CN106569494A - Food delivery robot control system based on multi-sensor fusion - Google Patents
Food delivery robot control system based on multi-sensor fusion Download PDFInfo
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- CN106569494A CN106569494A CN201610979420.8A CN201610979420A CN106569494A CN 106569494 A CN106569494 A CN 106569494A CN 201610979420 A CN201610979420 A CN 201610979420A CN 106569494 A CN106569494 A CN 106569494A
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- 238000012384 transportation and delivery Methods 0.000 title claims abstract description 81
- 230000004927 fusion Effects 0.000 title claims abstract description 27
- 235000013305 food Nutrition 0.000 title claims abstract description 26
- 238000007726 management method Methods 0.000 claims abstract description 57
- 238000000034 method Methods 0.000 claims abstract description 14
- 235000012054 meals Nutrition 0.000 claims description 89
- 235000013311 vegetables Nutrition 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 6
- 230000002452 interceptive effect Effects 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 4
- 238000007639 printing Methods 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012800 visualization Methods 0.000 claims description 3
- 239000000696 magnetic material Substances 0.000 claims description 2
- 238000002604 ultrasonography Methods 0.000 claims description 2
- 238000012795 verification Methods 0.000 claims description 2
- 230000008859 change Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000013439 planning Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000010415 tidying Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
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Abstract
The invention discloses a food delivery robot control system based on multi-sensor fusion. The food delivery robot control system comprises an industrial personal computer-based ordering system, a background information management system and a food delivery robot, which are connected in sequence. The control method of the food delivery robot control system comprises the following steps: a customer browses the dishes of a restaurant through the industrial personal computer-based ordering system, and completes ordering and online payment; the customer verifies the order, and sends the order to the background information management system; the background information management system prints the order on paper, and transmits the order paper to the kitchen; the kitchen staff makes corresponding dishes, and makes the food delivery robot delivery the dishes to a table where the customer is seated; the food delivery robot informs the customer to take food by voice, and gets the food taking condition of the customer; and the customer takes the food. Smart management and application in the whole life cycle (including 'before sales', 'in-sales' and 'after-sales') of the catering service is realized. Manpower cost is saved effectively. The informatization level and management efficiency of restaurants are improved.
Description
Technical field
The present invention relates to the systems technology field of the motion offer information of robot, more particularly to it is a kind of based on multisensor
The meal delivery robot control system of fusion.
Background technology
Intellect service robot system integrates service interaction and the artificial intelligence such as pay the bill, and is aided with by cloud meter
Calculate, the Internet of Things application platform of big data process, realize customer from enter shop, order, have dinner, paying, the full life such as service valuation
The information process- of cyclic flow.Entertainment orientation, joyful and interesting dining room through the Internet and technology of Internet of things transformation, effectively
Human cost is saved, the level of IT application and the efficiency of management in dining room is lifted, is driven customer's self propagation.
The content of the invention
In order to overcome the shortcoming that prior art is present with a kind of not enough, food delivery based on Multi-sensor Fusion of present invention offer
Robot control system, can effectively save human cost, lifted dining room the level of IT application and the efficiency of management.
To solve above-mentioned technical problem, the present invention provides following technical scheme：A kind of food delivery based on Multi-sensor Fusion
Robot control system, including the industrial computer meal ordering system, background information management system and food delivery machine that are linked in sequence successively
People, wherein
The industrial computer meal ordering system is used for ordering dishes and the function that places an order for customer, and for updating often cuisine；
The background information management system is used to receive the order of customer and send kitchen to, and monitor in real time dining room letter
Breath；
The meal delivery robot is used to receive vegetable and food delivery is to customer.
Further, the industrial computer meal ordering system includes ordering software based on the interactive mode of visualization touch-screen, its tool
There is on-line payment function, the on-line payment includes wechat and Alipay.
Further, background information management system monitor in real time dining room information, the dining room information include robot
Status information, flow of restaurant guests, kitchen dish storage and various dish sales volumes；The background information management system is by analysis
The information of the information of passing buying and passing sales volume, so as to obtain rational procurement scheme.
Further, the background information management system includes printer, and the printer is used to print order with paper, institute
Stating includes bar code information and Customer Information with paper, the bar code information include customer order dish, customer order the time with
And robot ambulation route, the Customer Information includes customer's number and customer's seat information.
