CN106272332A - A kind of meal delivery robot based on indoor positioning technologies and control system and control method - Google Patents
A kind of meal delivery robot based on indoor positioning technologies and control system and control method Download PDFInfo
- Publication number
- CN106272332A CN106272332A CN201610845212.9A CN201610845212A CN106272332A CN 106272332 A CN106272332 A CN 106272332A CN 201610845212 A CN201610845212 A CN 201610845212A CN 106272332 A CN106272332 A CN 106272332A
- Authority
- CN
- China
- Prior art keywords
- robot
- pressure
- indoor positioning
- indoor
- voice
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
Abstract
The invention provides a kind of meal delivery robot based on indoor positioning technologies and control system and control method, relate to robot field, it is characterised in that described robot includes: rotating base；It is provided with robot shells on described rotating base；The top of described robot shells is provided with voice collecting and playing device；Described rotating base is provided with road wheel；In the middle part of described robot shells, both sides are each provided with a pallet arm；Being provided with pallet between described two pallet arms, described tray bottom is provided with pressure transducer.The present invention has the advantages such as accurate positioning, intellectuality, simple in construction and diverse in function.
Description
Technical field
The present invention relates to robot field, particularly to a kind of meal delivery robot based on indoor positioning technologies and control system
System and control method.
Background technology
From industrial robot to service robot, from all angles, industry is analyzed, and for focusing on segmentation
For the enterprise of application and development is done in field, commercial service robot embarks on journey focus of attention in the industry.The application model of service robot
Enclose very wide, be mainly engaged in maintaining, repair, transport, clean, ensure public security, commercial, rescue, the work such as monitoring.With reference to international machine
The classification that people alliance (IFR) divides according to application, service robot is divided into individual/domestic robot (Personal/
Domestic Robots) and the big class of professional service robot (Professional Service Robots) two.
Service robot is the robot of a kind of half autonomous or full utonomous working, and it can complete the healthy service work that is beneficial to man
Making, but do not include manufacturing-oriented equipment, its location services exactly.Commercial service robot, mainly applies to commercial service neck
Territory, developing corresponding function, predominantly bank, dining room, enterprise, large-scale sales field, Deng Lei trade company of brand shop according to industry requirement provides
Commercial system services.The commercial service robot representative of China commercial kitchen area exploitation has to sprout service robot more, sprout meal more
Drink service robot, to sprout guest-meeting robot, Duo Laimeng celebration robot more.Realization substitutes or indirect labor with robot, fall
Low personnel cost, improves the efficiency of management.
Summary of the invention
In consideration of it, the invention provides a kind of meal delivery robot based on indoor positioning technologies and control system and controlling party
Method, the present invention has the advantages such as accurate positioning, intellectuality, simple in construction and diverse in function.
The technical solution used in the present invention is as follows:
A kind of meal delivery robot based on indoor positioning technologies, it is characterised in that described robot includes: rotating base；Described
Robot shells it is provided with on rotating base；The top of described robot shells is provided with voice collecting and playing device；Described
Rotating base is provided with road wheel；In the middle part of described robot shells, both sides are each provided with a pallet arm；Described two pallets
Being provided with pallet between arm, described tray bottom is provided with pressure transducer.
It is provided with indoor locating system in described rotating base and drives motor；Described indoor locating system signal is connected to
Drive motor；Described driving motor is connected to road wheel, drives road wheel to run；Described indoor locating system includes: signal connects
Receiving apparatus and processor.
Described robot shells is internally provided with speech recognition system；Described speech recognition system signal is connected to voice and adopts
Collection and playing device；Described speech recognition system includes: voice recognition processor and memorizer；Described voice is divided by processor
Level signal is connected to memorizer and voice collecting and playing device, for the voice sending over voice collecting and playing device
Signal is identified, and is stored in memorizer by recognition result.
Described robot also includes: indoor positioning platform and data processing centre；Described indoor positioning platform is by 16 pressures
Force transducer and 4 pieces of nonbreakable glass plate compositions, be divided into 4 pressure sensitive units；Described sensor is radial pressure transducer；
Described sensor self is integrated with electric bridge, externally has 4 lead-in wires, respectively power supply adaptor line, power ground line, signal input
Line and output line；Described sensor also has amplifier.
