Catering double-carrier cooperative service unmanned aerial vehicle

Abstract

The invention discloses a catering double-carrier cooperative service unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles, the catering double-carrier cooperative service unmanned aerial vehicle comprises a fuselage main body and four sets of rotor assemblies mounted on the fuselage main body in a cross shape, and further comprises a double-carrier structure which is composed of a cup clamping mechanism used for automatically clamping cups and a dinner plate clamping mechanism used for automatically clamping dinner plates, the lifting mechanism can adjust the cup clamping mechanism to move up and down, the undercarriage is composed of four arc-shaped supporting legs, and the adjusting mechanism can synchronously adjust the angles of the arc-shaped supporting legs. The lifting mechanism is installed in the machine body, the cup clamping mechanism is installed on the lifting mechanism, a cavity vertically penetrating through the shell is formed in the center of the machine body, and the opening and closing mechanism capable of sealing an upper opening of the cavity is installed in the shell at the position of the cavity. The dinner plate clamping mechanisms are installed in the arc-shaped supporting legs. According to the technical scheme, the functions of automatic clamping, conveying and releasing of cups and dinner plates are achieved at the same time, and the catering conveying efficiency is greatly improved through double-carrier cooperative service.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to a catering dual-carrier collaborative service unmanned aerial vehicle. BACKGROUND

[0002] With the rapid development of global low-altitude economy, the application of unmanned aerial vehicles in various industries and fields has become an important research hotspot. Among them, the application of unmanned aerial vehicles in the catering service field has achieved initial success, and the application trend of unmanned aerial vehicle-based meal delivery and delivery service is more obvious, and the application prospect is broader.

[0003] Through searching relevant documents and consulting published technologies, it is found that the existing research on unmanned aerial vehicle technology for catering service type is limited to the application of take-out delivery, especially the research on this technology by domestic and foreign take-out platforms is particularly concerned and invested. However, there is no specific detailed research and design on unmanned aerial vehicles for catering services in short-distance and small-span spaces such as large-scale self-service restaurants, coffee shops, and canteens on the market. Similar unmanned aerial vehicle design and research mainly focus on the following directions: Take-out delivery unmanned aerial vehicle: an authorized utility model patent "unmanned aerial vehicle for contactless meal delivery (authorization number: CN215436932U)", including a fuselage, at least one wing is arranged on the top surface of the fuselage, a placing table is installed at the bottom of the fuselage, at least one vertical rod is arranged on the surface of the placing table, the vertical rods are provided with protective covers and form an annular fence, and supporting feet are further arranged at the bottom of the placing table; the structure can place meal boxes and the like on the placing table, and the unmanned aerial vehicle can be controlled by remote control to deliver meal boxes and the like to the balcony of a dormitory building, which is simple and convenient. Similar patents include an authorized utility model patent "unmanned aerial vehicle for take-out delivery (authorization number: CN211969744U)", a utility model patent "catering delivery unmanned aerial vehicle (authorization number: CN209988108U)", an invention patent "four-rotor unmanned aerial vehicle for meal delivery (authorization number: CN107054650B)", and an invention patent "safe and sanitary intelligent meal delivery unmanned aerial vehicle (authorization number: CN108284952B)".

[0004] Restaurant food delivery drone: A utility model patent entitled "A restaurant food delivery drone (authorization number: CN209441644U)" includes a drone flight device and a food-carrying device. The food-carrying device is located below the drone flight device and includes a tray and a support frame. The tray is connected and fixed to the lower end of the drone flight device via the support frame. The tray has a fence around its perimeter, with an opening on the front side of the fence. A movable food tray slides onto the tray, allowing it to slide in or out through this opening. This utility model's restaurant food delivery drone is safe and reliable, enabling it to carry food to be delivered to customers during flight via a tray fixed to the lower end of the drone flight device via the support frame, thus improving delivery efficiency. Similar designs include invention patents such as "A highly efficient intelligent drone for restaurant food delivery (authorization number: CN108341057B)," "An intelligent food delivery system based on drones (authorization number: CN109018346B)," and "A restaurant food delivery drone (CN108100250B)," etc.

[0005] Aerial cooking drone: The patent "Publication No.: A drone for cooking in the air (CN202110212330.7)" has been published. This patent solves the problem of keeping food warm during long-distance delivery by directly combining the drone with cooking utensils.

[0006] Therefore, it is evident that current drone technology related to catering primarily focuses on outdoor delivery and indoor food delivery. This application, however, aims to further improve upon drones and catering delivery methods for short-distance, small-span spatial catering services. Specifically, its main research and design direction is as mentioned in point 2 above. While existing inventors have made some innovations and contributions in this area, the inventors' team has identified the following issues requiring further improvement and resolution: Since ancient times, food and drink have been inseparable. When eating, people usually consider both food and drinks at the same time. However, in current technology, there is no drone designed to automatically deliver both food and drinks at the same time. In particular, there is no drone structure that can automatically deliver drinks, nor is there a structure that can adapt to the delivery of cups of different diameters and heights. This limits the application scenarios and scope of existing drone technology, and also reduces delivery efficiency.

