Mobile intelligent tea making robot and control system and control method thereof

Abstract

The invention discloses a mobile intelligent tea making robot and a control system and method thereof. The mobile intelligent tea making robot comprises an environment sensing mechanism, an intelligent tea making mechanism, a chassis control mechanism and an automatic battery recharging mechanism. An environment sensing mechanism and an intelligent tea making mechanism are installed on the two sides of the upper portion of the chassis control mechanism respectively. The automatic battery recharging mechanism is arranged at one end, close to the intelligent tea making mechanism, in a chassis control inner cavity in the chassis control mechanism; the environment sensing mechanism is used for sensing the environment to control the mobile intelligent tea making robot to move, and the intelligent tea making mechanism receives tea making requirements through a touch screen arranged on the intelligent tea making mechanism to make tea; the mobile intelligent tea making robot is further provided with a mobile intelligent tea making robot control system used for controlling all the mechanisms to operate. The mobile intelligent tea making robot provided by the invention realizes intelligent navigation in a complex indoor dynamic environment, quickly locates a target position, and completes personalized tea making and delivery services.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile service robots, in particular to a mobile intelligent tea-making robot and a control system and control method thereof. BACKGROUND

[0002] The main contradiction in Chinese society is the contradiction between the people's increasing demand for a better life and the unbalanced and insufficient development. In recent years, the demand for service robot market is growing rapidly, especially in the scenes of catering, hotels, exhibition halls and tea houses. With the inheritance of Chinese tea culture and the popularization of smart home and digital lifestyle, users' demand for timeliness, convenience and personalized experience of tea service is increasing. At present, tea-making service mainly relies on manual operation, which has the limitations of time-consuming, easy to make mistakes, high labor cost, etc. The existing tea drink vending cabinet can only work fixedly in the original place, and has low intelligence, large land demand and no mobile ability. With the rapid development of artificial intelligence and robot technology, service robots gradually appear in people's life, but most of the existing service robots rely on fixed points for work and can only move within the limited range of preset, lack of real-time environmental perception, autonomous navigation, task coordination and efficient service ability, and it is difficult to realize efficient and stable end-to-end service in the multi-room and different height indoor dynamic environment, and it is difficult to meet the increasingly diversified and personalized user demand.

[0003] Therefore, there is an urgent need for a mobile intelligent tea-making robot, control system and method, which can realize intelligent navigation, rapid positioning of target position and completion of personalized tea-making and delivery service in a complex indoor dynamic scene. SUMMARY

[0004] In view of the shortcomings of the prior art, the purpose of the present application is to provide a mobile intelligent tea-making robot, control system and method, which can realize autonomous environmental perception, automatic navigation and intelligent brewing of multiple tea leaves in an indoor dynamic scene, and is beneficial to the transformation of tea-making tasks relying on manual operation to convenience, intelligence and mobility.

[0005] In order to achieve the above purpose, the present application provides a mobile intelligent tea-making robot, which comprises: I. Mobile intelligent tea-making robot The application relates to a mobile intelligent tea-making robot, which comprises an environment sensing mechanism, an intelligent tea-making mechanism, a chassis control mechanism and a battery automatic charging mechanism; the environment sensing mechanism is arranged on one side of the upper surface of the chassis control mechanism, the other side of the upper surface of the chassis control mechanism is provided with and fixedly provided with the intelligent tea-making mechanism; the chassis control mechanism is a hollow structure and is internally provided with a chassis control inner cavity; the battery automatic charging mechanism is arranged in the chassis control inner cavity and is located at one end close to the intelligent tea-making mechanism; the environment sensing mechanism is used for sensing the environment to control the movement of the mobile intelligent tea-making robot; the intelligent tea-making mechanism receives tea-making requirements through a touch screen arranged on the intelligent tea-making mechanism to make tea; and the mobile intelligent tea-making robot is also loaded with a mobile intelligent tea-making robot control system for controlling the operation of various mechanisms.

[0006] The chassis control mechanism comprises four Mecanum wheels, a lower computer and a mobile trolley frame; the chassis control inner cavity is arranged in the mobile trolley frame; a lower computer is arranged and fixed at one end of the chassis control inner cavity close to the environment sensing mechanism, and a battery automatic charging mechanism is arranged and fixed at the other end; the lower computer is electrically connected with the four Mecanum wheels and the battery automatic charging mechanism; two Mecanum wheels are arranged at the two ends of the same side of the mobile trolley frame, and the other two Mecanum wheels are arranged at the two ends of the other side of the mobile trolley frame.

[0007] The environment sensing mechanism comprises a single-line laser radar I, a 2D camera, a single-line laser radar II, an upper computer, a one-dimensional electric pan-tilt head, a camera base, a second layer platform and a third layer platform; the single-line laser radar I is arranged at the front end of the moving direction of the mobile trolley frame and is used for detecting scene radar information at the low position of the current position of the mobile intelligent tea-making robot; the upper computer is arranged on the mobile trolley frame and is fixed at the rear of the single-line laser radar I; a second layer platform higher than the single-line laser radar I and the upper computer is arranged on the upper end surface of the upper computer; the camera base is fixedly connected to the second layer platform through the one-dimensional electric pan-tilt head; the 2D camera is arranged and fixed on the upper end of the camera base; a third layer platform higher than the 2D camera is arranged on the upper end surface of the second layer platform; and the single-line laser radar II is arranged on the upper end surface of the third layer platform and is used for detecting scene radar information at the high position of the current position of the mobile intelligent tea-making robot; the single-line laser radar I, the 2D camera, the single-line laser radar II and the one-dimensional electric pan-tilt head are electrically connected with the upper computer.

[0008] The intelligent tea brewing mechanism comprises a touch screen, a SCARA mechanical arm, a ball screw, a tea leaf gripper, a plurality of different types of small can tea, a disc tea holder, a tea cup, a water filling faucet, a water filling pipe, a ceramic heating pipe, a water pump, a water outlet hose, a water inlet hose, a water bucket and a stepping motor; the SCARA mechanical arm and the stepping motor are arranged on one end of the upper end surface of the moving trolley frame away from the advancing direction, each small can tea is arranged between the SCARA mechanical arm and the stepping motor and arranged in the circumferential direction with the SCARA mechanical arm as the center, the tea leaf gripper is installed at the end of the SCARA mechanical arm for downwardly grabbing the tea leaves in the small can tea into the tea cup, and the ball screw is installed above the SCARA mechanical arm and fixedly connected with the tea leaf gripper below through the SCARA mechanical arm; the touch screen is fixedly installed on the upper surface of the moving trolley frame and does not contact other components, and the upper computer is electrically connected with the SCARA mechanical arm, the water pump and the stepping motor.

[0009] The stepping motor is provided with the disc tea holder, a plurality of grooves are arranged on the upper end of the disc tea holder in the circumferential direction at equal intervals, each groove is provided with a tea cup, and the disc tea holder drives the tea cup above to rotate through the stepping motor; a water filling faucet for adding water to the tea cup is arranged on the side of the disc tea holder away from the SCARA mechanical arm; the water outlet of the water filling faucet is opposite to the cup mouth of any one tea cup, the lower end of the water filling faucet is fixedly installed and connected with one end of the water filling pipe through the upper surface of the moving trolley frame, the other end of the water filling pipe is sequentially connected with the ceramic heating pipe, the water outlet hose, the water pump, the water inlet hose and the water bucket; the water filling pipe, the ceramic heating pipe, the water outlet hose, the water pump, the water inlet hose and the water bucket are arranged in the bottom disc control inner cavity of the moving trolley frame.

[0010] The battery automatic recharging mechanism comprises a battery and a recharging contact, the battery is installed in the bottom disc control inner cavity of the moving trolley frame, the recharging contact is arranged on the outer side of the moving trolley frame for contacting the external power supply, and the battery is electrically connected with the recharging contact.

[0011] The mobile intelligent tea brewing robot control system comprises an environment perception module, a chassis control module, an intelligent tea brewing module and an automatic recharging module which are sequentially connected in communication.

[0012] The environment perception module is loaded in the upper computer for acquiring laser radar information, image information and object information around the chassis control mechanism in the scene, identifying a target labeled as “person” in an indoor dynamic scene based on a preset target detection model, and establishing a world coordinate system to formulate a motion planning path of the tea brewing robot.

[0013] The chassis control module is loaded in the lower computer and is used for determining the operation parameters of each Mecanum wheel in the chassis control mechanism according to the motion planning path, so that the chassis control mechanism of the mobile intelligent tea making robot moves in the plane according to the motion planning path; the chassis control module obtains the inertial measurement unit data and the wheel odometer data from the lower computer, and determines the position and posture of the mobile intelligent tea making robot in the world coordinate system.

[0014] The intelligent tea making module is loaded in the upper computer and is in communication connection with the touch screen, and is used for displaying the selection interface of the working mode of the intelligent tea making robot on the touch screen.

[0015] The automatic recharging module is used for charging the battery.

[0016] The environment perception module comprises a laser radar I data acquisition module, an image acquisition module, a laser radar II data acquisition module and a target detection module; the laser radar I data acquisition module is in communication connection with a single-line laser radar I and is used for obtaining the scene radar information of the low place of the current position of the mobile intelligent tea making robot through the single-line laser radar I; the image acquisition module is in communication connection with a 2D camera and obtains the scene image information of the current position of the mobile intelligent tea making robot through the 2D camera; the laser radar II data acquisition module is in communication connection with a single-line laser radar II and is used for obtaining the scene radar information of the high place of the current position of the mobile intelligent tea making robot through the single-line laser radar II; the target detection module is in communication connection with the upper computer and is used for identifying the dynamic obstacles in the scene image information based on a target detection model; the environment perception module plans the motion path through the information obtained by each module.

