阅读说明：本技术 一种助力配餐车及其助力方法 (Power-assisted catering truck and power-assisted method thereof ) 是由 褚明杰 姜铁程 孟庆铸 柳鹏 吴树智 于 2018-09-10 设计创作，主要内容包括：本发明属于配餐车的技术领域,特别涉及一种助力配餐车及其助力方法。包括车体框架、置物托架、行走轮组、助力电机、控制器、助力轮、关节扭矩传感器及碰撞检测及保护预警设备,其中车体框架上设有碰撞检测及保护预警设备及多层置物托架,车体框架的底部设有行走轮组、助力电机、控制器及助力轮,助力电机的输出轴通过关节扭矩传感器与助力轮连接,控制器通过关节扭矩传感器反馈的扭矩值和碰撞检测及保护预警设备反馈的障碍物信号驱动助力电机输出助力或停止助力的输出。本发明通过给配餐车增加电动助力的方式,可以减轻配送人员的劳动强度、提高配送效率；并且可以避免配送人员在配餐车后方向前推车时因视线受阻导致的碰撞风险。(The invention belongs to the technical field of catering trolleys, and particularly relates to a power-assisted catering trolley and a power-assisted method thereof. The automobile power assisting device comprises an automobile body frame, a storage bracket, a traveling wheel group, a power assisting motor, a controller, power assisting wheels, a joint torque sensor and collision detection and protection early warning equipment, wherein the automobile body frame is provided with the collision detection and protection early warning equipment and a multilayer storage bracket, the bottom of the automobile body frame is provided with the traveling wheel group, the power assisting motor, the controller and the power assisting wheels, an output shaft of the power assisting motor is connected with the power assisting wheels through the joint torque sensor, and the controller drives the power assisting motor to output power assisting or stop the output of the power assisting through a torque value fed back by the joint torque sensor and an obstacle signal fed back by the collision detection and protection early warning. According to the invention, the electric power assistance mode is added to the catering trolley, so that the labor intensity of distribution personnel can be reduced, and the distribution efficiency can be improved; and can avoid the collision risk that the delivery personnel blocked because of the sight when the catering truck rear is the preceding shallow.)

1. A power-assisted catering trolley is characterized by comprising a trolley body frame (3), a storage bracket (4), a walking wheel set, a power-assisted motor (9), a controller (10), a power-assisted wheel (16), a joint torque sensor (19) and collision detection and protection early warning equipment, wherein the vehicle body frame (3) is provided with collision detection and protection early warning equipment and a multilayer object bracket (4), the bottom of the vehicle body frame (3) is provided with a walking wheel set, a power-assisted motor (9), a controller (10) and a power-assisted wheel (16), the output shaft of the power-assisted motor (9) is connected with a power-assisted wheel (16) through a joint torque sensor (19), the controller (10) drives the power-assisted motor (9) to output power assistance or stop the output of the power assistance through a torque value fed back by the joint torque sensor (19) and an obstacle signal fed back by the collision detection and protection early warning device.

2. A power-assisted catering trolley according to claim 1, wherein the travelling wheel set comprises two universal wheels (17) arranged at the front end of the trolley body frame (3) and two fixed wheels (8) arranged at the rear end, and the power-assisted wheels (16) are arranged at the rear end of the trolley body frame (3).

3. A power assisted catering trolley according to claim 2, wherein the power assisted wheel (16) is located intermediate the two fixed wheels (8), the wheel diameter of the power assisted wheel (16) is the same as the wheel diameter of the two fixed wheels (8) and remains on the same axis.

4. A power-assisted catering truck according to claim 1, wherein the rear end of the power-assisted motor (9) is provided with a photoelectric encoder (18), the photoelectric encoders (18) are all connected with the controller (10), and the power-assisted motor (9) is powered by a battery (12) arranged at the bottom of the truck body frame (3).

5. A power assisted catering trolley according to claim 1, wherein the bottom of the trolley body frame (3) is provided with a tilt sensor (13) and an acceleration sensor (14), the tilt sensor (13) and acceleration sensor (14) being connected to the controller (10).