[0007] Although the search revealed an authorized invention patent, "An Intelligent Food Delivery System Based on Drones (Authorization No.: CN109018346B)," which discloses a drone structure for automatically delivering food trays, this structure has a fatal flaw: the process of gripping and releasing the food tray is completed by the drone hovering in the air. This places high demands on the drone's vertical positioning and stability in all directions, making it unreliable in densely populated usage scenarios and posing a risk of food tilting or falling due to unstable gripping or release.

[0008] In the current technology, there is no drone that can solve the problem of delivery in special situations such as when there is no plate, or when the plate is too large or too small to be held.

[0009] Based on the above analysis, this application provides a dual-carrier collaborative service drone for catering. Summary of the Invention

[0010] The purpose of this invention is to provide a dual-carrier collaborative service drone for catering, in order to solve the problem mentioned in the background art that the existing technology does not have a drone structure that can automatically deliver food and beverages at the same time, resulting in low delivery efficiency and limited application scenarios.

[0011] To achieve the above objectives, the present invention provides the following technical solution: A dual-carrier collaborative service drone for catering includes a main body and four sets of rotor components mounted thereon in a "cross" shape. It is characterized by including a dual-carrier structure, which consists of a cup clamping mechanism for automatically clamping cups and a plate clamping mechanism for automatically clamping plates. It also includes a lifting mechanism that can adjust the up and down movement of the cup clamping mechanism, a landing gear composed of four arc-shaped support legs, and an adjustment mechanism that can synchronously adjust the angle of the arc-shaped support legs. The lifting mechanism is installed inside the main body of the machine, and the cup clamping mechanism is installed on the lifting mechanism. The main body of the machine has a vertical hole that penetrates the shell. An opening and closing mechanism that can seal the top of the hole is installed inside the shell. The plate clamping mechanism is installed inside each of the arc-shaped support legs.

[0012] Furthermore, the cup clamping mechanism includes an arc-shaped claw adapted to the shape of the cup, a limiting block, three traction plates, a moving block, and a motor. The moving block has a limiting track on its front side. One end of the arc-shaped claw is fixed to one end of the limiting block, and the other end of the limiting block is slidably connected to the limiting track. One end of the two traction plates is rotatably connected to both ends of the middle traction plate, and the other end is rotatably connected to the limiting block. The motor is fixed on the back of the moving block, and its rotor passes through the moving block and is fixed at the center of the middle traction plate.

[0013] Furthermore, the lifting mechanism includes a screw, a limiting rod, a gear set one, and a motor two. The screw is threadedly connected to the cup clamping mechanism, and its upper and lower ends are rotatably connected to the housing. The limiting rod passes through the cup clamping mechanism and is slidably connected to each other. Its upper and lower ends are fixed to the housing. The rotor of the motor two is fixed to one end of the gear set one, and the other end of the gear set one is fixed to the end of the screw. The motor two is installed inside the housing.

[0014] Furthermore, the top of the arc-shaped support leg is rotatably connected to the bottom of the housing, and anti-slip wheels are installed at the bottom. The interior is a hollow structure, and the plate clamping mechanism is installed in the lower half of the arc-shaped support leg.

[0015] Furthermore, the plate clamping mechanism includes an electric push rod, a connecting rod 1, a limiting ball 1, and an arc-shaped claw 2. One end of the arc-shaped claw 2 is rotatably connected to the inside of the arc-shaped support leg, and a sliding elongated hole is opened in the middle of it. The top of the push rod of the electric push rod is connected to one end of the connecting rod 1, and the other end of the connecting rod 1 passes through the sliding elongated hole and is connected to the limiting ball 1. The electric push rod is installed inside the arc-shaped support leg.

[0016] Furthermore, the adjustment mechanism includes a gear ring, a third motor, a second gear set, and four support rods. The gear ring is installed at the bottom of the housing, the third motor is installed inside the housing, the third motor passes through the bottom surface of the housing and is fixedly connected to the second gear set, the second gear set is also meshed with the outer teeth of the gear ring, and the two ends of each support rod are movably connected to the gear ring and the arc-shaped support leg, respectively.

[0017] Furthermore, the support rod includes a second connecting rod and two sets of connecting balls, short rods, and second limiting balls. The toothed ring and the support rod each have limiting holes. The connecting balls are fixed at both ends of the second connecting rod, and the connecting balls and the second limiting balls are fixed at both ends of the short rod. The second limiting ball is located inside the limiting hole and its diameter is larger than the opening of the limiting hole.

[0018] Furthermore, the opening and closing mechanism includes an iris flower mechanism, a gear set three, and a motor four. The power ring of the iris flower mechanism is partially toothed. One end of the gear set three is meshed with the power ring, and the other end is fixed to the rotor of the motor four. The motor four is installed inside the housing.

[0019] Furthermore, the upper surface of the shell is a recessed platform structure that can hold cups or plates.

[0020] Furthermore, the upper ends of the cups and plates are designed with an outward-curling edge structure and a gripping ring structure, respectively, for easy clamping and positioning.