[0017] The chassis control module comprises a pose data acquisition module, a kinematic model establishment module, a motion analysis module and a motion control module; the pose data acquisition module is in communication connection with the lower computer and obtains the position and posture information of the mobile intelligent tea making robot through the inertial measurement unit and the wheel odometer in the lower computer; the kinematic model establishment module is in communication connection with the lower computer and is used for establishing the kinematic model of the chassis control mechanism of the mobile intelligent tea making robot, wherein the kinematic model comprises a forward kinematics model and an inverse kinematics model.

[0018] The motion analysis module receives the information of the environment perception module, the pose data acquisition module and the kinematic model establishment module, and is used for kinematically decoupling each Mecanum wheel of the mobile intelligent tea making robot according to the pose information, the kinematic model and the motion planning path of the mobile intelligent tea making robot, to obtain the motion parameters of each Mecanum wheel; the motion control module receives the information of the motion analysis module and is used for generating control instructions according to the motion parameters of each Mecanum wheel, to control the mobile intelligent tea making robot to move according to the motion planning path.

[0019] The intelligent tea-brewing module includes a working mode selection module, a tea-picking module, an intelligent tea-brewing module, and a rotational motion module. The working mode selection module, installed on a touchscreen, displays the working modes of the mobile intelligent tea-brewing robot for selection. These modes include a tea-brewing option and a patrol option. The tea-brewing option includes multiple tea options, each corresponding to a specific brewing program. The tea-picking module connects to a host computer and a SCARA robotic arm, controlling the tea-picking gripper at the end of the SCARA robotic arm to pick up tea leaves from the small tea container corresponding to the selected tea option and place them into a teacup on a circular tea tray. The intelligent tea-brewing module connects to the host computer, a water pump, and a water tap, adding water and brewing tea based on the preset brewing program for the selected tea option.

[0020] The automatic recharging module includes a power detection module, a charging pile positioning module, and a recharging module. The power detection module, installed in the host computer, is used to detect the power level in the mobile intelligent tea-making robot's battery. The charging pile positioning module, also installed in the host computer, is used to record the installation location of the charging pile and to plan the charging path between the mobile intelligent tea-making robot and the charging pile in low-power mode. The recharging module, also installed in the host computer, is used to control the mobile intelligent tea-making robot to move along the charging path and charge its battery by contacting the recharging contacts of the mobile intelligent tea-making robot with the charging pile.

[0021] II. A control method for a mobile intelligent tea-brewing robot, characterized in that, The method includes the following steps: Step 1: Pose Confirmation: The host computer runs the LiDAR I data acquisition module and the LiDAR II data acquisition module to scan the indoor dynamic environment and confirm whether there are dynamic obstacles. The lower computer runs the pose data acquisition module to determine the pose of the mobile intelligent tea-making robot.

[0022] Step 2: Motion path planning: By analyzing whether dynamic obstacles are detected and comparing the detected dynamic obstacles with the preset labels in the target detection module, the identification results are obtained. The kinematic model building module, motion analysis module and motion control module are run by the lower computer. The environmental perception module plans the motion path based on the information obtained by each module and controls the mobile intelligent tea brewing robot to patrol according to the motion path.

[0023] Step 3: Recognition selection of dynamic obstacles: by recognizing whether the recognition result of dynamic obstacles by the target detection model is a target of a person, it is determined whether the mobile intelligent tea-making robot goes to the target position, so as to confirm whether the mobile intelligent tea-making robot runs the work mode selection module to carry out the tea-making option or the patrol option.

[0024] Step 4: Selection of tea-making option and patrol option: if the tea-making option is selected, a plurality of tea options are displayed on the touch screen, and after a tea option is selected, the mobile intelligent tea-making robot carries out tea-making operation; if the patrol option is selected, the lower computer runs the motion analysis module and the motion control module, so that the mobile intelligent tea-making robot continues to patrol according to the preset track.

[0025] Step 5: Repeat selection of tea-making option and patrol option: after the mobile intelligent tea-making robot completes the tea-making operation, the upper computer runs the rotary motion module to rotate the disc tea tray, and the touch screen sends a prompt sound to remind tea taking; after tea taking, the touch screen runs the work mode selection module to repeat steps 4 and 5.

[0026] Step 6: The mobile intelligent tea-making robot runs the power detection module to detect the battery every certain period of time in the patrol work, and when the battery is low, the mobile intelligent tea-making robot moves to the charging pile immediately for charging.

[0027] The step 1 is specifically: The upper computer simultaneously runs the laser radar I data acquisition module and the laser radar II data acquisition module to scan and detect whether there are dynamic obstacles in the low and high indoor dynamic environment around the mobile intelligent tea-making robot, and the lower computer runs the pose data acquisition module to determine the pose of the mobile intelligent tea-making robot in the world coordinate system.

[0028] The step 2 is specifically: When the laser radar I data acquisition module and the laser radar II data acquisition module do not detect dynamic obstacles, the upper computer does not run the image acquisition module to reduce power consumption; the lower computer runs the kinematic model establishment module, the motion analysis module and the motion control module to control the mobile intelligent tea-making robot to patrol according to the preset track in the indoor dynamic scene.

[0029] When the laser radar I data acquisition module and the laser radar II data acquisition module detect a dynamic obstacle, an image acquisition module is run by the upper computer, and a one-dimensional motorized cloud platform is controlled to rotate a 2D camera to make the camera lens face the direction of the obstacle according to the direction of the dynamic obstacle detected by the single-line laser radar I and the single-line laser radar II; the upper computer calls a target detection model in a target detection module to perform real-time online identification on the dynamic obstacle, and compares the identification result with a preset label in the target detection module to obtain an identification result.

[0030] The step 3 is specifically: If the target in the identification result of the dynamic obstacle by the target detection model is a person, a motion analysis module and a motion control module are run by the lower computer to make the mobile intelligent tea-making robot go to the position, make the touch screen face the direction of the target, and run a work mode selection module, so that two options of tea making and patrol are displayed on the touch screen.

[0031] If the target in the identification result of the dynamic obstacle by the 2D camera is not a person, the motion analysis module and the motion control module are run by the lower computer to make the mobile intelligent tea-making robot continue to perform a patrol work according to a preset trajectory and actively avoid obstacles.

[0032] The step 4 is specifically: if the tea making option is selected, a plurality of tea making options are displayed on the touch screen to establish a forward and inverse kinematics model of the SCARA mechanical arm, so as to determine a motion coordinate conversion matrix between a tea leaf gripper at the end of the SCARA mechanical arm and a plurality of small can teas and a tea cup opposite to a water faucet, and the motion coordinate conversion matrix is composed of activity data of each joint of the SCARA mechanical arm.

[0033] After one of the tea options displayed on the touch screen is selected, the upper computer runs a tea leaf clamping module and an intelligent tea making module to control the mobile intelligent tea making robot to make tea according to a tea making program corresponding to the selected tea option; the upper computer controls the tea leaf gripper at the end of the SCARA mechanical arm to clamp tea leaves in the corresponding small can tea and put the tea leaves into the tea cup on the disc tea holder according to the motion coordinate conversion matrix, and the SCARA mechanical arm returns to the initial position after the tea is put; the upper computer controls the intelligent tea making robot to make tea according to the preset tea making program.

[0034] The tea cup is a tea cup facing the water injection faucet, the water pump is controlled to draw water from the water bucket through the water inlet hose and flow through the ceramic heating pipe for heating, and then flow out from the water injection faucet along the water injection pipe to brew the tea leaves in the tea cup; the rotating movement module is connected to the stepping motor to drive the disc tea holder to rotate, so that the tea cup with brewed tea leaves is rotated by a certain angle to make an adjacent another tea cup cup mouth align with the water outlet of the water injection faucet, and a prompt sound is emitted to remind tea taking; if the patrol option is selected, the current pose of the mobile intelligent tea brewing robot is determined through the laser radar data in the upper computer and the pose data in the lower computer, and then the running movement analysis module and the movement control module in the lower computer are run to make the mobile intelligent tea brewing robot start from the current pose and continue to perform the patrol work according to the preset track.

[0035] The tea leaf brewing program includes brewing programs of multiple tea leaves, each brewing program corresponds to a tea leaf option; the tea leaf is one of Jinmumei, Biluochun and Anji White Tea; the brewing program includes control of water injection amount, water flow and water temperature.

[0036] The step 6 is specifically that the mobile intelligent tea brewing robot detects the battery through the electric quantity detection module every interval of time in the patrol work, when the battery of the mobile intelligent tea brewing robot is in low electric quantity, the upper computer runs the charging pile positioning module and the back charging module to make the mobile intelligent tea brewing robot move to the charging pile immediately, and the back charging contact is connected with the charging pile to charge the battery.

[0037] The present application aims at the problems that the traditional manual tea brewing mode is limited by complex operation, high time cost and strong dependence on tea art skills, and the existing intelligent tea brewing equipment is mostly fixed structure, usually integrated on a tea table or desktop, has single function, poor mobility and cannot be used flexibly in multiple scenes, and proposes a mobile intelligent tea brewing robot, a control system and a method, which realize intelligent navigation, rapid positioning of target position in a complex indoor dynamic environment, and personalized tea brewing and delivery service.