Described pressure sensitive unit is by 1 block of nonbreakable glass plate and 4 pressure transducers；Described 4 pressure transducers are respectively
It is positioned at the corner of corresponding nonbreakable glass plate.
Described data processing centre includes: coordinate database, matched-field processors and sender unit；Described matching treatment
Device signal respectively is connected to coordinate database and sender unit, for the data letter sended over according to indoor positioning platform
The interior space coordinate data information pre-build in breath and coordinate database is mated, and draws the physical location of robot,
Send result to the indoor locating system of robot interior.
A kind of control method of meal delivery robot based on indoor positioning technologies, it is characterised in that described method include with
Lower step:
Step 1: system start-up, system initialization；
Step 2: the indoor locating system of meal delivery robot, according to the destination address arranged, controls robot ambulation to target position
Put；
Step 3: the voice collecting of robot and playing device play out the voice messaging welcoming client, prompting client is carried out a little
Meal；After client sends instruction of making a reservation, after the speech recognition system identification of robot interior, draw recognition result, language after identifying
Tone signal stores in memorizer；
Step 4: after guest orders end, robot is in the descending destination that goes to of guide of indoor locating system, speech recognition
System control voice collecting and playing device play out the phonetic order of ordering of client；
Step 5: after cook completes according to the phonetic order preparation vegetable of client, vegetable is put on the pallet of robot, pressure
Sensor sensing is to there being vegetable to be put into pallet, and indoor locating system controls robot ambulation and carries out food delivery to target location.
The localization method of described indoor positioning platform comprises the following steps:
Step 1: four pressure transducers setting certain pressure sensitive unit kind are respectively as follows:, ；
Step 2: setTwo-dimensional coordinate in the plane of pressure sensitive unit is:;Set QUOTE Two-dimensional coordinate in the plane of pressure sensitive unit is:；SetPutting down at pressure sensitive unit
Two-dimensional coordinate in face is:；SetTwo-dimensional coordinate in the plane of pressure sensitive unit is:；
Step 3: when dolly is in this plane running, the pressure being perpendicular to plane can be produced, if this pressure is:；
Step 4: arrangeComponent at four sensor points is respectively as follows:；
Step 5: by equation below, can calculate the physical location of the F that exerts oneself, thus realize location:
;
；
。
Using above technical scheme, this utility model creates following beneficial effect:
1, simple in construction: this patent overall structure is simple and reliable, designs ingenious, can be widely used for all types of hotel, restaurant, dining room
And the place such as dining room, campus, can replace artificial on a large scale, save substantial amounts of cost of labor for operator..
2, intelligent: the location of the present invention and path show and all calculated voluntarily by system and judge, need not manually grasp
Making, intelligence degree is higher.And the robot of the present invention with customer communication during can be with the voice control of Intelligent Recognition client
System order, and this control command is stored in memorizer, pass on this control command to cook.
Use technique scheme, it is characterised in that present invention produces following beneficial effect:
1, simple in construction: this patent overall structure is simple and reliable, designs ingenious, can be widely used for all types of hotel, restaurant, dining room
And the place such as dining room, campus, can replace artificial on a large scale, save substantial amounts of cost of labor for operator..
2, intelligent: the location of the present invention and path show and all calculated voluntarily by system and judge, need not manually grasp
Making, intelligence degree is higher.And the robot of the present invention with customer communication during can be with the voice control of Intelligent Recognition client
System order, and this control command is stored in memorizer, pass on this control command to cook.
3, environmental robustness property good, free of a burden: the system of the present invention is arranged under floor or glass plate, and system is not easy
Being destroyed by extraneous strength, whole system composition is simple simultaneously, stable.
4, accurate positioning: the alignment system of the present invention is mainly by pressure transducer and location based on pressure transducer
Algorithm positions, and compared to other alignment systems with high costs, the present invention achieves best in the case of equal cost
Locating effect, it is more accurate to position..