6. A power assisted catering truck according to claim 1, wherein the collision detection and protection early warning device comprises a plurality of ultrasonic sensors (15) arranged on the front side of the truck frame (3) for detecting obstacles in front of the truck, a front edge sensor (6) and a rear edge sensor (21) arranged on the front and rear ends of the lower part of the truck frame (3), and a laser radar (7) arranged on the bottom of the truck frame (3) for detecting obstacles below the truck.

7. A power-assisted catering truck according to claim 6, wherein the collision detection and protection early warning device further comprises a binocular camera (20) arranged at the upper end of the front part of the truck body frame (3) and a front-view display (1) arranged at the upper end of the rear part of the truck body frame (3), and images in front of the catering truck shot by the binocular camera (20) are presented on the front-view display (1) in real time.

8. A power-assisted catering truck according to claim 7, wherein a loudspeaker (2) is arranged at the upper end of the front part of the truck body frame (3), and the loudspeaker (2) is used for carrying out voice prompt alarm on obstacle alarm information measured by the ultrasonic sensor (15), the laser radar (7) and the binocular camera (20).

9. A resistance method using a power-assisted catering truck according to any one of claims 1-8, wherein the dragging force applied to the catering truck is applied to the power-assisted motor (9) through a joint torque sensor (19), and a control main board (11) of the controller (10) drives the power-assisted motor (9) to output power assistance through a torque value fed back by the joint torque sensor (19); the control main board (11) detects feedback values of the inclination angle sensor (13), the acceleration sensor (14) and the photoelectric encoder (18) in real time, and when the acceleration and the speed of the power assisting motor (9) fed back by the photoelectric encoder (18) exceed threshold values preset in the control main board (11), power assisting is stopped.

10. A resistance method of a power-assisted catering truck according to claim 9, wherein collision detection and protection early warning devices are mounted on the truck body frame (3) to detect obstacles in front of and below the catering truck, the control main board (11) displays obstacle information detected by the collision detection and protection early warning devices and images in front of the catering truck on a front-view display screen (1) mounted on the catering truck, and voice prompt is performed through a loudspeaker (2) mounted on the catering truck to realize collision avoidance early warning.

Technical Field

The invention belongs to the technical field of catering trolleys, and particularly relates to a power-assisted catering trolley and a power-assisted method thereof.

Background

In some large hospitals, due to high floors and more hospitalization people, the daily meal ordering amount is very large, and in order to improve the distribution efficiency, the distribution personnel need to distribute as many meals as possible at one time. This makes the catering truck heavy, and the delivery personnel are very laboursome when pushing or dragging, and especially when meeting a slope, the catering truck is very strenuous and often requires two delivery personnel together. Furthermore, the catering trolleys are often relatively high, and the distribution personnel may not notice the temporary obstacles such as patients when the trolleys move, so that unforeseen collision situations are easy to happen.

Disclosure of Invention

Aiming at the problems, the invention aims to provide a power-assisted catering truck and a power-assisted method thereof, so as to solve the problems of high labor intensity and low delivery efficiency of delivery personnel of the conventional catering truck.

In order to achieve the above purpose, the present invention adopts the following technical fields:

the utility model provides a helping hand catering trolley, includes vehicle body frame, puts thing bracket, walking wheelset, helping hand motor, controller, helping hand wheel, joint torque sensor and collision detection and protection early warning equipment, wherein be equipped with collision detection and protection early warning equipment and multilayer on the vehicle body frame and put the thing bracket, vehicle body frame's bottom is equipped with walking wheelset, helping hand motor, controller and helping hand wheel, helping hand motor's output shaft passes through joint torque sensor and is connected with helping hand wheel, the controller pass through the torque value of joint torque sensor feedback with the obstacle signal drive helping hand motor output helping hand or the output that stops the helping hand of collision detection and protection early warning equipment feedback.