[0038] The present application has the following beneficial effects: The application discloses a mobile intelligent tea-making robot, a control system and a method, and realizes autonomous positioning, navigation and obstacle avoidance by adopting a Mecanum wheel chassis combined with a laser radar and a visual sensor, and has good mobile flexibility and environmental adaptability; a target detection model is used to identify the position of a person and autonomously move for interaction, a touch interface is combined to realize multi-mode task selection, and user experience and system intelligent level are improved; a mechanical arm, a tea leaf clamping jaw and a disc tea support structure are designed in cooperation with an intelligent tea-making mechanism, preset tea-making programs can be executed according to different tea types, automatic tea leaf grabbing, dropping and precise brewing are realized, and the consistency and standardization level of tea-making quality are improved; the control system is composed of an environment perception module, a chassis control module, an intelligent tea-making module and an automatic charging module, the modules are in collaborative communication through an upper computer and a lower computer, the organic combination of path planning, motion control and tea-making task scheduling is realized, and the whole machine operation is more stable and reliable; a plurality of technologies such as automatic navigation, visual recognition, mechanical arm control, hot water precise control and man-machine interaction are integrated, the limitation of fixed tea-making equipment is broken through, a mobile intelligent tea-making robot which can independently complete identification, movement, brewing, interaction and charging in a dynamic indoor environment is formed, tea-making operation is innovatively transformed from manual operation to automation, intelligence and mobility, and the mobile intelligent tea-making robot is applicable to a plurality of scenes such as offices, tea rooms, exhibition halls and hotels, and has high practicability and commercial promotion value. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 A structural schematic diagram of a mobile intelligent tea-making robot is provided in the application. Figure 2 A structural schematic diagram of an environment perception mechanism of a mobile intelligent tea-making robot is provided in the application. Figure 3 A structural schematic diagram of an intelligent tea-making mechanism of a mobile intelligent tea-making robot is provided in the application. Figure 4 A structural schematic diagram of a chassis control mechanism of a mobile intelligent tea-making robot is provided in the application. Figure 5 An architectural schematic diagram of a control system of a mobile intelligent tea-making robot is provided in the application. Figure 6 A flow schematic diagram of a control method of a mobile intelligent tea-making robot is provided in the application. Figure 7 A flow schematic diagram of an environment perception module control method of a mobile intelligent tea-making robot is provided in the application. Figure 8 A flow schematic diagram of an intelligent tea-making module control method of a mobile intelligent tea-making robot is provided in the application.

[0040] In the diagram: 1-1, Environmental sensing mechanism; 1-2, Intelligent tea brewing mechanism; 1-3, Chassis control mechanism; 1-4, Battery recharge mechanism; 1, Single-line LiDAR I; 2, 2D camera; 3, Single-line LiDAR II; 4, Host computer; 5, One-dimensional electric gimbal; 6, Camera base; 7, Second-layer platform; 8, Third-layer platform; 9, Touchscreen; 10, SCARA robotic arm; 11, Ball screw; 12, Tea gripper; 13, Small Tea Box I; 14, Small Tea Box II. 15. Small Tea Box III, 16. Round Tea Tray, 17. Teacup, 18. Water Inlet Faucet, 19. Water Inlet Pipe, 20. Ceramic Heating Element, 21. Water Pump, 22. Water Outlet Hose, 23. Water Inlet Hose, 24. Water Bucket, 25. Stepper Motor, 26. Mecanum Wheel, 27. Lower-level Machine, 28. Recharge Contact, 29. Mobile Car Frame, 101. Environmental Sensing Module, 102. Chassis Control Module, 103. Intelligent Tea Brewing Module, 104. Automatic Recharge Module. Detailed Implementation

[0041] 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.

[0042] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0043] like Figure 1 As shown, the mobile intelligent tea-brewing robot includes an environmental sensing mechanism 1-1, an intelligent tea-brewing mechanism 1-2, a chassis control mechanism 1-3, and a battery automatic recharging mechanism 1-4. The environmental sensing mechanism 1-1 is set and installed on one side of the upper surface of the chassis control mechanism 1-3, and the intelligent tea-brewing mechanism 1-2 is set and fixedly installed on the other side of the upper surface of the chassis control mechanism 1-3. The chassis control mechanism 1-3 has a hollow structure and an internal chassis control cavity. The battery automatic recharging mechanism 1-4 is set in the chassis control cavity near the end of the intelligent tea-brewing mechanism 1-2. The environmental sensing mechanism 1-1 is used to sense the environment to control the movement of the mobile intelligent tea-brewing robot. The intelligent tea-brewing mechanism 1-2 receives tea-brewing requests through its own touch screen and brews tea. The mobile intelligent tea-brewing robot is also equipped with a mobile intelligent tea-brewing robot control system to control the operation of each mechanism.

[0044] Specifically, the mobile intelligent tea-making robot includes: The chassis control mechanism 1-3; the environment perception mechanism 1-1 installed above the chassis control mechanism 1-3 and close to the front side; the intelligent tea making mechanism 1-2 installed above the chassis control mechanism 1-3 and close to the rear side, behind the environment perception mechanism 1-1; the battery automatic charging mechanism 1-4 installed at the rear of the chassis control mechanism 1-1.

[0045] The chassis control mechanism 1-3 comprises four Mecanum wheels 26, a lower computer 27 and a mobile trolley frame 29; a chassis control inner cavity is arranged in the mobile trolley frame 29, the lower computer 27 is arranged and installed at one end of the chassis control inner cavity close to the environment perception mechanism 1-1, the battery automatic charging mechanism 1-4 is arranged and installed at the other end of the chassis control inner cavity, and the lower computer 27 is electrically connected with the four Mecanum wheels 26 and the battery automatic charging mechanism 1-4 respectively; two Mecanum wheels 26 are installed at the two ends of the same side of the mobile trolley frame 29, and the other two Mecanum wheels 26 are installed at the two ends of the other side of the mobile trolley frame 29, so that the mobile intelligent tea making robot can move freely.

[0046] As shown in Figure 2 The environment perception mechanism 1-1 comprises a single-line laser radar I1, a 2D camera 2, a single-line laser radar II3, an upper computer 4, a one-dimensional motorized gimbal 5, a camera base 6, a second layer platform 7 and a third layer platform 8; the single-line laser radar I1 is arranged at the front end of the moving direction on the mobile trolley frame 29 to detect the scene radar information at the low position of the current position of the mobile intelligent tea making robot; the upper computer 4 is arranged on the mobile trolley frame 29 and installed behind the single-line laser radar I1; the second layer platform 7 higher than the single-line laser radar I1 and the upper computer 4 is built on the upper end surface of the upper computer 4; the camera base 6 is fixedly connected to the second layer platform 7 through the one-dimensional motorized gimbal 5; the 2D camera 2 is arranged and installed on the upper end of the camera base 6; the third layer platform 8 higher than the 2D camera 2 is built on the upper end surface of the second layer platform 7; the single-line laser radar II3 is installed on the upper end surface of the third layer platform 8 to detect the scene radar information at the high position of the current position of the mobile intelligent tea making robot; and the single-line laser radar I1, the 2D camera 2, the single-line laser radar II3 and the one-dimensional motorized gimbal 5 are electrically connected with the upper computer 4 respectively.

[0047] As shown in Figure 3As shown, the intelligent tea making mechanism 1-2 includes a touch screen 9, a SCARA robot arm 10, a ball screw 11, a tea leaf gripper 12, a plurality of different types of small canisters of tea, a disc-shaped tea tray 16, tea cups 17, a water faucet 18, a water pipe 19, a ceramic heating pipe 20, a water pump 21, a water outlet hose 22, a water inlet hose 23, a water bucket 24, and a stepping motor 25; the SCARA robot arm 10 and the stepping motor 25 are arranged on the upper end of the moving trolley frame 29 away from the advancing direction, each small canister of tea is arranged between the SCARA robot arm 10 and the stepping motor 25 and circumferentially around the SCARA robot arm 10, the tea leaf gripper 12 is arranged at the end of the SCARA robot arm 10 for grabbing tea leaves in the small canister of tea downward into the tea cup 17, the ball screw 11 is arranged above the SCARA robot arm 10 and fixedly connected with the tea leaf gripper 12 below through the SCARA robot arm 10; the touch screen 9 is fixedly arranged on the upper surface of the moving trolley frame 29 and does not contact other components, the installation position of the touch screen 9 is convenient for user operation and is not within the movable range of the SCARA robot arm 10, and the upper computer 4 is electrically connected with the water pump 21, the SCARA robot arm 10, and the stepping motor 25 respectively; the ball screw 11 can drive the tea leaf gripper 12 to move up and down, thereby realizing the actions of taking tea and putting tea.

[0048] The upper computer 4 and the touch screen 9 are electrically connected, the upper computer 4 and the touch screen 9 display pictures through HDMI connection (for displaying the tea making robot working mode options), and the upper computer 4 and the touch screen 9 transmit touch signals through USB connection (so that the upper computer 4 obtains the working mode option selected by the user on the touch screen 9, and then the upper computer 4 expands the corresponding work according to the option). The touch screen 4 communicates with the upper computer 9, and the upper computer 4 drives the SCARA robot arm 10, the stepping motor 25, the intelligent tea making module 103, and other peripheral equipment to work.