Accompanying drawing explanation
Fig. 1 is a kind of based on indoor positioning technologies the meal delivery robot of the present invention and control system and the machine of control method
Device people's structural representation.
Detailed description of the invention
All features disclosed in this specification, or disclosed all methods or during step, except mutually exclusive
Feature and/or step beyond, all can combine by any way.
Any feature disclosed in this specification (including any accessory claim, summary), unless specifically stated otherwise,
By other equivalences or there is the alternative features of similar purpose replaced.I.e., unless specifically stated otherwise, each feature is a series of
An example in equivalence or similar characteristics.
The embodiment of the present invention 1 provides a kind of meal delivery robot based on indoor positioning technologies and control system and control
Method, robot architecture schemes as shown in Figure 1:
A kind of meal delivery robot based on indoor positioning technologies, it is characterised in that described robot includes: rotating base；Described
Robot shells it is provided with on rotating base；The top of described robot shells is provided with voice collecting and playing device；Described
Rotating base is provided with road wheel；In the middle part of described robot shells, both sides are each provided with a pallet arm；Described two pallets
Being provided with pallet between arm, described tray bottom is provided with pressure transducer.
It is provided with indoor locating system in described rotating base and drives motor；Described indoor locating system signal is connected to
Drive motor；Described driving motor is connected to road wheel, drives road wheel to run；Described indoor locating system includes: signal connects
Receiving apparatus and processor.
Described robot shells is internally provided with speech recognition system；Described speech recognition system signal is connected to voice and adopts
Collection and playing device；Described speech recognition system includes: voice recognition processor and memorizer；Described voice is divided by processor
Level signal is connected to memorizer and voice collecting and playing device, for the voice sending over voice collecting and playing device
Signal is identified, and is stored in memorizer by recognition result.
Described robot also includes: indoor positioning platform and data processing centre；Described indoor positioning platform is by 16 pressures
Force transducer and 4 pieces of nonbreakable glass plate compositions, be divided into 4 pressure sensitive units；Described sensor is radial pressure transducer；
Described sensor self is integrated with electric bridge, externally has 4 lead-in wires, respectively power supply adaptor line, power ground line, signal input
Line and output line；Described sensor also has amplifier.
Described pressure sensitive unit is by 1 block of nonbreakable glass plate and 4 pressure transducers；Described 4 pressure transducers are respectively
It is positioned at the corner of corresponding nonbreakable glass plate.
Described data processing centre includes: coordinate database, matched-field processors and sender unit；Described matching treatment
Device signal respectively is connected to coordinate database and sender unit, for the data letter sended over according to indoor positioning platform
The interior space coordinate data information pre-build in breath and coordinate database is mated, and draws the physical location of robot,
Send result to the indoor locating system of robot interior.
The embodiment of the present invention 2 provides a kind of meal delivery robot based on indoor positioning technologies and the control of control system
Method:
The control method of a kind of meal delivery robot based on indoor positioning technologies, it is characterised in that described method includes following step
Rapid:
Step 1: system start-up, system initialization；
Step 2: the indoor locating system of meal delivery robot, according to the destination address arranged, controls robot ambulation to target position
Put；
Step 3: the voice collecting of robot and playing device play out the voice messaging welcoming client, prompting client is carried out a little
Meal；After client sends instruction of making a reservation, after the speech recognition system identification of robot interior, draw recognition result, language after identifying
Tone signal stores in memorizer；
Step 4: after guest orders end, robot is in the descending destination that goes to of guide of indoor locating system, speech recognition
System control voice collecting and playing device play out the phonetic order of ordering of client；
Step 5: after cook completes according to the phonetic order preparation vegetable of client, vegetable is put on the pallet of robot, pressure
Sensor sensing is to there being vegetable to be put into pallet, and indoor locating system controls robot ambulation and carries out food delivery to target location.