The walking wheel set comprises two universal wheels arranged at the front end of the vehicle body frame and two fixed wheels arranged at the rear end, and the power-assisted wheels are arranged at the rear end of the vehicle body frame.

The power-assisted wheel is positioned between the two fixed wheels, and the wheel diameter of the power-assisted wheel is the same as that of the two fixed wheels and is kept on the same axis.

The rear end of the power-assisted motor is provided with a photoelectric encoder, the photoelectric encoder is connected with the controller, and the power-assisted motor is powered by a battery arranged at the bottom of the vehicle body frame.

The bottom of the vehicle body frame is provided with an inclination angle sensor and an acceleration sensor which are both connected with the controller.

Collision detection and protection early warning equipment including set up in body frame front side is used for detecting a plurality of ultrasonic sensor of automobile body the place ahead barrier, set up in body frame lower part front end touch limit sensor and touch limit sensor after with and set up in body frame bottom is used for detecting the laser radar of automobile body below barrier.

The collision detection and protection early warning device further comprises a binocular camera arranged at the upper end of the front part of the car body frame and a front-view display arranged at the upper end of the rear part of the car body frame, and a front image of the catering truck shot by the binocular camera is displayed on the front-view display in real time.

The upper end of the front part of the vehicle body frame is provided with a loudspeaker, and the loudspeaker is used for carrying out voice prompt alarm on obstacle alarm information measured by the ultrasonic sensor, the laser radar and the binocular camera.

The drag force applied to the catering trolley is applied to the power-assisted motor through the joint torque sensor, and a control main board of the controller drives the power-assisted motor to output power assistance through a torque value fed back by the joint torque sensor; the control main board detects feedback values of the inclination angle sensor, the acceleration sensor and the photoelectric encoder in real time, and when the speed of the acceleration and the speed of the photoelectric encoder feedback power-assisted motor exceeds a threshold value preset in the control main board, power assistance is stopped.

Collision detection and protection early warning equipment is installed on the car body frame, the barriers in front of and below the catering trolley can be detected, the control main board displays barrier information detected by the collision detection and protection early warning equipment and images in front of the catering trolley on a front-view display screen installed on the catering trolley, voice prompt is carried out through a loudspeaker installed on the catering trolley, and collision avoidance early warning is achieved.

The invention has the advantages and beneficial effects that: the invention provides a power-assisted catering truck with a power-assisted function, a collision detection function and an early warning prompt function and a power-assisted method thereof, which can provide power assistance when the catering truck is dragged or pushed, and help distribution personnel to distribute easily and laborsavingly. The power assisting device can provide power assisting when going uphill or downhill, reduces the burden of distribution personnel, can early warn in advance through various safety protection sensors when being pushed forwards, and solves the problem of collision caused by poor sight.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a right side view of fig. 1.

In the figure: 1. the front-view display, 2, loudspeaker, 3, vehicle body frame, 4, put the thing bracket, 5, handle, 6, preceding touch edge sensor, 7, lidar, 8, tight pulley, 9, helping hand motor, 10, controller, 11, control mainboard, 12, battery, 13, inclination sensor, 14, acceleration sensor, 15, ultrasonic sensor, 16, helping hand wheel, 17, universal wheel, 18, photoelectric encoder, 19, joint torque sensor, 20, two mesh cameras, 21 is the back touch edge sensor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-2, the power-assisted catering truck provided by the invention comprises a truck body frame 3, an article bracket 4, a walking wheel set, a power-assisted motor 9, a controller 10, a power-assisted wheel 16, a joint torque sensor 19 and a collision detection and protection early warning device, wherein the truck body frame 3 is provided with the collision detection and protection early warning device and a multilayer article bracket 4, the bottom of the truck body frame 3 is provided with the walking wheel set, the power-assisted motor 9, the controller 10 and the power-assisted wheel 16, an output shaft of the power-assisted motor 9 is connected with the power-assisted wheel 16 through the joint torque sensor 19, and the controller 10 drives the power-assisted motor 9 to output power assistance or stop the output of the power assistance through a torque value fed back by the joint torque sensor 19 and an obstacle signal fed back by the collision.

