the detection radar.

Furthermore, intelligence food delivery mechanism includes two mesh degree of depth cameras, touch-sensitive screen, loudspeaker, and two mesh degree of depth cameras, touch-sensitive screen, loudspeaker all with industrial computer signal connection, two mesh degree of depth cameras are installed in the top of fixed shell, and the both sides of fixed shell are located respectively to touch-sensitive screen and loudspeaker.

Further, the main part of fixed shell is the structure of falling the U-shaped, places the shell by a plurality of branches and encloses to close with the top and form, and branch is placed the shell and is placed a plurality of trays that are used for placing the vegetable with the top and place the level in the shell, and the top of every tray forms places the district.

The invention has the beneficial effects that:

according to the intelligent food delivery robot, the detection travelling mechanism is integrally arranged in the cavity of the chassis shell and the upper mounting cover in the shell fixing mechanism, so that the detection travelling mechanism bearing the main weight of the robot is arranged at the bottom, the balance gravity center of the food delivery robot is reduced, and the travelling and turning processes are more stable; and the walking power components such as the hub motor, the battery, the detection radar, the controller, the industrial personal computer and the like and the control components are separately arranged, the layout is simple and clear, and the assembly efficiency is high.

Drawings

FIG. 1 is a schematic structural diagram of an intelligent food delivery robot according to the present invention;

fig. 2 is a schematic structural diagram of the detection walking mechanism of the present invention.

In the figure: 10. detecting a traveling mechanism; 11. a hub motor; 12. a battery; 13. detecting a radar; 14. a controller; 15. a chassis mounting plate; 16. a middle mounting plate; 17. an upper mounting plate; 18. a support pillar; 19. a universal wheel; 20. a housing fixing mechanism; 21. a chassis housing; 22. an upper mounting cover; 23. fixing the housing; 24. a support plate; 25. an industrial personal computer; 26. mounting holes; 27. an ultrasonic sensor; 30. an intelligent food delivery mechanism; 31. a binocular depth camera; 32. a touch screen; 33. a horn; 34. a tray; 35. a placement area; 231. respectively placing the shells; 232. the shell is placed on top.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Examples

As shown in fig. 1-2, the intelligent food delivery robot of the present embodiment includes a detection walking mechanism 10, configured to collect and detect a front path condition, control walking, and avoid an obstacle autonomously; the shell fixing mechanism 20 is used for fixing and installing the detection walking mechanism 10 and the intelligent meal delivery mechanism 30; the intelligent food delivery mechanism 30 is used for placing food and displaying and broadcasting food information;

the shell fixing mechanism 20 comprises a chassis shell 21, an upper mounting cover 22 and a fixed shell 23, wherein the upper mounting cover 22 is fixed at the top of the chassis shell 21, and the fixed shell 23 is fixedly connected to the top of the upper mounting cover 22;

the detection walking mechanism 10 is fixedly arranged in cavities of the chassis shell 21 and the upper mounting cover 22 and comprises a hub motor 11, a battery 12, a detection radar 13, a controller 14 and an industrial personal computer 25, wherein the battery 12 is electrically connected with the controller 14, the industrial personal computer 25 and the hub motor 11, and the industrial personal computer 25 is in signal connection with the detection radar 13.

On the basis of the prior art, the intelligent meal delivery robot of the embodiment integrally installs the detection travelling mechanism 10 in the cavity of the chassis shell 21 and the upper installation cover 22 in the shell fixing mechanism 20, so that the detection travelling mechanism 10 bearing the main weight of the robot is arranged at the bottom, the balance gravity center of the meal delivery robot is reduced, and the travelling and turning processes are more stable; and the wheel hub motor 11, the battery 12, the detection radar 13, the controller 14, the industrial personal computer 25 and other walking power elements and control elements are separately arranged, the layout is simple and clear, and the assembly efficiency is high.