[0049] The stepping motor 25 is provided with the disc-shaped tea tray 16, a plurality of grooves are circumferentially and equally spaced on the upper end of the disc-shaped tea tray 16, and a tea cup 17 is arranged in each groove, that is, the included angle between any two adjacent tea cups 17 is equal, and the disc-shaped tea tray 16 drives the tea cup 17 above to rotate through the stepping motor 25; the side of the disc-shaped tea tray 16 away from the SCARA robot arm 10 is provided with the water faucet 18 for adding water to the tea cup 17; the water outlet of the water faucet 18 is opposite to the cup opening of any one tea cup 17, the lower end of the water faucet 18 is fixedly arranged and connected with one end of the water pipe 19 on the upper surface of the moving trolley frame 29, and the other end of the water pipe 19 is sequentially connected with the ceramic heating pipe 20, the water outlet hose 22, the water pump 21, the water inlet hose 23, and the water bucket 24; the water pipe 19, the ceramic heating pipe 20, the water outlet hose 22, the water pump 21, the water inlet hose 23, and the water bucket 24 are arranged in the bottom disc control inner cavity of the moving trolley frame 29.

[0050] More specifically, the inlet hose 23 is connected to the water tank 24 and the water pump 21 inlet, the outlet hose 22 is connected to the water pump 21 outlet and the ceramic heating tube 20 inlet, and the water injection pipe 19 is connected to the ceramic heating tube 20 outlet and the water injection faucet 18 inlet.

[0051] like Figure 4 As shown, the automatic battery recharge mechanism 1-4 includes a battery and a recharge contact 28. The battery is installed in the chassis control cavity of the mobile trolley frame 29, and the recharge contact 28 is located on the outside of the mobile trolley frame 29 for contact with an external power source. The battery is electrically connected to the recharge contact 28.

[0052] More specifically, the environmental sensing mechanism 1-1 is installed above the chassis control mechanism 1-3, approximately 1 cm from the front of the chassis control mechanism 1-3. A single-line lidar I 1 and a host computer 4 are mounted on the mobile trolley frame 29. The single-line lidar I 1 is approximately 35 cm above the ground and is used to sense objects at lower levels in the dynamic indoor environment. The single-line lidar I 1 is installed in front of the host computer 4. The second-layer platform 7 is mounted on the mobile trolley frame 29 via three screw copper pillars. A one-dimensional electric platform 5 is mounted on the second-layer platform 7, approximately 1 cm from the front of the second-layer platform 7. A camera base 6 is fixed to the one-dimensional electric platform 5 and is located in the center. A 2D camera 2 is fixed to the camera base 6, approximately 80 cm above the ground. A third-layer platform 8 is mounted on the second-layer platform 7 via three screw copper pillars and is located behind the 2D camera 2. A single-line lidar II 3 is mounted on the third-layer platform 8, approximately 100 cm above the ground, and is used to sense objects at higher levels in the dynamic indoor environment.

[0053] The intelligent tea brewing mechanism 1-2, the touch screen 9, the SCARA mechanical arm 10, the small can tea I 13, the small can tea II 14, the small can tea III 15, the disc tea holder 16 and the water faucet 18 are installed on the mobile trolley frame 29, and the water injection pipe 19, the ceramic heating pipe 20, the water pump 21, the water outlet hose 22, the water inlet hose 23, the water bucket 24 and the stepping motor 25 are installed in the mobile trolley frame 29. The touch screen 9 is fixed on the mobile trolley frame 29 by two steel columns, the installation position of the touch screen 9 is higher than the single-line laser radar II 3, and the installation position of the touch screen 9 is not within the movable range of the SCARA mechanical arm 10. The SCARA mechanical arm 10 is fixed on the mobile trolley frame 29 and located at the left rear of the touch screen 9, the ball screw 11 is installed on the third shaft of the SCARA mechanical arm 10 and used for up-down movement, and the tea gripper 12 is fixed at the end of the ball screw 11 and used as an end effector of the SACRA mechanical arm 10. The small can tea I 13, the small can tea II 14 and the small can tea III 15 are fixed in front of the SCARA mechanical arm 10, so that the tea gripper 12 can pick tea leaves from different small can teas. The disc tea holder 16 is installed on the other side of the small can tea, the disc tea holder is provided with six tea holder grooves and can place six tea cups, the angles between the tea cups are equal, the tea cup 17 is installed directly below the water injection port of the water faucet 18, and the water faucet 18 is installed on the side of the disc tea holder 16. The stepping motor 25 is connected with the disc tea holder 16 and located directly below the disc tea holder 16. The water inlet hose 23 is connected with the water inlet of the water pump 21 and the water bucket 24, the water outlet hose 22 is connected with the water outlet of the water pump 21 and the water inlet of the ceramic heating pipe 20, and the water injection pipe 19 is connected with the water outlet of the ceramic heating pipe 20 and the water inlet of the water faucet 18.

[0054] The chassis control mechanism 1-3, the mobile trolley frame 29 is built into a cubic structure by a plurality of profiles and acrylic plates, four Mecanum wheels 26 are installed on both sides of the mobile trolley frame 29, two Mecanum wheels 26 are arranged on each side, and the lower computer 27 is installed inside the mobile trolley frame 29 and used for controlling the motion parameters of the four Mecanum wheels 26 and providing inertial measurement unit data and wheel odometer data.

[0055] The battery automatic recharging mechanism 1-4 is composed of two recharging charging contacts 28 and installed on the outer side of the tail of the mobile trolley frame 29.

[0056] Figure 5 The figure is a schematic diagram of a mobile intelligent tea brewing robot control system provided by the application. The mobile intelligent tea brewing robot control system comprises an environment perception module 101, a chassis control module 102, an intelligent tea brewing module 103 and an automatic recharging module 104 which are sequentially and communicatively connected.

[0057] The environment perception module 101 is loaded in the host computer 4 to obtain laser radar information, image information and object information around the perception chassis control mechanism 1-3 in the scene, identify the target labeled as "person" in the indoor dynamic scene based on the preset target detection model, establish a world coordinate system, determine the relative position coordinate relationship between the mobile intelligent tea-making robot and the target, and thus formulate the motion planning path of the tea-making robot; the environment perception module 101 101 is used to obtain low laser radar, high laser radar and image information in the indoor dynamic scene, perceive the objects around the chassis control mechanism 1-3, identify the target labeled as "person" in the indoor dynamic scene based on the preset target detection model, establish a world coordinate system, determine the relative position coordinate relationship between the mobile intelligent tea-making robot and the guest, and thus formulate the motion planning path of the tea-making robot.

[0058] The chassis control module 102 is loaded in the lower computer 27 to determine the running parameters of each Mecanum wheel 26 in the chassis control mechanism 1-3 according to the motion planning path, so as to drive the chassis control mechanism 1-3 of the mobile intelligent tea-making robot to move in the plane according to the motion planning path; the chassis control module 102 obtains the inertial measurement unit data and the wheeled odometry data from the lower computer 27 to determine the position and attitude of the mobile intelligent tea-making robot in the world coordinate system.

[0059] The intelligent tea-making module 103 is loaded in the host computer 4 and is in communication connection with the touch screen 9 to display a selection interface of the intelligent tea-making robot working mode on the touch screen 9, so as to facilitate the control of the working mode of the mobile intelligent tea-making robot; according to the tea-making requirement selected by the selection interface, the tea leaf clamping jaw 12 at the end of the SCARA mechanical arm 10 is controlled to clamp tea leaves in the corresponding small pot tea and put them into the tea cup 17 on the disc tea holder 16, the intelligent tea-making robot is controlled to make tea according to the preset tea leaf brewing program, and tea taking is reminded after tea making; The automatic recharging module 104 is used to charge the battery.

[0060] Further, the environment perception module 101 comprises a laser radar I data acquisition module, an image acquisition module, a laser radar II data acquisition module, and a target detection module; the laser radar I data acquisition module is connected with the single-line laser radar I1 and is used to acquire scene radar information at a low position of the current position of the mobile intelligent tea-making robot through the single-line laser radar I1; the image acquisition module is connected with the 2D camera 2 and acquires scene image information at the current position of the mobile intelligent tea-making robot through the 2D camera 2; the laser radar II data acquisition module is connected with the single-line laser radar II3 and is used to acquire scene radar information at a high position of the current position of the mobile intelligent tea-making robot through the single-line laser radar II3; the target detection module is communicatively connected with the host computer 4 and is used to identify dynamic obstacles in the scene image information based on a target detection model; the environment perception module 101 plans a motion path based on information acquired through each module.

[0061] Further, the chassis control module 102 comprises a pose data acquisition module, a kinematics model establishment module, a motion analysis module, and a motion control module; the pose data acquisition module is connected with the lower computer 27 and acquires position and attitude information of the mobile intelligent tea-making robot through an inertial measurement unit and a wheeled odometry in the lower computer 27; the kinematics model establishment module is connected with the lower computer 27 and is used to establish a kinematics model of the chassis control mechanism 1-3 of the mobile intelligent tea-making robot, wherein the kinematics model comprises a forward kinematics model and an inverse kinematics model.

[0062] The motion analysis module receives information of the environment perception module 101, the pose data acquisition module, and the kinematics model establishment module and is used to kinematically decouple each Mecanum wheel 26 of the mobile intelligent tea-making robot according to the pose information, the kinematics model, and the motion planning path of the mobile intelligent tea-making robot, so as to obtain motion parameters of each Mecanum wheel 26; the motion control module receives information of the motion analysis module and is used to generate a control instruction according to the motion parameters of each Mecanum wheel 26, so as to control the mobile intelligent tea-making robot to move according to the motion planning path.