[0021] Compared with the prior art, the beneficial effects of the present invention are: This invention patented drone features a dual-carrier structure, simultaneously incorporating both a cup-holding mechanism and a tableware-holding mechanism. These two functions can be used individually or simultaneously. When used concurrently, the cup-holding mechanism first picks up the cup, then the drone rises via a lifting mechanism. Next, the tableware-holding mechanism picks up the plate, and finally, the drone delivers both the cup and plate to the dining table. This design improves the efficiency of collaborative food delivery and makes the drone more flexible in its choice of food delivery methods, expanding the application scenarios and scope of use for catering drones.

[0022] This invention patents a drone with an adjustable, curved claw on each side of its cup-holding mechanism to accommodate cups of different diameters. Simultaneously, the curved support legs can be adjusted to change their angle relative to the drone's bottom shell. Furthermore, the plate-holding mechanism is installed inside the curved support legs, allowing for the handling of plates of varying diameters when the angle changes. Additionally, in special cases where cups or plates are too small or too large to handle, the patented shell features an opening and closing mechanism. When fully closed, cups or plates can be placed on the opening for transport, increasing flexibility and versatility. Food can even be placed directly into the recessed space created on the shell, allowing for both transport of physical items and temporary use as a plate to enhance restaurant appeal and attract customers.

[0023] This invention's patented drone features a specially designed upper edge for gripping cups and plates. The edges of both cups and plates are specially designed with a limiting outward-curling or ring-shaped structure, significantly improving the success rate and reliability of gripping. Furthermore, both cups and plates can be gripped and released for replacement. That is, after the drone finishes delivering short-distance food and beverages, they can be released for the next round of use, thereby increasing the efficiency of the drone in repeatedly delivering different meals and drinks.

[0024] The drone of this invention features a cup gripping mechanism and a tableware gripping mechanism. Both mechanisms detect relevant parameters through sensors, and the controller calculates and issues instructions. The motors then control the gripping or release of the cup and plate, respectively. The entire process is completed automatically and collaboratively without human intervention, which improves the intelligence level of drone services and saves on the labor costs of hiring waiters. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a three-dimensional structural diagram of the cup clamping mechanism and lifting mechanism of the present invention; Figure 3 This is an exploded structural diagram of the cup clamping mechanism of the present invention; Figure 4This is a three-dimensional top view of the overall structure of the UAV of the present invention; Figure 5 This is a schematic diagram of the three-dimensional structural positional relationship of the adjustment mechanism of the present invention; Figure 6 This is a schematic diagram of the arc-shaped support leg and support rod structure of the present invention; Figure 7 For the present invention Figure 6 Enlarged view of the Chinese plate clamping mechanism; Figure 8 This is a three-dimensional structural diagram of the opening and closing mechanism of the present invention (iris mechanism in open state, back view). Figure 9 This is a three-dimensional structural diagram of the opening and closing mechanism of the present invention (iris mechanism in closed state, front view). Figure 10 This is a schematic diagram of the overall three-dimensional structure of the UAV of the present invention (iris mechanism in closed state). Figure 11 This is a schematic diagram of the overall three-dimensional structure of the drone of the present invention (the iris mechanism is in the closed state when the cup is placed). Figure 12 This is a schematic diagram of the overall three-dimensional structure of the drone of the present invention (when the height of the upper edge of the cup exceeds the upper surface of the drone). Figure 13 This is the main flowchart of the food delivery method of the present invention; Figure 14 This is a sub-flowchart of the cup clamping mechanism in the catering delivery method of the present invention for the clamping process; Figure 15 This is a sub-flowchart of the release process of the cup clamping mechanism in the catering delivery method of the present invention; Figure 16 This is a sub-flowchart of the tray clamping mechanism in the food delivery method of the present invention. Figure 17 This is a sub-flowchart of the release process of the plate clamping mechanism in the catering delivery method of the present invention; Figure 18 This is a schematic diagram of the standby flight area for the drone in the food delivery method of the present invention; Figure 19 This is a schematic diagram of the dining area in which a drone releases cups and / or plates in the food delivery method of the present invention. Figure 20 This is a schematic diagram of the drone food collection area (cup area and plate area) of the food delivery method of the present invention; Figure 21 This is a block diagram of the control structure of the food delivery method of the present invention.

