CN221228952U

CN221228952U - Automatic driving meal delivery vehicle

Info

Publication number: CN221228952U
Application number: CN202420170346.5U
Authority: CN
Inventors: 邓昱; 谢磊磊; 王梦蛟; 沙尧尧; 郑奎
Original assignee: Zhongke Navigation Robot Suzhou Co ltd; Zhongke Pilot Intelligent Technology Suzhou Co ltd
Current assignee: Zhongke Navigation Robot Suzhou Co ltd; Zhongke Pilot Intelligent Technology Suzhou Co ltd
Priority date: 2024-01-24
Filing date: 2024-01-24
Publication date: 2024-06-28
Anticipated expiration: 2034-01-24

Abstract

The utility model belongs to the technical field of automatic driving, and particularly relates to an automatic driving meal delivery vehicle, which comprises a meal delivery vehicle chassis, wherein anti-collision contact edges are arranged on the front side and the rear side of the meal delivery vehicle chassis, a meal delivery box body is detachably arranged at the top of the meal delivery vehicle chassis, blind supplementing radars are arranged on the upper parts of the front side and the rear side of the meal delivery box body, a face recognition camera is arranged on the upper part of the side surface of the meal delivery box body, a voice loudspeaker is arranged on the side surface of the meal delivery box body and below the face recognition camera, and a GPS antenna is arranged on the rear side of the top of the meal delivery box body. The utility model can realize full-automatic unmanned meal delivery, and is suitable for all-weather meal delivery in various closed parks such as industrial parks, school areas, hospitals, factories, scenic spots and other unmanned scenes applied at low speed.

Description

Automatic driving meal delivery vehicle

Technical Field

The utility model relates to the technical field of automatic driving, in particular to an automatic driving meal delivery vehicle.

Background

In various large-scale closed parks such as industrial parks, school areas, hospitals, factories, scenic spots and the like, a plurality of dining points are needed to be equipped because of large human flow, so as to meet dining requirements of people, normally, kitchen workers divide the dining points into dinner plates in advance and deliver the dining points to a designated place in advance and then distribute or pick up the dining points uniformly, for example, the invention patent with the bulletin number of CN110522182A discloses a heat-preserving dining car, one side of the cylinder body, which is far away from a piston rod, is communicated with an air pipe, an opening of the other side of the air pipe penetrates through the top of a top plate, an air valve is arranged at the opening of the top plate, and cover plates are hinged to two sides of the top of the water tank; the meal delivery trolley is characterized in that a container for storing food is placed on the top of the mesh plate, then the air valve is opened, and the mesh plate moves downwards under the guide of the sliding block under the action of gravity of the container for storing food.

Traditional meal delivery mode needs a large amount of manpower, produces extra manpower expense and management cost, and the inefficiency of transportation just brings higher intensity of labour for the manual work when the tableware is retrieved. Therefore, improvements are needed.

Disclosure of utility model

The utility model aims to provide an automatic driving meal delivery vehicle, which solves the problems that a large amount of manpower is required in the traditional meal delivery mode, extra manpower cost and management cost are generated, the transportation efficiency is low, and high labor intensity is brought to manpower when tableware is recovered.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides an automatic drive meal delivery truck, includes meal delivery truck chassis, both sides all are provided with the anticollision and touch the limit around the meal delivery truck chassis, the top demountable installation on meal delivery truck chassis has the meal delivery box, both sides upper portion all is provided with the blind radar of mending around the meal delivery box, the side upper portion of meal delivery box is provided with face recognition camera, the side of meal delivery box and the below that is located face recognition camera are provided with voice horn, the top rear side of meal delivery box is provided with the GPS antenna, the top front side of meal delivery box is provided with multi-line laser radar, both sides and the below that is located the blind radar all are provided with binocular vision camera around the meal delivery box, the rear side on meal delivery truck chassis and the top that is located the anticollision and touch the limit are provided with ultrasonic radar, the rear side on meal delivery truck chassis is provided with scram switch.

Preferably, the dish/soup barrel and the heat-preserving barrel are placed above the meal delivery vehicle chassis and on the inner side of the meal delivery box body, and the heat-preserving barrel is positioned on the front side of the dish/soup barrel. The food can be placed and kept warm by the vegetable/soup barrel and the heat-preserving barrel.

Preferably, a dinner plate is arranged on the inner side of the meal delivery box body and above the dish/soup barrel and the heat preservation barrel. The user can eat through the dinner plate.