[0063] Further, the intelligent tea making module 103 comprises a working mode selection module, a tea leaf clamping module, the intelligent tea making module 103 and a rotating motion module; the working mode selection module is installed in the touch screen 9 and is used for displaying the working modes of the mobile intelligent tea making robot on the touch screen 9 for selection, the working modes comprising a tea making option and a patrol option, the tea making option comprising a plurality of tea leaf options, each of which corresponds to a tea leaf brewing program; further, after the tea making option is selected, the touch screen 9 displays the plurality of tea leaf options for selection; after the patrol option is selected, the mobile intelligent tea making robot patrols according to a preset track in an indoor dynamic scene. The tea leaf clamping module is connected to the upper computer 4 and the SCARA mechanical arm 10 and is used for controlling the tea leaf clamping jaw 12 at the tail end of the SCARA mechanical arm 10 to clamp tea leaves in the small can of tea corresponding to the selected tea leaf option and to place the tea leaves in the tea cup 17 on the disc tea holder 16; the intelligent tea making module 103 is connected to the upper computer 4, the water pump 21 and the water filling faucet 18 and is used for water adding and tea making based on the preset brewing program of the selected tea leaf option.

[0064] Specifically, the water pump 21 is controlled to draw water from the water bucket 24 through the water inlet hose 23 and to flow through the ceramic heating tube 20 for heating, and then to flow out from the water filling faucet 18 along the water filling pipe 19, so as to brew the tea leaves in the tea cup 17; the rotating motion module is connected to the stepping motor 25 and rotates the disc tea holder 16 by driving the stepping motor 25, so as to rotate the tea cup 17 with brewed tea leaves by a certain angle to make the cup opening of the adjacent tea cup 17 align with the water outlet of the water filling faucet 18 and to issue a prompt sound to remind tea taking.

[0065] Further, the automatic recharging module 104 comprises an electric quantity detection module, a charging pile positioning module and a recharging module; the electric quantity detection module is loaded in the upper computer 4 and is used for detecting the electric quantity in the battery of the mobile intelligent tea making robot; the charging pile positioning module is loaded in the upper computer 4 and is used for recording the installation position of the charging pile and planning the charging planning path between the mobile intelligent tea making robot and the charging pile in the low electric quantity mode; the recharging module is loaded in the upper computer 4 and is used for controlling the mobile intelligent tea making robot to move according to the charging planning path and to charge the battery of the mobile intelligent tea making robot by contacting the recharging contact of the mobile intelligent tea making robot with the charging pile.

[0066] Figure 1 Fig. 1 shows a structural schematic diagram of a mobile intelligent tea making robot provided by the application. Figure 2 Fig. 2 shows a structural schematic diagram of an environment sensing mechanism of a mobile intelligent tea making robot provided by the application. Figure 3 Fig. 3 shows a structural schematic diagram of an intelligent tea making mechanism of a mobile intelligent tea making robot provided by the application. Figure 4 Fig. 4 shows a structural schematic diagram of a chassis control mechanism of a mobile intelligent tea making robot provided by the application.

[0067] The chassis control module 102 is configured to determine the operation parameters of each Mecanum wheel 26 in the chassis control mechanism 1-3 according to the motion planning path, so that the chassis control mechanism 1-3 of the mobile intelligent tea-making robot moves in the plane according to the motion planning path; and configured to obtain the inertial measurement unit data and the wheel odometer data from the lower computer 27, and determine the position and attitude of the mobile intelligent tea-making robot in the world coordinate system.

[0068] The intelligent tea-making module 103 is configured to display a selection interface of the working mode of the intelligent tea-making robot on the touch screen 9, so as to facilitate the guest to control the working mode of the mobile intelligent tea-making robot; and configured to control the tea leaf clamping jaw 12 at the end of the SCARA mechanical arm 10 to clamp tea leaves in the corresponding small can and put the tea leaves into the tea cup 17 on the disc tea tray 16 according to the tea-making requirements of the guest, control the intelligent tea-making robot to make tea according to the preset tea-making program, and remind the guest to take tea after the tea-making is completed.

[0069] The automatic recharging module 104 is configured to charge the battery through the recharging charging contact 28.

[0070] In a preferred embodiment, the environment perception module 101 comprises a laser radar I data acquisition module, an image acquisition module, a laser radar II data acquisition module, and a target detection module.

[0071] The laser radar I data acquisition module is configured to obtain scene radar information of a low position of the mobile intelligent tea-making robot through the laser radar I 1; The image acquisition module is configured to obtain scene image information of the current position of the mobile intelligent tea-making robot through the 2D camera 2; The laser radar II data acquisition module is configured to obtain scene radar information of a high position of the mobile intelligent tea-making robot through the single-line laser radar II 3.

[0072] The target detection module is configured to identify dynamic objects in the scene image information based on a YOLOv5n target detection deep learning model.

[0073] In a preferred embodiment, the chassis control module 102 comprises a pose data acquisition module, a kinematics model establishment module, a motion analysis module, and a motion control module.

[0074] The pose data acquisition module is configured to obtain the position and attitude information of the mobile intelligent tea-making robot through the inertial measurement unit and the wheel odometer in the lower computer 27.

[0075] The kinematics model establishment module is configured to establish the forward kinematics and inverse kinematics models of the chassis control mechanism 1-3 of the mobile intelligent tea-making robot.

[0076] a motion analysis module, configured to perform kinematic decoupling on each Mecanum wheel 26 of the mobile intelligent tea-making robot according to position and attitude information of the mobile intelligent tea-making robot, a kinematic model, and a motion planning path, to obtain motion parameters of each Mecanum wheel.

[0077] a motion control module, configured to generate motion control instructions in the lower computer 27 according to the motion parameters of each Mecanum wheel 26, to control the mobile intelligent tea-making robot to move according to the motion planning path.

[0078] In a preferred embodiment, the intelligent tea-making module 103 comprises a working mode selection module, a tea leaf clamping module, an intelligent tea-making module, and a rotary motion module.

[0079] The working mode selection module is configured to display working modes of the mobile intelligent tea-making robot on the touch screen 9 for a guest to select. The working modes include a tea-making mode and a patrol mode. After the guest selects the tea-making mode, the touch screen 9 further displays options of Jinmumei, Biluochun, and Anji Baicha for the guest to select. After the guest selects the patrol mode, the mobile intelligent tea-making robot patrols in a dynamic indoor scene according to a preset trajectory.

[0080] The tea leaf clamping module is configured to control the SCARA mechanical arm 10 to clamp tea leaves in a small can of tea corresponding to a selected tea leaf option to a tea cup 17 on the disc tea holder 16.

[0081] The intelligent tea-making module is configured to control the water pump 21 to draw water from the water bucket 24 and flow through the ceramic heating tube 20, and then flow out from the water faucet 18 along the water injection pipe 19, to brew tea leaves in the tea cup 17, based on a preset brewing program of the selected tea leaf option.

[0082] The rotary motion module is configured to control the stepper motor 25 to rotate the tea cup 17 with brewed tea leaves by 60° after the tea leaves are brewed, and to emit a prompt sound to remind the guest to take the tea.

[0083] In a preferred embodiment, the automatic recharging module 104 comprises a power detection module, a charging pile positioning module, and a recharging module.

[0084] The power detection module is configured to detect power in a battery of the mobile intelligent tea-making robot once in a patrol working mode of the mobile intelligent tea-making robot, by a power detection chip in the lower computer 27.

[0085] The charging pile positioning module is configured to record an installation position of a charging pile in the upper computer 4, to determine a charging planning path between the mobile intelligent tea-making robot and the charging pile in a low power mode.

[0086] The return charging module is configured to drive the chassis control mechanism 1-3 by the lower computer 27 to move the mobile intelligent tea making robot according to a charging planning path, and charge the battery of the mobile intelligent tea making robot by contacting the return charging contact 28 of the mobile intelligent tea making robot with the charging pile.

[0087] To better achieve the above-mentioned purpose, the application further provides a control method of the mobile intelligent tea making robot, which is applied to the control system of the mobile intelligent tea making robot. Step 1: confirmation of the pose: the upper computer 4 runs the laser radar I data acquisition module and the laser radar II data acquisition module to scan the indoor dynamic environment and confirm whether there is a dynamic obstacle, and determines the pose of the mobile intelligent tea making robot by running the pose data acquisition module by the lower computer 27.

[0088] Step 2: planning of the motion path: the motion path is planned by the environment perception module through the information obtained by each module, and the mobile intelligent tea making robot is controlled to patrol according to the motion path.

[0089] Step 3: identification and selection of the dynamic obstacle: whether the mobile intelligent tea making robot goes to the target position is determined by whether the identification result of the dynamic obstacle by the target detection model is the target person, so as to confirm whether the mobile intelligent tea making robot runs the work mode selection module and then performs the work of the tea making option or the patrol option.

[0090] Step 4: selection of the tea making option and the patrol option: when the tea making option is selected, a plurality of tea options are displayed on the touch screen 9 for selection, and the mobile intelligent tea making robot performs the tea making operation after selecting a tea option; when the patrol option is selected, the mobile intelligent tea making robot continues to patrol according to the preset trajectory in the indoor dynamic scene by running the motion analysis module and the motion control module by the lower computer 27.