The walking wheel group is of a four-wheel structure and comprises two universal wheels 17 arranged at the front end of the vehicle body frame 3 and two fixed wheels 8 arranged at the rear end, and the four wheels are respectively arranged at two ends of the vehicle body. The power-assisted wheel 16 is arranged at the rear end of the vehicle body frame 3, the power-assisted wheel 16 is positioned between the two fixed wheels 8, and the wheel diameter of the power-assisted wheel 16 is the same as that of the two fixed wheels 8 and is kept on the same axis, so that the arc non-concentricity condition can be avoided when the vehicle turns.

The rear end of the power-assisted motor 9 is provided with a photoelectric encoder 18, the photoelectric encoder 18 is connected with the controller 10, and the power-assisted motor 9 is powered by a battery 12 arranged at the bottom of the vehicle body frame 3. The assisting wheel 16 may be a wheel hub motor, or a wheel equipped with a motor, such as a dc brushless motor, a permanent magnet synchronous motor, or the like.

The bottom of the vehicle body frame 3 is provided with an inclination angle sensor 13 and an acceleration sensor 14, and both the inclination angle sensor 13 and the acceleration sensor 14 are connected with the controller 10.

The collision detection and protection early warning device comprises a plurality of ultrasonic sensors 15 arranged on the front side of the vehicle body frame 3 and used for detecting obstacles in front of the vehicle body, a front edge contact sensor 6 and a rear edge contact sensor 21 arranged on the front and rear ends of the lower part of the vehicle body frame 3, and a laser radar 7 arranged at the bottom of the vehicle body frame 3 and used for detecting obstacles below the vehicle body, wherein the laser radar 7 is used for detecting obstacles which cannot be detected by the ultrasonic sensors 15 such as steps below the vehicle body.

The collision detection and protection early warning device further comprises a binocular camera 20 arranged at the upper end of the front part of the car body frame 3 and a front-view display 1 arranged at the upper end of the rear part of the car body frame 3, and images in front of the catering truck shot by the binocular camera 20 are displayed on the front-view display 1 in real time. The upper end of the front part of the vehicle body frame 3 is provided with a loudspeaker 2, and the loudspeaker 2 is used for carrying out voice prompt alarm on the obstacle alarm information measured by the ultrasonic sensor 15, the laser radar 7 and the binocular camera 20.

The multilayer shelf 4 is used for placing food and other articles in layers, the handle 5 is arranged on the rear side of the car body frame 3, and the handle 5 is used for facilitating the pushing or dragging of the catering trolley by the delivery personnel.

The controller 10 is internally provided with a control mainboard 11 and a battery 12, the control mainboard 11 collects information of each sensor, the power-assisted motor 9 is controlled by combining a power-assisted algorithm to output power assistance and collect information of each collision detection device, collision early warning information is output to the loudspeaker 2 by combining preset collision detection logic to carry out voice prompt, the information of pre-collision is displayed on the front-view display 1, and the battery 12 is used for providing power for a power-assisted system.

The control main board 11 detects obstacles in front of and below the vehicle body, including large protrusions and depressions on the ground, by a visual algorithm. The control mainboard 11 displays the obstacle alarm information measured by the ultrasonic sensor 15, the laser radar 7 and the binocular camera 20 on the front-view display 1, and carries out voice prompt alarm through the loudspeaker 2, and also displays the front image of the catering truck shot by the binocular camera 20 on the front-view display 1 in real time, so that the dispatching personnel can observe the front condition of the catering truck. The front and the rear of the bottom frame of the food preparation vehicle are provided with the edge touch sensors, and once a barrier touches the edge touch sensors, the control main board 11 stops power-assisted output to reduce collision damage.