The localization method of described indoor positioning platform comprises the following steps:
Step 1: four pressure transducers setting certain pressure sensitive unit kind are respectively as follows:, ；
Step 2: setTwo-dimensional coordinate in the plane of pressure sensitive unit is:;Set QUOTE Two-dimensional coordinate in the plane of pressure sensitive unit is:；SetPutting down at pressure sensitive unit
Two-dimensional coordinate in face is:；SetTwo-dimensional coordinate in the plane of pressure sensitive unit is:；
Step 3: when dolly is in this plane running, the pressure being perpendicular to plane can be produced, if this pressure is:；
Step 4: arrangeComponent at four sensor points is respectively as follows:；
Step 5: by equation below, can calculate the physical location of the F that exerts oneself, thus realize location:
;
；
。
The embodiment of the present invention 3 provides a kind of meal delivery robot based on indoor positioning technologies and control system and control
Method, crutch structure figure as shown in Figure 1:
A kind of meal delivery robot based on indoor positioning technologies, it is characterised in that described robot includes: rotating base；Described
Robot shells it is provided with on rotating base；The top of described robot shells is provided with voice collecting and playing device；Described
Rotating base is provided with road wheel；In the middle part of described robot shells, both sides are each provided with a pallet arm；Described two pallets
Being provided with pallet between arm, described tray bottom is provided with pressure transducer.
It is provided with indoor locating system in described rotating base and drives motor；Described indoor locating system signal is connected to
Drive motor；Described driving motor is connected to road wheel, drives road wheel to run；Described indoor locating system includes: signal connects
Receiving apparatus and processor.
Described robot shells is internally provided with speech recognition system；Described speech recognition system signal is connected to voice and adopts
Collection and playing device；Described speech recognition system includes: voice recognition processor and memorizer；Described voice is divided by processor
Level signal is connected to memorizer and voice collecting and playing device, for the voice sending over voice collecting and playing device
Signal is identified, and is stored in memorizer by recognition result.
Described robot also includes: indoor positioning platform and data processing centre；Described indoor positioning platform is by 16 pressures
Force transducer and 4 pieces of nonbreakable glass plate compositions, be divided into 4 pressure sensitive units；Described sensor is radial pressure transducer；
Described sensor self is integrated with electric bridge, externally has 4 lead-in wires, respectively power supply adaptor line, power ground line, signal input
Line and output line；Described sensor also has amplifier.
Described pressure sensitive unit is by 1 block of nonbreakable glass plate and 4 pressure transducers；Described 4 pressure transducers are respectively
It is positioned at the corner of corresponding nonbreakable glass plate.
Described data processing centre includes: coordinate database, matched-field processors and sender unit；Described matching treatment
Device signal respectively is connected to coordinate database and sender unit, for the data letter sended over according to indoor positioning platform
The interior space coordinate data information pre-build in breath and coordinate database is mated, and draws the physical location of robot,
Send result to the indoor locating system of robot interior.
A kind of control method of meal delivery robot based on indoor positioning technologies, it is characterised in that described method include with
Lower step:
Step 1: system start-up, system initialization；
Step 2: the indoor locating system of meal delivery robot, according to the destination address arranged, controls robot ambulation to target position
Put；
Step 3: the voice collecting of robot and playing device play out the voice messaging welcoming client, prompting client is carried out a little
Meal；After client sends instruction of making a reservation, after the speech recognition system identification of robot interior, draw recognition result, language after identifying
Tone signal stores in memorizer；
Step 4: after guest orders end, robot is in the descending destination that goes to of guide of indoor locating system, speech recognition
System control voice collecting and playing device play out the phonetic order of ordering of client；
Step 5: after cook completes according to the phonetic order preparation vegetable of client, vegetable is put on the pallet of robot, pressure
Sensor sensing is to there being vegetable to be put into pallet, and indoor locating system controls robot ambulation and carries out food delivery to target location.