[0026] In the diagram: 1. Main fuselage; 11. Shell; 12. Hole; 13. Ambient light; 14. Voice announcer; 2. Rotor assembly; 3. Cup clamping mechanism; 31. Arc-shaped claw one; 32. Limiting block; 33. Traction plate; 34. Moving block; 35. Motor one; 4. Plate clamping mechanism; 41. Electric push rod; 42. Connecting rod one; 43. Limiting ball one; 44. Arc-shaped claw two; 441. Sliding elongated hole; 5. Lifting mechanism; 51. Screw; 5 2. Limiting rod; 53. Gear set one; 54. Motor two; 6. Arc-shaped support leg; 61. Anti-slip wheel; 7. Adjustment mechanism; 71. Gear ring; 72. Motor three; 73. Gear set two; 74. Support rod; 741. Connecting rod two; 742. Connecting ball; 743. Short rod; 744. Limiting ball two; 81. Cup; 82. Dinner plate; 9. Opening and closing mechanism; 91. Iris flower mechanism; 911. Power ring; 92. Gear set three; 93. Motor four. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example 1: A dual-carrier collaborative service drone for catering, see attached document. Figures 1-12 It includes the fuselage body 1 and four sets of rotor assemblies 2 mounted on it in a "cross" shape. It also includes a dual-carrier structure, which consists of a cup clamping mechanism 3 for automatically clamping cups 81 and a plate clamping mechanism 4 for automatically clamping plates 82. It also includes a lifting mechanism 5 that can adjust the cup clamping mechanism 3 to move up and down, a landing gear composed of four arc-shaped support legs 6, and an adjustment mechanism 7 that can synchronously adjust the angle of the arc-shaped support legs 6. The lifting mechanism 5 is installed inside the main body 1, the cup clamping mechanism 3 is installed on the lifting mechanism 5, the main body 1 has a hole 12 that penetrates the shell 11 vertically at the center, and an opening and closing mechanism 9 that can seal the top of the hole 12 is installed inside the shell 11 at the hole 12; the plate clamping mechanism 4 is installed inside each arc-shaped support leg 6.

[0029] The above technical solution, with its dual-carrier structure, can simultaneously and automatically grip or release the cup 81 and the plate 82, and can adapt to cups 81 and plates 82 of different diameters and heights to a certain extent. In actual operation, the cup gripping mechanism 3 first grips the cup 81, and then the lifting mechanism 5 raises the gripping structure 3, lifting the cup 81 off the table by a certain height, leaving suitable space for the plate 82 below. (See attached diagram.) Figure 12When the cup 81 is high, its top can pass through the hole 12 and extend above its upper opening. After the cup 81 is picked up and raised, if it is necessary to pick up the plate 82, the adjustment mechanism 7 is activated to move the four curved support legs 6 towards the center. Once they reach the appropriate position, the plate gripping mechanism 4 starts to grip or lift the plate 82. When the drone reaches its destination, the process of releasing the cup 81 and plate 82 is reversed. Of course, it is not always necessary to simultaneously transport drinks and food. The dual-carrier structure design adds more flexibility to application needs and scenarios. In the above technical solution, an opening and closing mechanism 9 is provided at the hole 12. That is, when the opening and closing mechanism 9 is closed, the cup 81, plate 82, or even food can be placed directly on it for transport. This special structural setting adds another option to the drone food delivery method, enhancing its flexibility and versatility.

[0030] For a better technical solution, please refer to the appendix. Figure 2 and 3 The cup clamping mechanism 3 includes an arc-shaped claw 31 adapted to the shape of the cup 81, a limiting block 32, three traction plates 33, a moving block 34, and a motor 35. The moving block 34 has a limiting track 341 on its front side. One end of the arc-shaped claw 31 is fixed to one end of the limiting block 32, and the other end of the limiting block 32 is slidably connected to the limiting track 341. One end of the two traction plates 33 is rotatably connected to both ends of the middle traction plate 33, and the other end is rotatably connected to the limiting block 32 respectively. The motor 35 is fixed on the back of the moving block 34, and its rotor passes through the moving block 34 and is fixed at the center of the middle traction plate 33.

[0031] The above technical solution allows the motor 35 to start, driving the two curved claws 31 to either move closer to the center or separate to the sides, thereby clamping or releasing the cup 81. In specific implementation, the curved claws 31 are designed with increased contact area with the outer surface of the cup 81 or an anti-slip structure is installed on the inner side to make the clamping more stable.

[0032] For a better technical solution, please refer to the appendix. Figure 2 The lifting mechanism 5 includes a screw 51, a limiting rod 52, a gear set 53, and a motor 54. The screw 51 is threadedly connected to the cup clamping mechanism 3, and its upper and lower ends are rotatably connected to the housing 11. The limiting rod 52 passes through the cup clamping mechanism 3 and is slidably connected to each other. Its upper and lower ends are fixed to the housing 11. The rotor of the motor 54 is driven by the end of the screw 51 through the gear set 53. The motor 54 is installed inside the housing 11.

[0033] For a better technical solution, please refer to the appendix. Figure 4The top of the arc-shaped support leg 6 is rotatably connected to the bottom of the housing 11, and anti-slip wheels 61 are installed at its bottom. The inside of the support leg is hollow, and the plate clamping mechanism 4 is installed on the lower half of the arc-shaped support leg 6. Furthermore, a torsion spring can be installed at the rotatable connection between the arc-shaped support leg 6 and the housing 11 to increase the stability of the arc-shaped support leg 6.

[0034] For a better technical solution, please refer to the appendix. Figure 6 and attached Figure 7 The plate clamping mechanism 4 includes an electric push rod 41, a connecting rod 42, a limiting ball 43, and an arc-shaped claw 44. One end of the arc-shaped claw 44 is rotatably connected to the inside of the arc-shaped support leg 6, and a sliding elongated hole 441 is opened in the middle. The top of the push rod of the electric push rod 41 is connected to one end of the connecting rod 42, and the other end of the connecting rod 42 passes through the sliding elongated hole 441 and is connected to the limiting ball 43. The electric push rod 41 is installed inside the arc-shaped support leg 6.