Preferably, four steering wheels are arranged at the bottom of the meal delivery vehicle chassis, wheel speed meters are arranged on the inner sides of the steering wheels, steering motors are arranged among the four steering wheels, and a 5G wireless data terminal, a steering motor controller, a brake controller, an inertia combined through guide and an industrial personal computer are arranged at the bottom of the inner side of the meal delivery vehicle chassis. The steering motor can control the whole steering.

Preferably, a driving motor is arranged on the inner side of the meal delivery vehicle chassis and below the heat insulation barrel, a driving motor controller is arranged on the inner side of the meal delivery vehicle chassis and between the driving motor and the braking controller, and a braking assembly is arranged on the side face of the driving motor controller. The brake assembly can control the whole parking.

Preferably, the meal delivery box body comprises a stainless steel shell and a heat preservation interlayer, wherein the stainless steel shell is arranged on the inner side and the outer side of the heat preservation interlayer, and the heat preservation interlayer is made of polyurethane foam. Through the setting of food delivery box, can play the heat retaining effect.

Compared with the prior art, the utility model has the following beneficial effects:

The utility model can realize full-automatic unmanned meal delivery, and is suitable for all-weather meal delivery in various closed parks such as industrial parks, school areas, hospitals, factories, scenic spots and other unmanned scenes applied at low speed.

Drawings

FIG. 1 is a side view of a dining car of the present utility model;

FIG. 2 is a rear view of FIG. 1 of the present utility model;

FIG. 3 is a side cross-sectional view of FIG. 1 of the present utility model;

FIG. 4 is a top cross-sectional view of FIG. 2 of the present utility model;

FIG. 5 is a schematic view of the structure of the meal delivery box of the utility model;

FIG. 6 is a schematic diagram of the operation of the sensing system algorithm of the present utility model;

FIG. 7 is a flow chart of a positioning system of the present utility model;

FIG. 8 is a schematic diagram of a planning control logic framework of the present utility model;

fig. 9 is a flow chart of meal delivery according to the present utility model.

In the figure: 1. anti-collision touch edges; 2. blind supplementing radar; 3. a face recognition camera; 4. a GPS antenna; 5. a multi-line laser radar; 6. a binocular vision camera; 7. an ultrasonic radar; 8. vegetable/soup barrels; 9. a heat-preserving barrel; 10. a dinner plate; 11. an emergency stop switch; 12. a meal delivery box body; 121. a stainless steel housing; 122. a heat preservation interlayer; 13. a voice horn; 14. a wheel speed meter; 15. a steering motor; 16. a 5G wireless data terminal; 17. a steering motor controller; 18. a brake controller; 19. a drive motor controller; 20. a driving motor; 21. inertial combination penetration; 22. an industrial personal computer; 23. and a brake assembly.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-4, an automatic driving meal delivery truck comprises a meal delivery truck chassis, wherein anti-collision contact edges 1 are arranged on the front side and the rear side of the meal delivery truck chassis, a meal delivery box 12 is detachably arranged on the top of the meal delivery truck chassis, blind-supplementing radar 2 is arranged on the upper parts of the front side and the rear side of the meal delivery box 12, a face recognition camera 3 is arranged on the upper parts of the sides of the meal delivery box 12, a voice loudspeaker 13 is arranged on the side of the meal delivery box 12 and below the face recognition camera 3, a GPS antenna 4 is arranged on the rear side of the top of the meal delivery box 12, a multi-line laser radar 5 is arranged on the front side of the top of the meal delivery box 12, binocular vision cameras 6 are arranged on the front side and the rear side of the meal delivery box 12 and below the blind-supplementing radar 2, ultrasonic radar 7 is arranged above the anti-collision contact edges 1, a rust switch 11 is arranged on the rear side of the meal delivery box 12, the meal delivery box 12 comprises a stainless steel shell 121 and a sandwich 122, the inner and outer shells and the outer shells of the sandwich 122 are provided with stainless steel sandwich foam heat insulation layers 121, and the sandwich foam heat insulation materials 122 are heat insulation. Through the arrangement of the meal delivery box body 12, the heat preservation effect can be achieved.

Referring to fig. 1-3, a dish/soup tub 8 and a heat-insulating tub 9 are placed above the meal delivery cart chassis and inside the meal delivery box 12, and the heat-insulating tub 9 is located at the front side of the dish/soup tub 8. Food can be placed and kept warm by the dish/soup tub 8 and the warm tub 9. A dinner plate 10 is arranged on the inner side of the meal delivery box 12 and above the dish/soup barrel 8 and the heat preservation barrel 9. The user may have a meal through the dinner plate 10.