The localization method of described indoor positioning platform comprises the following steps:
Step 1: four pressure transducers setting certain pressure sensitive unit kind are respectively as follows:, ；
Step 2: setTwo-dimensional coordinate in the plane of pressure sensitive unit is:;Set QUOTE Two-dimensional coordinate in the plane of pressure sensitive unit is:；SetPutting down at pressure sensitive unit
Two-dimensional coordinate in face is:；SetTwo-dimensional coordinate in the plane of pressure sensitive unit is:；
Step 3: when dolly is in this plane running, the pressure being perpendicular to plane can be produced, if this pressure is:；
Step 4: arrangeComponent at four sensor points is respectively as follows:；
Step 5: by equation below, can calculate the physical location of the F that exerts oneself, thus realize location:
;
；
。
The invention is not limited in aforesaid detailed description of the invention.The present invention expands to any disclose in this manual
New feature or any new combination, and the arbitrary new method that discloses or the step of process or any new combination.
Claims (8)
1. a meal delivery robot based on indoor positioning technologies, it is characterised in that described robot includes: rotating base (1)；
Robot shells (2) it is provided with on described rotating base (1)；The top of described robot shells (2) be provided with voice collecting and
Playing device (5)；Described rotating base is provided with road wheel (7)；In the middle part of described robot shells, both sides are each provided with a strip holder
Dish arm (4)；Being provided with pallet (3) between described two pallet arms, described tray bottom is provided with pressure transducer (6).
2. meal delivery robot based on indoor positioning technologies as claimed in claim 1, it is characterised in that in described rotating base
It is provided with indoor locating system and drives motor；Described indoor locating system signal is connected to drive motor；Described driving motor
It is connected to road wheel, drives road wheel to run；Described indoor locating system includes: signal receiving device and processor.
3. meal delivery robot based on indoor positioning technologies as claimed in claim 1 or 2, it is characterised in that described robot
Enclosure is provided with speech recognition system；Described speech recognition system signal is connected to voice collecting and playing device；Described
Speech recognition system includes: voice recognition processor and memorizer；Described voice is connected to storage by processor signal respectively
Device and voice collecting and playing device, be identified for the voice signal sending over voice collecting and playing device, will
Recognition result stores in memorizer.
4. meal delivery robot based on indoor positioning technologies as claimed in claim 1, it is characterised in that described robot also wraps
Include: indoor positioning platform and data processing centre；Described indoor positioning platform is by 16 pressure transducers and 4 pieces of nonbreakable glasses
Plate forms, and is divided into 4 pressure sensitive units；Described sensor is radial pressure transducer；Described sensor self is integrated with
Electric bridge, externally has 4 lead-in wires, respectively power supply adaptor line, power ground line, signal input line and output line；Described
Sensor also has amplifier.
5. indoor locating system based on pressure sensing technology as claimed in claim 3, it is characterised in that described pressure sensing
Unit is by 1 block of nonbreakable glass plate and 4 pressure transducers；Described 4 pressure transducers lay respectively at corresponding nonbreakable glass plate
At corner.
6. indoor locating system based on pressure sensing technology as claimed in claim 4, it is characterised in that described data process
Center includes: coordinate database, matched-field processors and sender unit；Described matched-field processors signal respectively is connected to coordinate
Data base and sender unit, in the data message sended over according to indoor positioning platform and coordinate database in advance
The interior space coordinate data information set up is mated, and draws the physical location of robot, sends result in robot
The indoor locating system in portion.
7. a control method based on the meal delivery robot based on indoor positioning technologies one of claim 1 to 5 Suo Shu, its
It is characterised by, said method comprising the steps of:
Step 1: system start-up, system initialization；
Step 2: the indoor locating system of meal delivery robot, according to the destination address arranged, controls robot ambulation to target position
Put；
Step 3: the voice collecting of robot and playing device play out the voice messaging welcoming client, prompting client is carried out a little
Meal；After client sends instruction of making a reservation, after the speech recognition system identification of robot interior, draw recognition result, language after identifying
Tone signal stores in memorizer；
Step 4: after guest orders end, robot is in the descending destination that goes to of guide of indoor locating system, speech recognition
System control voice collecting and playing device play out the phonetic order of ordering of client；
Step 5: after cook completes according to the phonetic order preparation vegetable of client, vegetable is put on the pallet of robot, pressure
Sensor sensing is to there being vegetable to be put into pallet, and indoor locating system controls robot ambulation and carries out food delivery to target location.