[0035] In the above technical solution, once the four curved support legs 6 are adjusted to a certain position, the electric push rod 41 is activated. By extending or retracting, it releases or pulls up the curved claws 44, thereby allowing the four curved claws 44 to release, loosen, grip, or lift the plate 82 from around its perimeter. Rubber sleeves can be attached to the ends of the curved claws 44 to increase friction and provide a flexible gripping or supporting effect.

[0036] For a better technical solution, please refer to the appendix. Figure 5 The adjustment mechanism 7 includes a gear ring 71, a third motor 72, a second gear set 73, and four support rods 74. The gear ring 71 is installed at the bottom of the housing 11, the third motor 72 is installed inside the housing 11, and the rotor of the third motor 72 passes through the bottom surface of the housing 11 and is fixedly connected to the second gear set 73. The second gear set 73 is also meshed with the outer teeth of the gear ring 71. The two ends of each support rod 74 are movably connected to the gear ring 71 and the arc-shaped support leg 6, respectively.

[0037] For a better technical solution, please refer to the appendix. Figure 6 The support rod 74 includes a second connecting rod 741 and two sets of connecting balls 742, short rods 743, and a second limiting ball 744. The toothed ring 71 and the support rod 74 each have a limiting hole. The connecting balls 742 are fixed at both ends of the second connecting rod 741, and the connecting balls 742 and the second limiting ball 744 are fixed at both ends of the short rod 743. The second limiting ball 744 is located inside the limiting hole and its diameter is larger than the opening of the limiting hole.

[0038] The above technical solution involves activating motor 72 when a plate needs to be gripped, causing the gear ring 71 to rotate. This, in turn, uses support rod 74 to push and pull the curved support legs 6, thereby changing the angle between the curved support legs 6 and the bottom of the drone. This adjusts the distance between the bottoms of the four curved support legs 6, adapting to gripping plates 82 of different diameters. Simultaneously, adjusting the angle of the curved support legs 6 also indirectly adjusts the height of the drone shell 11 from the tabletop, making it easier to grip cups 81 of different heights.

[0039] For a better technical solution, please refer to the appendix. Figures 8-10 The opening and closing mechanism 9 includes an iris flower mechanism 91, a gear set three 92, and a motor four 93. The power ring 911 of the iris flower mechanism 91 is partially toothed. One end of the gear set three 92 is meshed with the power ring 911, and the other end is fixed to the rotor of the motor four 93. The motor four 93 is installed inside the housing 11.

[0040] In the above technical solution, the inner ring of the iris mechanism 91 is fixed to the lower surface of the upper end of the housing 11. When the motor 4 93 is started, it drives the power ring 911 to rotate through the gear set 3 92 connected to it, thereby closing or opening the petal structure in the center of the iris mechanism 91. In specific implementation, when automatically gripping the cup 81, it is best to open the iris mechanism 91 to prevent the cup 81 from being too high and affecting its rise to a suitable height.

[0041] For a better technical solution, please refer to the appendix. Figure 1 and attached Figure 10 The upper surface of the shell 11 has a recessed platform structure to facilitate the placement of cups 81 or plates 82. This technical solution allows for more stable and reliable placement of items when cups 81, plates 82, or food are placed directly on the upper surface of the drone, reducing the risk of items tipping over or falling.

[0042] For a better technical solution, please refer to the appendix. Figure 1 The upper ends of the cup 81 and the plate 82 are designed with either an outward-curling edge structure or a gripping ring structure for easy clamping and positioning. The outward-curling edge structure of the cup 81 serves as a final safety measure when clamping, preventing the risk of it falling due to instability. Similarly, the gripping ring structure on the upper edge of the plate 82 ensures that clamping or lifting is more convenient and stable.

[0043] In the above embodiments of this application, the main consideration is to innovate the structure of the UAV to achieve new functions and benefits. Therefore, conventional existing technologies in the field will not be described in detail here. When implementing, you can directly refer to the relevant materials for use in the structure of this application, including but not limited to knowledge and technology of circuits, materials, communication, vision, etc.

[0044] Example 2: A method for delivering food in a small-span space using a drone. Assuming that this application uses a dual-carrier structure, the maximum or minimum height and maximum or minimum diameter of the cup 81 and plate 82 satisfy the mechanical characteristics of the drone's dual-carrier structure, meaning that both the cup 81 and plate 82 can be stably held. (See attached document.) Figures 1-21 .