Referring to fig. 1-3, four steering wheels are arranged at the bottom of the meal delivery vehicle chassis, wheel speed meters 14 are arranged on the inner sides of the steering wheels, a steering motor 15 is arranged between the four steering wheels, and a 5G wireless data terminal 16, a steering motor controller 17, a brake controller 18, an inertia combined through guide 21 and an industrial personal computer 22 are arranged at the bottom of the inner side of the meal delivery vehicle chassis. The steering motor 15 can control the overall steering. A driving motor 20 is arranged on the inner side of the meal delivery vehicle chassis and below the heat preservation barrel 9, a driving motor controller 19 is arranged on the inner side of the meal delivery vehicle chassis and between the driving motor 20 and the braking controller 18, and a braking assembly 23 is arranged on the side face of the driving motor controller 19. The overall parking can be controlled by the brake assembly 23.

Referring to fig. 6-9, the autopilot transporter is mainly composed of a meal delivery truck chassis, a meal delivery box 12 and a series of autopilot devices;

The meal delivery truck chassis comprises: the system comprises a steer-by-wire subsystem, a control-by-wire subsystem, a drive-by-wire subsystem, a power battery, a BMS, a light-by-wire, an emergency stop switch 11, an anti-collision touch edge 1 and the like;

The automatic driving apparatus includes: the system comprises a positioning system, a sensing system, a signal communication system and an automatic driving computing system; the industrial personal computer 22 is used as a control core and is provided with a binocular camera, four ultrasonic sensors, a GPS antenna 4, a multi-line laser radar 5, an inertial integrated navigation and a 4G/5G router;

the positioning system comprises combined navigation equipment, a GPS antenna 4 and a wheel speed meter 14;

the sensing system comprises a roof multi-line laser radar 5, a front binocular vision camera and an ultrasonic radar 7 arranged around the vehicle body.

Sensing system: the perception system algorithm mainly comprises five sub-modules of laser radar detection, camera detection, laser radar tracking, camera tracking and prediction. The camera detection may utilize the intermediate results to assist the primary sensor lidar in achieving a high quality obstacle detection end result. The two individual inspection modules can be decoupled for use and tracked separately. The tracking results of the various sensors are post-fused by a filter algorithm. The prediction module then fuses the tracking results as input and outputs future tracks of various road participants. The frequency of the sensing system is 10Hz, and the sensing system is processed in the automatic driving operation platform.

Positioning system: the positioning algorithm mainly comprises three sub-modules of a laser radar odometer, combined navigation calculation and fusion. After the laser radar odometer is initialized by using GNSS data, the point cloud data generated by the laser radar is matched with a high-precision map, and absolute positioning information of 10Hz is output. And the combined navigation reckoning module reckons by combining the GNSS data and the IMU data, and outputs 50Hz relative positioning information. The fusion module combines the positioning information of different frequencies through a filtering algorithm to finally provide absolute positioning capability.

Positioning includes positioning of the vehicle itself in the surrounding environment and positioning of surrounding objects, which are important preconditions and information for decision making. The meal delivery vehicle is matched with a high-precision map through inertial integrated navigation and a plurality of sensor devices and through laser radar and camera data acquisition of the environment of the vehicle, so that more accurate positioning is obtained.

Planning control system: the planning control system is a system which acquires the states of the self vehicle and surrounding vehicles through receiving the upstream information of the positioning and sensing algorithm module and is responsible for the motion planning and track tracking control of the autonomous vehicle. The system comprises a behavior prediction module, a global path planning module, a decision planning module and a track tracking control module.

Global path planning: the global path planning module (routing) is responsible for giving lane-level route planning, the result of which, like the route planning of the navigation software, gives a specific route from the origin to the destination, guiding the general direction of travel of the autonomous vehicle. The module will respond to external routing requests to give an optimal route from the current location to the requesting terminal.

Behavior prediction system: and the behavior prediction module (prediction) receives the input of the sensing and positioning module and is responsible for giving the behaviors of all other surrounding participants for a period of time (5 s-7 s) and the specific motion trail thereof for the decision planning module to use.

Decision-making planning system: the decision-making planning module (planning) receives real-time positioning and prediction information, plans a collision-free track of a vehicle for a period of time in the future in real time according to global path planning, combining various factors such as obstacle avoidance, traffic planning and the like, and sends the collision-free track to the track tracking controller for the vehicle to execute. Future trajectories given by decision-making planning need to be guaranteed for safety, operational efficiency, etc.