Specifically, the detection travelling mechanism 10 further comprises a chassis mounting plate 15, a middle mounting plate 16 and an upper mounting plate 17, the chassis mounting plate 15 is arranged in an inner cavity of the chassis shell 21, four support columns 18 are arranged on the outer edge of the upper surface of the chassis mounting plate, the middle mounting plate 16 is arranged on the tops of the support columns 18, and the middle mounting plate 16 is fixedly connected with the upper mounting plate 17 through four support plates 24 on the outer edge of the middle mounting plate. The design of the detection travelling mechanism 10 supports and reinforces the chassis mounting plate 15 and the middle mounting plate 16 through the supporting column 18, and the supporting plate 24 supports and reinforces the middle mounting plate 16 and the upper mounting plate 17, so that the detection travelling mechanism 10 is more stable during installation and operation, and obvious shaking cannot occur.

Two in-wheel motors 11 are symmetrically arranged on the chassis mounting plate 15, and a motor shaft of the same in-wheel motor 11 is connected with two universal wheels 19 arranged at the bottom of the chassis shell 21. When the controller 14 controls the motor shaft of the in-wheel motor 11 to rotate forward and backward, the in-wheel motor 11 drives the two universal wheels 19 on the same side to walk or reverse, so that the intelligent food delivery robot walks or reverses.

The number of the batteries 12 is two, and the batteries are respectively arranged on the front side and the rear side of the upper surface of the chassis mounting plate 15; all be equipped with the through-hole on four backup pads 24, controller 14 and industrial computer 25 are located the region that four backup pads 24 enclose and close and form. The battery 12 is a rechargeable battery, and is provided with a charging interface. The controller 14 and the industrial personal computer 25 are arranged in an area enclosed by the supporting plate 24 and are separated from the walking power element as a control part, and the through holes arranged on the supporting plate 24 promote the dissipation of heat generated by the controller 14 and the industrial personal computer 25 during working.

The chassis mounting plate 15 is provided with an ultrasonic sensor 27 disposed on the side wall mounting hole 26 of the upper mounting cover 22, and the ultrasonic sensor 27 is located on one side of the detection radar 13. Ultrasonic sensor 27 adopts the detection mode of direct reflection formula, the barrier that is located ultrasonic sensor 27 the place ahead passes through the receiver of the transmission back sensor of the sound wave part with the transmission, thereby make the sensor detect the barrier, the barrier that is located between receiver and the transmitter will block the sound wave that the receiver received the transmission, thereby the sensor will produce control signal, control signal in time feeds back to controller 14, in time regulate and control in-wheel motor 11's direction of rotation, prevent or change the walking of universal wheel 19, the distance detection of radar 13 is surveyed in the cooperation, regulate and control the walking of universal wheel 19 more accurately and efficiently.

Intelligent food delivery mechanism 30 includes binocular depth camera 31, touch-sensitive screen 32, loudspeaker 33, and binocular depth camera 31, touch-sensitive screen 32, loudspeaker 33 all with industrial computer 25 signal connection, and binocular depth camera 31 installs in the top of fixed shell 23, and the both sides of fixed shell 23 are located respectively to touch-sensitive screen 32 and loudspeaker 33. The binocular depth camera 31 is a depth camera based on binocular stereoscopic vision, is different from a depth camera based on TOF and structured light principles, does not actively project a light source outside, and completely depends on two pictures to calculate depth, so that the surrounding environment and change can be sensed more conveniently and accurately; the names of dishes and the corresponding dining table numbers are automatically displayed on the touch screen 32, so that the food delivery robot can conveniently and clearly confirm the ordering information and accurately deliver the food; the speaker 33 can automatically broadcast the arrival table number of the dish and the kind.

The main body of the fixed shell 23 is of an inverted U-shaped structure, and is formed by enclosing a plurality of separated placing shells 231 and a top placing shell 232, a plurality of trays 34 for placing dishes are horizontally placed in the separated placing shells 231 and the top placing shells 232, and a placing area 35 is formed at the top of each tray 34. The fixed shell 23 of the inverted U-shaped structure facilitates placing and taking dishes from two sides by service staff or customers, and the plurality of trays 34 facilitate placing of various dishes, so that the meal delivery amount and the meal delivery efficiency are improved.