[0045] S1. Based on the drone management software, select and transmit the instruction group using a computer screen, tablet, or mobile phone: including drone number, food collection area number, and table area number; then execute step S2. S2. Drone initialization; proceed to step S3; S3. The drone flies from the standby flight area to the food collection area, and lands in the food collection area after detecting the corresponding instruction food collection area number; proceed to step S4; S4. The food pick-up area is divided into a cup area and a plate area. When the food pick-up area numbering instruction is only the cup area number, proceed to step S5; when the food pick-up area numbering instruction is only the plate area number, proceed to step S6; when the food pick-up area numbering instruction includes both the cup area number and the plate area number, proceed to step S7; when the food pick-up area number is either the cup area number or the plate area number, and the corresponding number position is empty, proceed to step S8. S5. Execute the command to pick up cup 81; after execution, the drone takes off and flies along the preset trajectory, sequentially detecting the table area numbers until it detects the table number corresponding to the command, then lands at the cup 81 placement location on the table and executes the cup 81 release command; finally, execute step S9. S6. Execute the command to pick up the plate 82; after execution, the drone takes off and flies along the preset trajectory, sequentially detecting the table area numbers until it detects the table number corresponding to the command, then lands at the plate 82 placement location on the table and executes the command to release the plate 82; finally, execute step S9. S7. First, execute the command to pick up the cup 81; after execution, take off and land at the corresponding numbered plate area, and execute the command to pick up the plate 82; after execution, the drone takes off and flies along the preset trajectory, sequentially detecting the table area numbers until it detects the table number corresponding to the command, then lands at the plate 82 placement location on the table and executes the plate 82 release command; then take off and land at the cup 81 placement location, and execute the cup 81 release command; finally, execute step S9; S8. Execute the cavity closure command; The recessed platform structure on the upper surface of the shell 11 is equipped with a voltage sensor 2 that can uniformly detect pressure. When the cup 81 or plate 82 is placed on it, if the pressure here is detected to be greater than the preset maximum pressure threshold, the drone takes off and flies along the preset trajectory, sequentially detecting the table area numbers until it detects the table number corresponding to the command, and then lands at the place where the cup 81 or plate 82 is placed on the table; When the cup 81 or plate 82 is removed, if the pressure here is detected to be less than the preset minimum pressure threshold, execute the cavity 12 opening command; Finally, execute step S9; S9. The drone takes off from the dining area and flies back to the designated landing position in the standby area.

[0046] In steps S1 and S3 above, during implementation, the cup area or plate area may contain different types of drinks or food. For example, the cup area may contain cups 81 filled with plain water or / and tea or / and beverages, while the plate area may contain plates 82 filled with snacks or / and fruit or / and pickles. Delivery is made according to the needs of different customers at the table area. Therefore, the delivery instruction group needs to be specific to the pick-up area number to facilitate the server accurately delivering cups 81 and / or plates 82 containing drinks or / and food according to the type of drink or / and food corresponding to the pick-up area number. (Appendix) Figures 18-20 The numbers are for illustrative purposes only, but there is at least one drone in the standby flight area, at least one dining table with a cup 81 and / or plate 82 release position, and at least one cup and / or plate area in the food retrieval area.

[0047] In step S7 above, based on the structure of the drone in this application, the cup 81 must be picked up first, then the plate 82 must be picked up, the plate 82 must be released first, and then the cup 81 must be released. Furthermore, the tables on which the plate 81 and the cup 82 are placed may not be the same; the release must be performed according to the table numbering requirements corresponding to the transmitted instructions for the cup 81 and the plate 82.

[0048] In step S8 above, in specific implementation, food can also be placed directly on the upper surface of the shell 11 after the cavity 12 is closed. However, since the pressure sensor 2 is located at the recessed platform structure, pressure can only be detected when the pressure of the food covers the recessed platform structure. In this invention application, without considering the influence of the cup 81 height on the opening and closing mechanism 9 at the cavity 12 (i.e., the height of the cup 81's upper edge after being gripped is lower than the opening and closing mechanism 9), the method of manually placing the cup 81 or plate 82 can be carried out in conjunction with the method of automatically gripping the cup 81 and / or plate 82 using a dual-carrier system.

[0049] In step S1 above, during implementation, the selection or input of the transmission command group can be a chef, a waiter, or a customer. Of course, depending on the specific use case, it can also be any user or user of a computer / tablet / phone with drone management software downloaded.

[0050] In the above technical solutions, the control of the drone itself is existing technology, including flight control, battery management control, wireless communication, image recognition, etc., which will not be elaborated in this application. (See attached reference.) Figure 21 This is a block diagram of the control structure of the key detection and execution elements in this application.

[0051] In step S2 above, the initial state after initialization is as follows: the cup clamping mechanism 3 is located at the lower limit position of the lifting mechanism 5, that is, at the minimum height threshold from the tabletop; the two arc-shaped claws 31 of the cup clamping mechanism 3 are fully open, that is, at their farthest relative positions; the angle between the arc-shaped support leg 6 and the bottom surface of the housing 11 is at the maximum angle threshold state, that is, the distance between the arc-shaped support legs 6 on opposite sides is at its maximum; the electric push rod 41 is extended to its maximum, that is, the arc-shaped claw 44 of the plate clamping mechanism 4 is in the retracted state; and the iris mechanism 91 is in the fully open state, that is, the hole 12 is in the open state. In step S4, whether the food retrieval area numbered position corresponds to an empty space or a cup 81 or plate 82 can be determined when selecting the food retrieval number in step S1 when sending the transmission command.