[0091] Step 5: repeated selection of the tea making option and the patrol option: after the mobile intelligent tea making robot completes the tea making operation, the upper computer 4 runs the rotary motion module to rotate the disc tea tray 16, and the touch screen 9 issues a prompt sound to remind taking tea; after taking tea, the touch screen 9 runs the work mode selection module, and steps 4 and 5 are repeatedly run.

[0092] Step 6: The mobile intelligent tea-making robot runs the power detection module every certain period of time in the patrol work to detect the battery. When the battery is low, the mobile intelligent tea-making robot moves to the charging pile immediately and charges.

[0093] Step 1 is specifically: The upper computer 4 simultaneously runs the laser radar I data acquisition module and the laser radar II data acquisition module to scan and detect whether there are dynamic obstacles in the low and high places around the mobile intelligent tea-making robot. The lower computer 27 runs the pose data acquisition module to determine the pose of the mobile intelligent tea-making robot in the indoor world coordinate system.

[0094] Step 2 is specifically: When the laser radar I data acquisition module and the laser radar II data acquisition module do not detect dynamic obstacles, the upper computer 4 does not run the image acquisition module to reduce power consumption. The lower computer 27 runs the kinematic model establishment module, the motion analysis module, and the motion control module to control the mobile intelligent tea-making robot to patrol according to the preset trajectory in the indoor dynamic scene.

[0095] When the laser radar I data acquisition module and the laser radar II data acquisition module detect dynamic obstacles, the upper computer 4 runs the image acquisition module and controls the one-dimensional electric pan-tilt 5 to rotate the 2D camera 2 according to the direction of the dynamic obstacle detected by the single-line laser radar I1 and the single-line laser radar II3, so that the camera lens is directed to the obstacle direction. The upper computer 4 calls the target detection model in the target detection module to identify the dynamic obstacle in real time and compares it with the preset label in the target detection module to obtain the identification result.

[0096] Step 3 is specifically: If the target detection model identifies the target of the dynamic obstacle as a person, it is determined that the dynamic obstacle is a person. The lower computer 27 runs the motion analysis module and the motion control module to make the mobile intelligent tea-making robot move to the position, make the touch screen 9 face the direction of the target, and run the work mode selection module. The touch screen 9 displays two options of tea-making and patrol.

[0097] If the 2D camera 2 does not identify the target of the dynamic obstacle as a person, the lower computer 27 runs the motion analysis module and the motion control module to make the mobile intelligent tea-making robot continue to patrol according to the preset trajectory and actively avoid obstacles.

[0098] The step 4 is specifically: if the tea brewing option is selected, a plurality of tea brewing options are displayed on the touch screen 9 for selection; the forward and inverse kinematic models of the SCARA robot arm 10 are established, and then the motion coordinate conversion matrix between the tea leaf gripper 12 at the end of the SCARA robot arm 10 and the plurality of small jar teas and the tea cup 17 directly opposite the water faucet 18 is determined; the 4*4 homogeneous transformation matrix is used to represent the motion coordinate conversion matrix from the a coordinate system to the b coordinate system T a→b The conversion matrix T a→b is composed of a rotation matrix R a→b and a translation matrix t a→b The motion coordinate conversion matrix T a→b is: ; The motion coordinate conversion matrix is specifically: four coordinate systems are included, which are the SCARA robot arm 10 base coordinate system {Robot}, the tea leaf gripper 12 coordinate system at the end of the SCARA robot arm 10 {End}, the small jar tea coordinate system {Tea}, and the tea cup 17 coordinate system directly opposite the water faucet 18 {Cup}. The conversion matrix from {Robot} to {End} is T Robot→End which is obtained from the kinematics of the SCARA robot arm 10. The conversion matrix from {End} to {Tea} is T End→Tea and the conversion matrix from {End} to {Cup} is T End→Cup which is obtained from the teach pendant of the SCARA robot arm 10.

[0099] After one of the tea leaf options displayed on the touch screen 9 is selected, the host computer 4 runs the tea leaf clamping module and the intelligent tea brewing module to control the mobile intelligent tea brewing robot to brew tea according to the tea leaf brewing program corresponding to the selected tea leaf option; the host computer 4 controls the tea leaf gripper 12 at the end of the SCARA robot arm 10 to clamp tea leaves from the corresponding small jar tea and put the tea leaves into the tea cup 17 on the disc tea holder 16 according to the motion coordinate conversion matrix, and after the tea is put, the SCARA robot arm 10 returns to the initial position; the host computer 4 controls the intelligent tea brewing robot to brew tea according to the preset tea brewing program.

[0100] The tea cup 17 is opposite to the water faucet 18, the water pump 21 is controlled to draw water from the water bucket 24 through the water inlet hose 23, and the water flows through the ceramic heating pipe 20 and then flows out from the water faucet 18 along the water inlet pipe 19, so as to brew the tea in the tea cup 17; the rotating movement module is connected with the stepping motor 25, the disc tea tray 16 is driven to rotate by the rotating stepping motor 25, so that the tea cup 17 with brewed tea is rotated by a certain angle, so that the cup opening of the adjacent another tea cup 17 is aligned with the water outlet of the water faucet 18, and a prompt sound is emitted to remind the tea taking; if the patrol option is selected, the current pose of the mobile intelligent tea making robot is determined through the laser radar data in the upper computer 4 and the pose data in the lower computer 27, and then the running movement analysis module and the movement control module in the lower computer 27 are run, so that the mobile intelligent tea making robot starts from the current pose and continues to perform the patrol work according to the preset track.

[0101] The tea brewing program includes brewing programs of various tea leaves, and each brewing program corresponds to a tea leaf option; the tea leaves are one of Jinmumei, Biluochun and Anjibaicha; the brewing program includes control of water injection amount, water flow and water temperature.

[0102] Step 6 specifically, the mobile intelligent tea making robot detects the battery every certain time during the patrol work, when the battery of the mobile intelligent tea making robot is low, the charging pile positioning module and the back charging module in the upper computer 4 are run, so that the mobile intelligent tea making robot is immediately moved to the charging pile, the back charging contact 28 is connected with the charging pile to charge the battery in the mobile intelligent tea making robot.

[0103] More specifically, Figure 6 The mobile intelligent tea making robot control method provided by the application is shown in the flowchart, and specifically includes the following steps: Step 1: Figure 7 The environmental perception module control method of the mobile intelligent tea making robot provided by the application is shown in the flowchart. The power switch of the upper computer 4 is turned on, the laser radar I data acquisition module and the laser radar II data acquisition module in the upper computer 4 are run at the same time, the environment around the low and high places of the mobile intelligent tea making robot is scanned respectively, and the pose data acquisition module in the lower computer 27 is run to determine the pose of the mobile intelligent tea making robot in the indoor world coordinate system.

[0104] Step 2: When the laser radar I data acquisition module and the laser radar II data acquisition module do not detect dynamic obstacles, the host computer 4 does not run the image acquisition module to reduce the power consumption of the battery; the kinematic model establishment module, the motion analysis module and the motion control module are run by the lower computer 27 to control the mobile intelligent tea-making robot to patrol according to the preset trajectory in the indoor dynamic scene.

[0105] Step 3: When the laser radar I data acquisition module and the laser radar II data acquisition module detect dynamic obstacles, the image acquisition module is run by the host computer 4; according to the direction of the dynamic obstacle detected by the laser radar, the one-dimensional electric pan-tilt 5 drives the 2D camera 2 to rotate towards the obstacle direction, so that the camera lens is directed to the obstacle direction; the host computer 4 calls the YOLOv5n target detection deep learning model to identify the dynamic obstacle in real time.

[0106] Step 4: Figure 8 The figure shows the flowchart of the intelligent tea-making module control method of the mobile intelligent tea-making robot provided by the application. If the recognition result of the scene image by the YOLOv5n target detection deep learning model contains the label of "person", the motion analysis module and the motion control module are run by the lower computer 27 to make the mobile intelligent tea-making robot go to the position of the guest, make the touch screen 9 face the direction of the guest and run the work mode selection module, and display two options of tea-making and patrol on the touch screen 9; if the recognition result of the scene image by the YOLOv5n target detection deep learning model does not contain the label of "person", the motion analysis module and the motion control module are run by the lower computer 27 to make the mobile intelligent tea-making robot continue to patrol according to the preset trajectory and actively avoid obstacles.

[0107] Step 5: If the guest selects the tea brewing option, three tea brewing options, namely Jinmumei, Biluochun and Anji Baicha, are displayed on the touch screen 9 for the guest to select; the forward and inverse kinematic models of the SCARA robot arm 10 are established, and then the motion coordinate conversion matrix between the tea leaf gripper 12 at the end of the SCARA robot arm 10 and the small can tea I 13, the small can tea II 14, the small can tea III 15, the disc tea tray 16 and the tea cup 17 directly opposite the water faucet 18 is determined, and the motion coordinate conversion matrix is composed of the movement data of each joint of the SCARA robot arm 10; after the guest selects one of the tea options displayed on the touch screen 9, the upper computer 4 controls the tea leaf gripper 12 at the end of the SCARA robot arm 10 to pick up tea leaves in the corresponding small can tea and put the tea leaves into the tea cup 17 on the disc tea tray 16, and the tea cup 17 is the tea cup directly opposite the water faucet 18; the upper computer 4 starts the water pump 21 according to the preset tea brewing program, and draws water from the water bucket 24 through the water inlet hose 23, and the drawn water flows through the ceramic heating tube 20 through the water outlet hose 22, and then flows out from the water faucet 18 through the water inlet pipe 19, so as to brew tea in the tea cup 17 containing tea leaves, and the upper computer 4 controls the water injection amount, water flow and water temperature during the tea brewing process according to different tea varieties and the preset tea brewing program. If the guest selects the patrol option, the motion analysis module and the motion control module are run by the lower computer 27, so that the mobile intelligent tea brewing robot continues to patrol in the indoor dynamic scene according to the preset trajectory.