8. the control method of meal delivery robot based on indoor positioning technologies as claimed in claim 7, it is characterised in that described
The localization method of indoor positioning platform comprises the following steps:
Step 1: four pressure transducers setting certain pressure sensitive unit kind are respectively as follows:,；
Step 2: setTwo-dimensional coordinate in the plane of pressure sensitive unit is:;SetPass at pressure
Two-dimensional coordinate in the plane of sense unit is:；SetTwo-dimensional coordinate in the plane of pressure sensitive unit
For:；SetTwo-dimensional coordinate in the plane of pressure sensitive unit is:；
Step 3: when dolly is in this plane running, the pressure being perpendicular to plane can be produced, if this pressure is:；
Step 4: arrangeComponent at four sensor points is respectively as follows:；
Step 5: by equation below, can calculate the physical location of the F that exerts oneself, thus realize location:
;
；
。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610845212.9A CN106272332A (en) | 2016-09-24 | 2016-09-24 | A kind of meal delivery robot based on indoor positioning technologies and control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610845212.9A CN106272332A (en) | 2016-09-24 | 2016-09-24 | A kind of meal delivery robot based on indoor positioning technologies and control system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106272332A true CN106272332A (en) | 2017-01-04 |
Family
ID=57711722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610845212.9A Pending CN106272332A (en) | 2016-09-24 | 2016-09-24 | A kind of meal delivery robot based on indoor positioning technologies and control system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272332A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107357291A (en) * | 2017-07-12 | 2017-11-17 | 旗瀚科技有限公司 | A kind of food delivery system based on magnetic navigation robot |
| CN107756411A (en) * | 2017-09-15 | 2018-03-06 | 南京轩世琪源软件科技有限公司 | A kind of indoor locating system based on electromagnetic distance measurement |
| CN107942286A (en) * | 2017-08-28 | 2018-04-20 | 清华-伯克利深圳学院筹备办公室 | A kind of indoor power line alignment system and method |
| CN110268343A (en) * | 2017-04-26 | 2019-09-20 | 深圳市元征科技股份有限公司 | A kind of automation services apparatus and system |
| WO2021245560A1 (en) * | 2020-06-03 | 2021-12-09 | Everseen Limited | Customer engagement system and method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101436037A (en) * | 2008-11-28 | 2009-05-20 | 深圳先进技术研究院 | Dining room service robot system |
| US20100312429A1 (en) * | 2001-01-24 | 2010-12-09 | Irobot Corporation | Robot confinement |
| WO2012020858A1 (en) * | 2010-08-11 | 2012-02-16 | (주) 퓨처로봇 | Intelligent driving robot for providing customer service and calculation in restaurants |
| CN204708539U (en) * | 2015-05-04 | 2015-10-21 | 广州御一信息技术有限公司 | A kind of new automatic meal delivery robot |
| CN204800623U (en) * | 2015-06-26 | 2015-11-25 | 深圳中科世界机器人有限公司 | Food delivery robot |
| CN105563485A (en) * | 2015-12-21 | 2016-05-11 | 上海师大资产经营有限责任公司 | Meal delivery robot control system and motion track control method thereof |
| CN205380682U (en) * | 2016-03-11 | 2016-07-13 | 武汉科技大学 | Novel robot is used in dining room |
| CN205394568U (en) * | 2016-03-11 | 2016-07-27 | 武汉科技大学 | Robot is used in dining room |
-
2016
- 2016-09-24 CN CN201610845212.9A patent/CN106272332A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100312429A1 (en) * | 2001-01-24 | 2010-12-09 | Irobot Corporation | Robot confinement |
| CN101436037A (en) * | 2008-11-28 | 2009-05-20 | 深圳先进技术研究院 | Dining room service robot system |
| WO2012020858A1 (en) * | 2010-08-11 | 2012-02-16 | (주) 퓨처로봇 | Intelligent driving robot for providing customer service and calculation in restaurants |