The working principle of the intelligent food delivery robot of the embodiment is as follows:

s1, placing dishes: placing different dishes on the plurality of trays 34, and simultaneously inputting and displaying each dish and the corresponding table number on the touch screen 32;

s2, meal delivery start: the binocular depth camera 31 senses the surrounding environment and changes in real time, the ultrasonic sensor 27 detects obstacles in real time, and the detection radar 13 detects the distance of the obstacles in front; when the controller 14 controls the motor shaft of the hub motor 11 to rotate forward and backward, the hub motor 11 drives the two universal wheels 19 on the same side to walk, and the meal delivery robot is driven to start walking meal delivery;

s3, active obstacle avoidance: when the ultrasonic sensor 27 detects that an obstacle exists in front of the vehicle, a control signal is generated and fed back to the controller 14 in time, the rotation direction of the hub motor 11 is regulated and controlled, and the universal wheel 19 is prevented or changed from walking to avoid the obstacle actively;

s4, taking meals: after the food delivery robot arrives at the corresponding dining table, the horn 33 automatically broadcasts the dining table number of the arrival of the dishes and the types of the dishes, so that customers or service personnel can take the food conveniently.

It is noted that, in this document, relational terms such as first and second, and the like, if any, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. An intelligent food delivery robot is characterized by comprising a detection walking mechanism (10) for acquiring and detecting the condition of a front path, controlling walking and automatically avoiding obstacles; the shell fixing mechanism (20) is used for fixing and installing the detection walking mechanism (10) and the intelligent meal delivery mechanism (30); the intelligent food delivery mechanism (30) is used for placing food and displaying and broadcasting food information;

the shell fixing mechanism (20) comprises a chassis shell (21), an upper mounting cover (22) and a fixing shell (23), wherein the upper mounting cover (22) is fixed at the top of the chassis shell (21), and the fixing shell (23) is fixedly connected to the top of the upper mounting cover (22);

the detection walking mechanism (10) is fixedly arranged in cavities of a chassis shell (21) and an upper mounting cover (22) and comprises a hub motor (11), a battery (12), a detection radar (13), a controller (14) and an industrial personal computer (25), wherein the battery (12) is electrically connected with the controller (14), the industrial personal computer (25) and the hub motor (11), and the industrial personal computer (25) is in signal connection with the detection radar (13).

2. The intelligent food delivery robot as claimed in claim 1, wherein the detection walking mechanism (10) further comprises a chassis mounting plate (15), a middle mounting plate (16) and an upper mounting plate (17), the chassis mounting plate (15) is arranged in an inner cavity of the chassis shell (21), four supporting columns (18) are arranged on the outer edge of the upper surface of the chassis mounting plate, the middle mounting plate (16) is arranged on the top of the supporting columns (18), and the middle mounting plate (16) is fixedly connected with the upper mounting plate (17) through four supporting plates (24) on the outer edge of the middle mounting plate.

3. An intelligent food delivery robot as claimed in claim 2, wherein two in-wheel motors (11) are symmetrically arranged on the chassis mounting plate (15), and the motor shaft of the same in-wheel motor (11) is connected with two universal wheels (19) arranged at the bottom of the chassis housing (21).

4. The intelligent food delivery robot as claimed in claim 2, wherein the number of the batteries (12) is two, and the batteries are respectively arranged on the front side and the rear side of the upper surface of the chassis mounting plate (15); the four supporting plates (24) are all provided with through holes, and the controller (14) and the industrial personal computer (25) are located in an area formed by enclosing the four supporting plates (24).

5. The intelligent food delivery robot as claimed in claim 2, wherein the chassis mounting plate (15) is provided with an ultrasonic sensor (27) disposed on a side wall mounting hole (26) of the upper mounting cover (22), and the ultrasonic sensor (27) is located on one side of the detection radar (13).

6. The intelligent food delivery robot of claim 1, wherein the intelligent food delivery mechanism (30) comprises a binocular depth camera (31), a touch screen (32) and a loudspeaker (33), the binocular depth camera (31), the touch screen (32) and the loudspeaker (33) are in signal connection with the industrial personal computer (25), the binocular depth camera (31) is installed at the top of the fixed shell (23), and the touch screen (32) and the loudspeaker (33) are respectively arranged on two sides of the fixed shell (23).

7. The intelligent food delivery robot as claimed in claim 1, wherein the main body of the fixed housing (23) is in an inverted U-shaped structure, and is formed by enclosing a plurality of sub-placement shells (231) and a top placement shell (232), a plurality of trays (34) for placing dishes are horizontally placed in the sub-placement shells (231) and the top placement shell (232), and a placement area (35) is formed at the top of each tray (34).