[0108] Step 6: After the mobile intelligent tea brewing robot finishes brewing tea, the upper computer 4 runs the rotary motion module to rotate the disc tea tray 16 by 60° through the step motor 25 and reminds the guest to take tea; after the guest takes tea, the work mode selection module is run on the touch screen 9, and steps 5 and 6 are run.

[0109] Step 7: The mobile intelligent tea brewing robot runs the power detection module every 30s in the patrol mode. If the power of the battery of the mobile intelligent tea brewing robot is less than 20%, the charging pile positioning module and the back charging module are run by the upper computer 4, so that the mobile intelligent tea brewing robot moves to the charging pile immediately, and the back charging contact 28 is connected to the charging contact of the charging pile for charging.

[0110] Of course, the present application can also have other various embodiments, and those skilled in the art can make various corresponding changes and modifications according to the present application without departing from the spirit and essence of the present application, but these corresponding changes and modifications should all belong to the protection scope of the claims attached to the present application.

Claims

1. A mobile intelligent tea making robot, characterized in that, It comprises an environment sensing mechanism (1-1), an intelligent tea making mechanism (1-2), a chassis control mechanism (1-3) and a battery automatic charging mechanism (1-4); the environment sensing mechanism (1-1) is arranged and installed on one side of the upper surface of the chassis control mechanism (1-3), and the other side of the upper surface of the chassis control mechanism (1-3) is provided and fixedly installed with the intelligent tea making mechanism (1-2); the chassis control mechanism (1-3) is a hollow structure and is provided with a chassis control inner cavity inside; the battery automatic charging mechanism (1-4) is arranged in the chassis control inner cavity and is close to one end of the intelligent tea making mechanism (1-2); the environment sensing mechanism (1-1) is used to sense the environment to control the movement of the mobile intelligent tea making robot, the intelligent tea making mechanism (1-2) receives the tea making demand through the touch screen arranged therein to make tea; the mobile intelligent tea making robot is also loaded with a mobile intelligent tea making robot control system for controlling the operation of each mechanism. 2.A mobile intelligent tea making robot according to claim 1, characterized in that, The chassis control mechanism (1-3) comprises four Mecanum wheels (26), a lower computer (27) and a mobile trolley frame (29); the chassis control inner cavity is arranged in the mobile trolley frame (29), the lower computer (27) is arranged and installed at one end of the chassis control inner cavity close to the environment sensing mechanism (1-1), and the battery automatic charging mechanism (1-4) is arranged at the other end; the lower computer (27) is electrically connected with the four Mecanum wheels (26) and the battery automatic charging mechanism (1-4); two Mecanum wheels (26) are installed at the two ends of the same side of the mobile trolley frame (29), and the other two Mecanum wheels (26) are installed at the two ends of the other side of the mobile trolley frame (29). The environmental perception mechanism (1-1) comprises a single-line laser radar I (1), a 2D camera (2), a single-line laser radar II (3), an upper computer (4), a one-dimensional motorized gimbal (5), a camera base (6), a second layer platform (7) and a third layer platform (8), the single-line laser radar I (1) is arranged on the most front end of the moving trolley frame (29) in the forward direction and is used for detecting the scene radar information of the low position of the current position of the mobile intelligent tea-making robot, the upper computer (4) is arranged on the moving trolley frame (29) and is installed behind the single-line laser radar I (1), the upper end surface of the upper computer (4) is built with the second layer platform (7) which is higher than the single-line laser radar I (1) and the upper computer (4); the upper end surface of the second layer platform (7) is fixedly connected with the camera base (6) through the one-dimensional motorized gimbal (5), the 2D camera (2) is arranged and installed on the upper end of the camera base (6), the upper end surface of the second layer platform (7) is built with the third layer platform (8) which is higher than the 2D camera (2), the third layer platform (8) is installed on the upper end surface of the third layer platform (8) and is used for detecting the scene radar information of the high position of the current position of the mobile intelligent tea-making robot; the single-line laser radar I (1), the 2D camera (2), the single-line laser radar II (3) and the one-dimensional motorized gimbal (5) are electrically connected with the upper computer (4) respectively.

3. The mobile intelligent tea-making robot according to claim 2, characterized in that, The intelligent tea-making mechanism (1-2) comprises a touch screen (9), a SCARA mechanical arm (10), a ball screw (11), a tea leaf clamping jaw (12), a plurality of different types of small can tea, a disc tea holder (16), a tea cup (17), a water faucet (18), a water injection pipe (19), a ceramic heating pipe (20), a water pump (21), a water outlet hose (22), a water inlet hose (23), a water bucket (24) and a stepping motor (25); the SCARA mechanical arm (10) and the stepping motor (25) are arranged on the end of the moving trolley frame (29) away from the forward direction, each small can tea is distributed between the SCARA mechanical arm (10) and the stepping motor (25) and is arranged in the circumferential direction with the SCARA mechanical arm (10) as the center, the tea leaf clamping jaw (12) is installed at the end of the SCARA mechanical arm (10) and is used for grabbing the tea leaves in the small can tea downward into the tea cup (17), the ball screw (11) is installed above the SCARA mechanical arm (10) and is fixedly connected with the tea leaf clamping jaw (12) below through the SCARA mechanical arm (10); the touch screen (9) is fixedly installed on the upper surface of the moving trolley frame (29) and does not contact other components, the upper computer (4) and the SCARA mechanical arm (10), the water pump (21) and the stepping motor (25) are electrically connected; The stepping motor (25) is provided with a disc tea tray (16), a plurality of grooves are arranged on the upper end of the disc tea tray (16) in a circumferential direction at equal intervals, a tea cup (17) is arranged on each groove, and the disc tea tray (16) drives the tea cup (17) above to rotate through the stepping motor (25); a water filling faucet (18) for filling water into the tea cup (17) is arranged on the side of the disc tea tray (16) away from the SCARA mechanical arm (10); the water outlet of the water filling faucet (18) is opposite to the cup mouth of any one of the tea cups (17), the lower end of the water filling faucet (18) is fixedly installed and connected with one end of a water filling pipe (19) penetrating through the upper surface of the moving trolley frame (29), the other end of the water filling pipe (19) is sequentially connected with a ceramic heating pipe (20), a water outlet hose (22), a water pump (21), a water inlet hose (23) and a water bucket (24); the water filling pipe (19), the ceramic heating pipe (20), the water outlet hose (22), the water pump (21), the water inlet hose (23) and the water bucket (24) are arranged in the bottom disc control inner cavity of the moving trolley frame (29); The battery automatic recharging mechanism (1-4) comprises a battery and a recharging charging contact (28), the battery is arranged in the bottom disc control inner cavity of the moving trolley frame (29), the recharging charging contact (28) is arranged on the outer side of the moving trolley frame (29) and used for contacting with an external power supply, and the battery is electrically connected with the recharging charging contact (28).

4. The mobile intelligent tea making robot according to claim 3, characterized in that, The mobile intelligent tea making robot control system comprises an environment perception module (101), a chassis control module (102), an intelligent tea making module (103) and an automatic recharging module (104) which are sequentially connected in communication; The environment perception module (101) is loaded in the upper computer (4) and used for acquiring laser radar information, image information and object information around the chassis control mechanism (1-3) in a scene, identifying a target labeled as "person" in an indoor dynamic scene based on a preset target detection model, and establishing a world coordinate system to formulate a motion planning path of the tea making robot; The chassis control module (102) is loaded in the lower computer (27) and used for determining running parameters of each Mecanum wheel (26) in the chassis control mechanism (1-3) according to the motion planning path, so as to drive the chassis control mechanism (1-3) of the mobile intelligent tea making robot to move in a plane according to the motion planning path; the chassis control module (102) acquires inertial measurement unit data and wheel odometry data from the lower computer (27) to determine the position and posture of the mobile intelligent tea making robot in the world coordinate system; The intelligent tea making module (103) is loaded in the upper computer (4) and connected in communication with the touch screen (9) and used for displaying a selection interface of a working mode of the intelligent tea making robot on the touch screen (9); The automatic recharging module (104) is used for charging the battery.