The working principle of the power-assisted catering truck is as follows:

the bottom of the catering truck is provided with a corresponding controller, a sensor and the like, and the controller controls the power-assisted motor to output different output forces after being judged by a certain algorithm according to the feedback of signals of various sensors such as an inclination angle, a moment, an acceleration, a photoelectric encoder and the like, so that the aim of realizing power assistance under different working conditions is fulfilled. Ultrasonic sensor, laser radar, two mesh cameras and safe edge sensor that touches are equipped with on the catering truck, realization that can be more comprehensive is to the detection of catering truck the place ahead not co-altitude, different distance barriers to barrier information and the catering truck the place ahead image that will detect show through the display screen display of installing on the catering truck, the person of being convenient for to deliver observes the place ahead condition, and carry out voice prompt through the speaker of installation on the catering truck, the person of being convenient for to deliver realizes keeping away from bumping the early warning.

A resistance method of an assisted catering trolley is characterized in that a dragging force applied to the catering trolley is applied to an assisted motor 9 through a joint torque sensor 19, and a control main board 11 of a controller 10 drives the assisted motor 9 to output assistance through a torque value fed back by the joint torque sensor 19; the control main board 11 detects the feedback values of the tilt sensor 13, the acceleration sensor 14 and the photoelectric encoder 18 in real time, and when the acceleration and the speed of the assisting motor 9 fed back by the photoelectric encoder 18 exceed the threshold value preset in the control main board 11, the assisting is stopped.

Collision detection and protection early warning equipment is arranged on the car body frame 3, obstacles in front of and below the catering trolley can be detected, the control main board 11 displays obstacle information detected by the collision detection and protection early warning equipment and images in front of the catering trolley on a front-view display screen 1 arranged on the catering trolley, and voice prompt is carried out through a loudspeaker 2 arranged on the catering trolley, so that collision avoidance early warning is realized.

When the catering truck is in a static state, no assistance is provided, when a distributor starts to push or pull the catering truck, the pulling force is applied to the assistance motor 9 through the joint torque sensor 19, the main board 11 is controlled to drive the assistance motor 9 to output assistance through a torque value fed back by the joint torque sensor 19, the distributor saves more and more labor along with the continuous increase of the assistance value, the torque value fed back by the joint torque sensor 19 is smaller, the value of the joint torque sensor 19 is always kept to be a positive value in the process of outputting the assistance, namely, the main board 11 is controlled to control the assistance value output by the assistance motor 9 to be always slightly smaller than the resistance of the catering truck, namely, the distributor always needs to output a part of force, otherwise, the catering truck accelerates. In the dragging process, the control main board 11 detects the feedback values of the tilt sensor 13, the acceleration sensor 14 and the photoelectric encoder 18 in real time, and if the acceleration is too large and the speed of the encoder feedback motor is too fast to exceed a threshold value preset in the control main board 11, the assisting power is stopped. The control mainboard 11 can autonomously judge the state of flat ground, climbing or descending according to the feedback value of the inclination angle sensor 13, and then increase or decrease the output assistance of the assistance motor 9 by combining the feedback value of the torque sensor. When the distribution personnel want to stop, the distribution trolley can stop in real time only by not dragging the distribution personnel because the resistance of the distribution trolley is larger than the assistance value. When the catering truck stops, the control main board 11 detects that the speed fed back by the photoelectric encoder 18 is zero, and the power-assisted output is stopped.

The invention is mainly applied to occasions needing manual delivery by using the catering trolley, such as hospitals, dining halls and the like, in the occasions, the catering trolley is very heavy, the delivery task is multiple, the delivery amount is large, the delivery personnel is very strenuous when dragging or pushing the catering trolley, and the sight of the delivery personnel is easily blocked and the collision danger is easily caused because the trolley body is higher when pushing the catering trolley. Under the condition of not increasing large cost, the invention can lighten the labor intensity of delivery personnel and improve the delivery efficiency by adding the electric power-assisted mode to the food distribution vehicle; and through increasing multiple collision detection and early warning equipment, can avoid the collision risk that the delivery personnel blocked because of the sight when the front cart in catering car rear leads to.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.