Track following: after the decision planning module (control) gives out a safe and collision-free track, the track tracking control module is responsible for calculating a proper control command according to the current vehicle state and the planned track, so that the self-vehicle can move along the planned track.

Video monitoring system: the car body is provided with the binocular vision camera, video data in the running process of the car can be recorded in real time, and meanwhile, the video can be transmitted to a remote dispatching platform through the 5G data transmission module, so that the historical running condition can be conveniently called.

And (3) a power supply system: the battery management system is responsible for powering on all vehicle equipment, and the automatic driving transport vehicle is provided with a BMS battery system for intelligently managing and maintaining each battery unit, so that the battery is prevented from being overcharged and overdischarged, the service life of the battery is prolonged, and the state of the battery is monitored.

The specific implementation process of the utility model is as follows: an administrator can log in the password to authorize the system management of the vehicle through the dispatching system, select a task route, the vehicle, time and a parking position through the web terminal, set a running period and the like.

After receiving the dispatching task, the automatic driving meal delivery vehicle automatically drives according to a specified task path, and simultaneously reports various states of the system to support the access of the PC end and the mobile end through the web.

The automatic driving meal delivery vehicle is automatically driven to a dining room or a specified place of a customer, workers are notified through voice broadcasting, short messages, telephones and the like, and the workers can open the door of the meal delivery vehicle through face recognition, control software or physical key pressing, so that the placement of dining and tableware is completed.

The automatic driving meal delivery vehicle delivers meal to the appointed place one by one according to the set task path and notifies the meal taking, and the automatic driving of taking the meal is completed to continue the next meal delivery point.

After the automatic driving meal delivery vehicle finishes delivering meal or taking tableware, the automatic driving vehicle returns to the dining hall, and informs staff to retrieve the rest meal or tableware.

And after the meal delivery task is finished, if the meal delivery task is not carried out next time, automatically returning to the charging area to wait for charging.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an autopilot send meal car, includes and send meal car chassis, its characterized in that: the novel dining car is characterized in that anti-collision touch edges (1) are arranged on the front side and the rear side of the dining car chassis, a dining box body (12) is detachably arranged on the top of the dining car chassis, blind supplementing radar (2) are arranged on the upper portions of the front side and the rear side of the dining box body (12), a face recognition camera (3) is arranged on the upper portion of the side face of the dining box body (12), a voice loudspeaker (13) is arranged on the side face of the dining box body (12) and below the face recognition camera (3), a GPS antenna (4) is arranged on the rear side of the top of the dining box body (12), a laser radar (5) is arranged on the front side of the top of the multi-line dining box body (12), a binocular vision camera (6) is arranged on the front side and the rear side of the dining box body (12) and below the blind supplementing radar (2), an ultrasonic radar (7) is arranged on the rear side of the dining car chassis and above the anti-collision touch edges (1), and a stop switch (11) is arranged on the rear side of the dining car chassis.

2. An autopilot meal cart according to claim 1, wherein: the dish/soup barrel (8) and the heat-preserving barrel (9) are placed above the meal delivery vehicle chassis and on the inner side of the meal delivery box body (12), and the heat-preserving barrel (9) is located on the front side of the dish/soup barrel (8).

3. An autopilot meal cart according to claim 1, wherein: dinner plates (10) are arranged on the inner side of the meal delivery box body (12) and above the dish/soup barrel (8) and the heat preservation barrel (9).

4. An autopilot meal cart according to claim 1, wherein: four steering wheels are arranged at the bottom of the meal delivery vehicle chassis, wheel speed meters (14) are arranged on the inner sides of the steering wheels, steering motors (15) are arranged among the four steering wheels, and a 5G wireless data terminal (16), a steering motor controller (17), a brake controller (18), an inertia combination through guide (21) and an industrial personal computer (22) are arranged at the bottom of the inner side of the meal delivery vehicle chassis.

5. An autopilot meal cart according to claim 1, wherein: the dining car is characterized in that a driving motor (20) is arranged on the inner side of the dining car chassis and below the heat insulation barrel (9), a driving motor controller (19) is arranged between the driving motor (20) and a braking controller (18) on the inner side of the dining car chassis, and a braking assembly (23) is arranged on the side face of the driving motor controller (19).

6. An autopilot meal cart according to claim 1, wherein: the meal delivery box body (12) comprises a stainless steel shell (121) and a heat preservation interlayer (122), wherein the stainless steel shell (121) is arranged on the inner side and the outer side of the heat preservation interlayer (122), and the heat preservation interlayer (122) is made of polyurethane foam.