5. The mobile intelligent tea making robot according to claim 4, characterized in that, The environment perception module (101) comprises a laser radar I data acquisition module, an image acquisition module, a laser radar II data acquisition module and a target detection module; the laser radar I data acquisition module is in communication connection with a single-line laser radar I (1) and is used for acquiring scene radar information at a low position of the current position of the mobile intelligent tea-making robot through the single-line laser radar I (1); the image acquisition module is in communication connection with a 2D camera (2) and acquires scene image information at the current position of the mobile intelligent tea-making robot through the 2D camera (2); the laser radar II data acquisition module is in communication connection with a single-line laser radar II (3) and is used for acquiring scene radar information at a high position of the current position of the mobile intelligent tea-making robot through the single-line laser radar II (3); the target detection module is in communication connection with an upper computer (4) and is used for identifying dynamic obstacles in the scene image information based on a target detection model; the environment perception module (101) plans a motion path through information acquired by each module; The chassis control module (102) comprises a pose data acquisition module, a kinematics model establishment module, a motion analysis module and a motion control module; the pose data acquisition module is in communication connection with a lower computer (27) and acquires position and attitude information of the mobile intelligent tea-making robot through an inertial measurement unit and a wheeled odometer in the lower computer (27); the kinematics model establishment module is in communication connection with the lower computer (27) and is used for establishing a kinematics model of a chassis control mechanism (1-3) of the mobile intelligent tea-making robot, wherein the kinematics model comprises a forward kinematics model and an inverse kinematics model; The motion analysis module receives information of the environment perception module (101), the pose data acquisition module and the kinematics model establishment module and is used for kinematically decoupling each Mecanum wheel (26) of the mobile intelligent tea-making robot according to the pose information, the kinematics model and the motion planning path of the mobile intelligent tea-making robot, so as to obtain motion parameters of each Mecanum wheel (26); the motion control module receives information of the motion analysis module and is used for generating a control instruction according to the motion parameters of each Mecanum wheel (26), so as to control the mobile intelligent tea-making robot to move according to the motion planning path; The intelligent tea making module (103) comprises a working mode selection module, a tea leaf clamping module, the intelligent tea making module (103) and a rotary motion module; the working mode selection module is installed in the touch screen (9) and is used for displaying the working mode of the mobile intelligent tea making robot on the touch screen (9) for selection, the working mode comprises a tea making option and a patrol option, the tea making option comprises a plurality of tea leaf options, each tea leaf option corresponds to a tea leaf brewing program; the tea leaf clamping module is connected to the upper computer (4) and the SCARA mechanical arm (10) and is used for controlling the tea leaf clamping jaw (12) at the tail end of the SCARA mechanical arm (10) to clamp tea leaves in the small can of tea corresponding to the selected tea leaf option and put the tea leaves into the tea cup (17) on the disc tea holder (16); the intelligent tea making module (103) is connected to the upper computer (4), the water pump (21) and the water filling faucet (18), and water is added for tea making based on the preset brewing program of the selected tea leaf option; The automatic recharging module (104) comprises an electric quantity detection module, a charging pile positioning module and a recharging module; the electric quantity detection module is loaded in the upper computer (4) and is used for detecting the electric quantity in the battery of the mobile intelligent tea making robot; the charging pile positioning module is loaded in the upper computer (4) and is used for recording the installation position of the charging pile and planning the charging planning path between the mobile intelligent tea making robot and the charging pile in the low electric quantity mode; the recharging module is loaded in the upper computer (4) and is used for controlling the mobile intelligent tea making robot to move according to the charging planning path, and charging the battery of the mobile intelligent tea making robot by contacting the recharging contact of the mobile intelligent tea making robot with the charging pile.

6. The control method of the mobile intelligent tea making robot according to any one of claims 1-5, characterized in that, The method comprises the following steps: Step 1: confirmation of the pose: the upper computer (4) runs the laser radar I data acquisition module and the laser radar II data acquisition module to scan the indoor dynamic environment and confirm whether there is a dynamic obstacle, and the pose of the mobile intelligent tea making robot is determined by the lower computer (27) running the pose data acquisition module; Step 2: planning of the motion path: the recognition result is obtained by analyzing whether a dynamic obstacle is detected and comparing the detected dynamic obstacle with the preset label in the target detection module, and the motion path is planned by the environment perception module (101) through the information obtained by each module, and the mobile intelligent tea making robot is controlled to patrol according to the motion path by the lower computer (27) running the kinematic model establishment module, the motion analysis module and the motion control module; Step 3: identification and selection of the dynamic obstacle: whether the target is a person is determined by the identification result of the dynamic obstacle by the target detection model, and whether the mobile intelligent tea making robot goes to the target position is determined, so as to confirm whether the mobile intelligent tea making robot runs the working mode selection module to perform the tea making option or the patrol option. Step 4: Selection of tea brewing option and patrol option: if the tea brewing option is selected, a plurality of tea options are displayed on the touch screen (9), and after selecting a tea option, the mobile intelligent tea brewing robot performs tea brewing operation; if the patrol option is selected, the lower computer (27) runs the motion analysis module and the motion control module to make the mobile intelligent tea brewing robot continue to patrol according to the preset trajectory; Step 5: Repeated selection of tea brewing option and patrol option: after the mobile intelligent tea brewing robot completes the tea brewing operation, the upper computer (4) runs the rotary motion module to rotate the disc tea tray (16), and the touch screen (9) issues a prompt sound to remind to take tea; after taking tea, the touch screen (9) runs the working mode selection module to repeat steps 4 and 5; Step 6: The mobile intelligent tea brewing robot detects the battery every certain period of time during the patrol work, and when the battery is low, the mobile intelligent tea brewing robot moves to the charging pile immediately for charging.

7. The control method of the mobile intelligent tea brewing robot according to claim 6, wherein the step 1 is specifically: The upper computer (4) simultaneously runs the laser radar I data acquisition module and the laser radar II data acquisition module to scan and detect whether there are dynamic obstacles in the low and high indoor dynamic environments around the mobile intelligent tea brewing robot, and the lower computer (27) runs the pose data acquisition module to determine the pose of the mobile intelligent tea brewing robot in the world coordinate system; The step 2 is specifically: When the laser radar I data acquisition module and the laser radar II data acquisition module do not detect dynamic obstacles, the upper computer (4) does not run the image acquisition module to reduce power consumption, and the lower computer (27) runs the kinematic model establishment module, the motion analysis module and the motion control module to control the mobile intelligent tea brewing robot to patrol according to the preset trajectory in the indoor dynamic scene; When the laser radar I data acquisition module and the laser radar II data acquisition module detect dynamic obstacles, the upper computer (4) runs the image acquisition module, and controls the one-dimensional electric pan-tilt (5) to rotate the 2D camera (2) according to the position of the dynamic obstacles detected by the single-line laser radar I (1) and the single-line laser radar II (3) to make the camera lens face the direction of the obstacles; the upper computer (4) calls the target detection model in the target detection module to perform real-time online identification on the dynamic obstacles, and compares the identification result with the preset label in the target detection module to obtain the identification result.

8. The control method of the mobile intelligent tea brewing robot according to claim 6, wherein the step 3 is specifically: If the target in the identification result of the dynamic obstacle by the target detection model is a person, the lower computer (27) runs the motion analysis module and the motion control module to make the mobile intelligent tea brewing robot move to the position, make the touch screen (9) face the direction of the target and run the working mode selection module to display the tea brewing and patrol options on the touch screen (9); ​ ​ If the 2D camera (2) identifies the target as not being a person, the lower computer (27) runs the motion analysis module and the motion control module to make the mobile intelligent tea-making robot continue to patrol according to the preset trajectory and actively avoid obstacles.

9. The control method of the mobile intelligent tea-making robot according to claim 6, characterized in that, The step 4 is specifically: if the tea-making option is selected, the touch screen (9) displays a plurality of tea-making options to establish the forward and inverse kinematic models of the SCARA robot arm (10), and then determine the motion coordinate conversion matrix between the tea leaf clamping jaw (12) at the end of the SCARA robot arm (10) and the plurality of small can tea and the tea cup (17) opposite to the water faucet (18), the motion coordinate conversion matrix is composed of the movement data of each joint of the SCARA robot arm (10); After selecting a tea leaf option displayed on the touch screen (9), the upper computer (4) runs the tea leaf clamping module and the intelligent tea-making module (103) to control the mobile intelligent tea-making robot to make tea according to the tea leaf brewing program corresponding to the selected tea leaf option; the upper computer (4) controls the tea leaf clamping jaw (12) at the end of the SCARA robot arm (10) to clamp tea leaves in the corresponding small can tea and put the tea leaves into the tea cup (17) on the disc tea holder (16), and after the tea is put, the SCARA robot arm (10) returns to the initial position; the upper computer (4) controls the intelligent tea-making robot to add water and make tea according to the preset tea leaf brewing program; The water pump (21) draws water from the water bucket (24) through the water inlet hose (23) and flows through the ceramic heating tube (20) after heating, and then flows out from the water faucet (18) along the water injection pipe (19), to brew tea in the tea cup (17); the rotating motion module connected to the stepping motor (25) rotates the disc tea holder (16) by driving the stepping motor (25), so that the tea cup (17) with brewed tea is rotated by a certain angle to make the cup opening of the adjacent another tea cup (17) align with the water outlet of the water faucet (18), and a prompt sound is emitted to remind tea taking; if the patrol option is selected, the current pose of the mobile intelligent tea-making robot is determined through the laser radar data in the upper computer (4) and the pose data in the lower computer (27), and then the running motion analysis module and the motion control module in the lower computer (27) are run to make the mobile intelligent tea-making robot start from the current pose and continue to patrol according to the preset trajectory; The tea leaf brewing program includes a plurality of tea leaf brewing programs, each of which corresponds to a tea leaf option; the tea leaf is one of Jinjunmei, Biluochun and Anjibaicha; the brewing program includes control of water injection amount, water flow and water temperature.

10. The control method of the mobile intelligent tea-making robot according to claim 6, characterized in that, The step 6 is specifically that the mobile intelligent tea making robot runs the power detection module to detect the battery every certain period of time in the patrol work, when the battery of the mobile intelligent tea making robot is in low power, the host computer (4) runs the charging pile positioning module and the back charging module, so that the mobile intelligent tea making robot moves to the charging pile immediately, and the back charging contact (28) is connected with the charging pile to charge the battery.

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