[0052] For specific implementation of steps S5 and S7 above, please refer to the appendix. Figure 14 The cup clamping command is executed as follows: the motor 35 of the clamping mechanism 3 rotates forward, and the arc claw 31 moves towards the center to clamp the cup. When the pressure sensor 1 installed on the arc claw 31 detects that the pressure is greater than the preset maximum pressure threshold, the motor 54 of the lifting mechanism 5 rotates forward, and the clamping mechanism 3 rises as a whole. When the distance sensor 1 on the clamping mechanism 3 detects that its height from the tabletop is equal to the preset maximum height threshold (i.e., the upper limit position), the cup clamping command is completed.

[0053] In the above cup clamping mechanism 3, the initial height of the clamping mechanism 3 from the bottom of the cup 81 is always the same each time it clamps a different cup, and the final height of the bottom of the cup 81 from the table surface is always the same. This ensures that the cup 81 and the food contained in the plate 82 do not interfere with each other. When the cup 81 is too high, the cup 81 can pass through the hole 12 and be higher than the shell 11, as shown in the attached diagram. Figure 12 As shown.

[0054] Furthermore, for specific implementation of steps S5 and S7 above, please refer to the appendix. Figure 15 Execute the cup release command: Execute the reverse command of motor 54 of lifting mechanism 5, clamping mechanism 3 descends as a whole. When distance sensor 1 detects that its height from the tabletop is equal to the preset minimum height threshold, arc claw 31 opens to both sides. When pressure sensor 1 detects that the pressure is less than the preset minimum pressure threshold, the cup 81 release command is completed.

[0055] For specific implementation of steps S6 and S7 above, please refer to the appendix. Figure 16 The plate clamping command is executed: the distance sensor 2 installed on the arc-shaped support leg 6 detects the distance between the plate clamping mechanism 4 and the side of the plate 82. When the distance is equal to the preset minimum distance threshold, the electric push rod 41 of the plate clamping mechanism 4 is retracted, and the arc-shaped claw 2 44 rotates to clamp the plate 82. The plate clamping command is then executed.

[0056] Furthermore, for the specific implementation of steps S6 and S7 above, please refer to the appendix. Figure 17 The command to release the tray 82 is executed: the command to extend the electric push rod 41 is executed, and the arc claw 2 44 rotates to release the tray 82. When the angle sensor detects that the angle between the arc support leg 6 and the bottom surface of the drone shell 11 is the preset maximum angle threshold, the command to release the tray 82 is completed.

[0057] In step S8, during implementation, the iris mechanism 91 of the opening and closing mechanism 9 is used to close or open the cavity 12. The cavity 12 closing command is as follows: Motor 4 93 rotates forward, engaging the partial tooth structure of the power ring 911 through gear set 3 92 and driving the power ring 911 to rotate, thus closing the iris mechanism 91. The cavity 12 opening command is as follows: Motor 4 93 rotates in reverse, thus opening the iris mechanism 91. Because the power ring 911 only has teeth in a partial area, it will automatically stop when it rotates to a point where it can no longer engage with gear set 3 92. The number of motor rotations during opening or closing is fixed and can be set in the program.

[0058] A more optimized technical solution involves installing an ambient light 13 and a voice broadcaster 14 on the main body 1 of the drone. Step S1, using a computer screen, tablet, or mobile phone to select and transmit the command group, further includes: turning on the ambient light 13, turning on the voice broadcaster 14, and inputting the voice broadcast content. When step S9 is executed, the ambient light 13 and the voice broadcast automatically turn off and end. Alternatively, the ambient light 13 and voice broadcast can be manually turned off using a computer screen, tablet, or mobile phone, and the voice broadcast content can be changed midway. The broadcast content can include birthday songs and other music, menu announcements, lost and found announcements, missing child announcements, etc. This function can be used independently or in conjunction with steps S5-S8.

[0059] The application scenarios of this invention are not limited to restaurants. It can also be used in large (self-service) restaurants / canteens, coffee / milk tea shops, family (outdoor) gatherings, and contactless catering services or emergency relief catering services, depending on the specific circumstances.

[0060] Those skilled in the art will understand that embodiments of this application can be provided as methods or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0061] In some embodiments, this application provides a computer device including a memory and a processor. The memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the computer device executes the above-described method for delivering food in a small space based on a drone.

[0062] In some embodiments, this application provides a computer-readable storage medium storing instructions or code that, when executed on a computer, cause the computer to implement the above-described method for delivering food across a small span of space based on a drone.

[0063] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A catering dual-carrier synergic service drone, comprising a fuselage main body (1) and four sets of rotor assemblies (2) installed in the shape of a "cross" on the fuselage main body (1), characterized in that, The application relates to a double-carrier structure which is composed of a cup clamping mechanism (3) for automatically clamping a cup (81) and a dish clamping mechanism (4) for automatically clamping a dish (82), further comprises a lifting mechanism (5) which can adjust the up-and-down movement of the cup clamping mechanism (3), a landing gear composed of four arc-shaped supporting legs (6), and an adjusting mechanism (7) which can synchronously adjust the angle of the arc-shaped supporting legs (6). The lifting mechanism (5) is installed inside a main body (1), the cup clamping mechanism (3) is installed on the lifting mechanism (5), the main body (1) is provided with a vertical cavity (12) penetrating through a shell (11), an opening and closing mechanism (9) which can seal the upper opening of the cavity (12) is installed in the shell (11) at the cavity (12), and the dish clamping mechanism (4) is installed inside each arc-shaped supporting leg (6).