| CN204708539U (en) * | 2015-05-04 | 2015-10-21 | 广州御一信息技术有限公司 | A kind of new automatic meal delivery robot |
| CN204800623U (en) * | 2015-06-26 | 2015-11-25 | 深圳中科世界机器人有限公司 | Food delivery robot |
| CN105563485A (en) * | 2015-12-21 | 2016-05-11 | 上海师大资产经营有限责任公司 | Meal delivery robot control system and motion track control method thereof |
| CN205380682U (en) * | 2016-03-11 | 2016-07-13 | 武汉科技大学 | Novel robot is used in dining room |
| CN205394568U (en) * | 2016-03-11 | 2016-07-27 | 武汉科技大学 | Robot is used in dining room |
Non-Patent Citations (1)
| Title |
|---|
| 位恒曦等: "基于压力传感触控技术的室内定位地板", 《单片机与嵌入式系统应用》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110268343A (en) * | 2017-04-26 | 2019-09-20 | 深圳市元征科技股份有限公司 | A kind of automation services apparatus and system |
| CN107357291A (en) * | 2017-07-12 | 2017-11-17 | 旗瀚科技有限公司 | A kind of food delivery system based on magnetic navigation robot |
| CN107942286A (en) * | 2017-08-28 | 2018-04-20 | 清华-伯克利深圳学院筹备办公室 | A kind of indoor power line alignment system and method |
| CN107942286B (en) * | 2017-08-28 | 2020-07-24 | 清华-伯克利深圳学院筹备办公室 | Indoor power line positioning system and method |
| CN107756411A (en) * | 2017-09-15 | 2018-03-06 | 南京轩世琪源软件科技有限公司 | A kind of indoor locating system based on electromagnetic distance measurement |
| WO2021245560A1 (en) * | 2020-06-03 | 2021-12-09 | Everseen Limited | Customer engagement system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106272332A (en) | A kind of meal delivery robot based on indoor positioning technologies and control system and control method | |
| AU2018282354B2 (en) | Prompting method and apparatus | |
| US20230228577A1 (en) | Devices, systems, and methods for navigation and usage guidance in a navigable space using wireless communication | |
| JP5967553B2 (en) | Method for estimating purchase behavior of customer in store or between stores, and computer system and computer program thereof | |
| WO2018018839A1 (en) | Method for shopping in shopping mall, shopping server and shopping robot | |
| US20200198680A1 (en) | Physical shopping cart having features for use in customer checkout of items placed into the shopping cart | |
| CN107870972B (en) | Information processing apparatus, system, and control method | |
| CN109416809A (en) | Broker machines people control system, broker machines people system, broker machines people control method and recording medium | |
| US20200037522A1 (en) | Robotic watering device for maintaining live plants | |
| TWI305716B (en) | Intelligence carrier | |
| CN110909898A (en) | Zero-knowledge bank machine room fault diagnosis and maintenance guidance system and method based on AR glasses | |
| CN109465818A (en) | Robot management system and Method of Commodity Recommendation | |
| CN208645348U (en) | A kind of food and beverage sevice robot | |
| JP2007531144A (en) | Venue guidance assistance system, apparatus and method | |
| CN207424674U (en) | A kind of market blindmen intelligent shopping guide device | |
| CN109166008A (en) | A kind of market guide system of quick searching commodity | |
| CA3093808A1 (en) | Customized score-based basket approval system | |
| CN205265919U (en) | Novel personnel positioning system is doctorsed and nurses in intellectuality | |
| CN104331828B (en) | The processing method and system of multiple terminals point list information | |
| JP2010186039A (en) | Management method, management program, and management system | |
| CN204432740U (en) | Self-help shopping go-cart | |
| US20190308863A1 (en) | Configurable item display dolly | |
| CN211858135U (en) | Intelligent service robot | |
| CN206774149U (en) | Product display table | |
| CN107767207A (en) | A kind of method and apparatus for dealing with objects data acquisition system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170104 |
|
| RJ01 | Rejection of invention patent application after publication |