2. The dual-cargo synergic service drone for catering according to claim 1, characterized in that, The cup clamping mechanism (3) comprises an arc-shaped claw I (31) matched with the shape of the cup (81), a limiting block (32), three traction plates (33), a moving block (34) and a motor I (35), the moving block (34) is provided with a limiting track (341) on the front face, one end of the arc-shaped claw I (31) is fixed with one end of the limiting block (32), the other end of the limiting block (32) is slidably connected with the limiting track (341), one end of the two traction plates (33) is rotatably connected with the two ends of the middle traction plate (33), and the other end of the two traction plates (33) is rotatably connected with the limiting block (32), and the motor I (35) is fixed on the back face of the moving block (34), and the rotor of the motor I (35) penetrates through the moving block (34) and is fixed at the central position of the middle traction plate (33).

3. The any kind of catering dual-carrier synergistic service UAV according to claim 1 or 2, characterized in that, The lifting mechanism (5) comprises a screw rod (51), a limiting rod (52), a gear set I (53) and a motor II (54), the screw rod (51) is threadedly connected with the cup clamping mechanism (3), and the upper and lower ends of the screw rod (51) are rotatably connected with the shell (11), the limiting rod (52) penetrates through the cup clamping mechanism (3) and is slidably connected with each other, and the upper and lower ends of the limiting rod (52) are fixed with the shell (11), the rotor of the motor II (54) is in transmission connection with the end of the screw rod (51) through the gear set I (53), and the motor II (54) is installed inside the shell (11).

4. The dual-cargo synergistic service drone for food and beverage according to claim 1, wherein, The arc-shaped supporting leg (6) is rotatably connected with the bottom of the shell (11), the bottom of the arc-shaped supporting leg (6) is provided with an antiskid wheel (61), the arc-shaped supporting leg (6) is a hollow structure, and the dish clamping mechanism (4) is installed on the lower half of the arc-shaped supporting leg (6).

5. The any kind of catering dual-carrier synergistic service UAV according to claim 1 or 4, characterized in that, The dish clamping mechanism (4) comprises an electric push rod (41), a connecting rod I (42), a limiting ball I (43) and an arc-shaped claw II (44), one end of the arc-shaped claw II (44) is rotatably connected inside the arc-shaped supporting leg (6), a sliding long hole (441) is formed in the middle of the arc-shaped claw II (44), the push rod top of the electric push rod (41) is connected with one end of the connecting rod I (42), and the other end of the connecting rod I (42) penetrates through the sliding long hole (441) and is connected with the limiting ball I (43).

6. The any kind of catering dual-carrier synergistic service UAV according to claim 1 or 4, characterized in that, The adjusting mechanism (7) comprises a gear ring (71), a motor three (72), a gear set two (73), and four support rods (74), the gear ring (71) is installed at the bottom of the shell (11), the motor three (72) is installed inside the shell (11), the rotor of the motor three (72) penetrates through the bottom surface of the shell (11) and is fixedly connected with the gear set two (73), the gear set two (73) is also toothedly connected with the gear ring (71), and the two ends of each support rod (74) are movably connected with the gear ring (71) and the arc-shaped support leg (6) respectively.

7. The dual-cargo synergistic service drone for food and beverage according to claim 6, wherein, The support rod (74) comprises a connecting rod two (741) and two groups of connecting balls (742), short rods (743) and limiting balls two (744) respectively, the gear ring (71) and the support rod (74) are respectively provided with limiting holes, the two ends of the connecting rod two (741) are fixedly connected with the connecting balls (742) respectively, the two ends of the short rod (743) are fixedly connected with the connecting balls (742) and the limiting balls two (744) respectively, and the limiting balls two (744) are located inside the limiting holes and have a diameter greater than the hole of the limiting hole.

8. The dual-cargo synergy service drone of claim 1, wherein, The opening and closing mechanism (9) comprises an iris mechanism (91), a gear set three (92) and a motor four (93), the power ring (911) of the iris mechanism (91) is partially provided with teeth, one end of the gear set three (92) is toothedly connected with the power ring (911), the other end is fixedly connected with the rotor of the motor four (93), and the motor four (93) is installed inside the shell (11).

9. The any kind of catering dual-carrier synergistic service UAV according to claim 1 or 8, characterized in that, The upper surface of the shell (11) is a recessed platform structure for placing a cup (81) or a dinner plate (82).

10. The dual-cargo synergistic service drone for food and beverage according to claim 1, wherein, The upper ends of the cup (81) and the dinner plate (82) are respectively designed as an everted rolled edge structure and a grab ring structure for clamping and limiting.

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