Further, the meal delivery robot includes the Information Collection System of Multi-sensor Fusion, and described information collects system
System includes that the contactless RFID of high frequency reads sensor assembly, HONGGUANG scan module, magnetic navigation sensor module, servo-driver
Module, servomotor module, ultrasonic sensor modules, voice playing module, HONGGUANG barcode scanning sensor assembly, pressure transducer
Module, Xbee wireless transport modules and the main control chip being connected with each module, each module and main control chip are worked in coordination fortune
Data are provided as robot to support, wherein
The contactless RFID of the high frequency reads sensor assembly to be used to recognize meal delivery robot positional information；
The HONGGUANG scan module be used for read background information management system printing=order strip information；
The magnetic navigation sensor module is used to recognize magnetic material and provide positional information for meal delivery robot；
The servo-driver module is used for constant speed ground at regular time and quantity and drives servomotor；
The servomotor module is used for the power for providing meal delivery robot advance；
The ultrasonic sensor modules are used for the barrier for detecting front, so as to the work(of avoidance is provided to meal delivery robot
Energy；
The voice playing module is used to carry out speech play, and causes meal delivery robot to carry out interaction with customer；
The pressure sensor module is used to detect whether service plate has thing so that whole food delivery process can more hommization
With the raising speed of service；
The Xbee wireless transport modules are used for meal delivery robot and enter the transmission of row information with background information management system.
Further, the main control chip adopt including STM32 for main control chip, 51 single-chip microcomputers or Arduino at least
A kind of microcontroller.
Further, the meal delivery robot obtains robot battery by the ADC that includes inside main control chip
The electricity of itself, when electricity less than it is a certain amount of when, ADC is to background information management system application cradle position；When
When cradle is idle, meal delivery robot is instructed according to background information management system, is charged to specified location.
Further, the industrial computer meal ordering system, its concrete operations include：
S1, customer browse the cuisine in dining room by industrial computer meal ordering system, and by the friendship at industrial computer meal ordering system interface
Mutually formula software of ordering completes to order and on-line payment；
S2, industrial computer meal ordering system verify that to order the order after checking is passed and is sent to background information management
System；Wherein, described that order is verified, verification method is：Order after wechat or Alipay on-line payment, industry control
Machine meal ordering system verified using developer's interface that wechat or Alipay give, and determines whether order pays successfully.
Further, the background information management system, its concrete operations include：
S3, background information management system carry out printing with paper to order, and are sent to kitchen；
S4, kitchen employee obtain the sequence information with paper, and are completed corresponding vegetable according to sequence information；.
Further, the meal delivery robot, its concrete food delivery flow process is：
S5, meal delivery robot receive the vegetable of kitchen employee, and vegetable is sent to customer's seat according to the sequence information with paper
Position；
After S6, meal delivery robot reach customer seat, customer's pick-up is informed by speech play；If customer's pick-up,
Pick-up information is transmitted to background information management system, food delivery flow process is completed.
After above-mentioned technical proposal, the present invention at least has the advantages that：
(1) present system provides service with can not resting for 24 hours, can automatically food delivery, blank panel reclaim, vegetable introduction with
And automatic charging, automatic tracking, Intelligent Recognition table are capable of achieving, are automatically stopped and are started；
(2) present system being capable of intelligent barrier avoiding:Pass through in traveling, ultrasonic sensor modules detection meal delivery robot
The obstacle situation in front, and by information back servo-driver module, with the stalling of controlled motor after process, prevent from colliding guest
Or staff etc.；
(3) meal delivery robot of the present invention has terminal automatic identification automatic hold function；Voice with hommization is carried
Show function：When there is guest in front, guest can be asked to give way by voice message；When sending thing or receiving thing, when arrival required service
Before table number, corresponding voice message is carried out to guest or the service personal for tidying up dining table；When starting point is returned to, staff is entered
Row is reminded；Industrial computer meal ordering system is ordered design based on the interactive mode of visualization touch-screen, it would be preferable to support on-line payment；
(4) meal delivery robot of the invention can autonomous detection battery electric quantity itself, when electricity is less than certain value, can send out
Information informs backstage, Jing after the scheduling of backstage goes to automatically touching formula battery charger cradle recharging；
(5) present invention conveniently and efficiently interacts docking using HONGGUANG scanning with service personal, passes on information rapidly
To robot and robot can promptly whereby information be arrived at；The background information management system of the present invention can be realized
Collect the vegetable sales situations in dining room, robot trend, dining room location management, the people that operates machine walking, and industrial computer of ordering enter
Row information is interactive and information is printed as papery version, uses for kitchen；
(6) whole system of the invention causes the operation in dining room more efficiently and regular so that the service personal in dining room
Can greatly reduce, be pushed further into the variation of service occupation.
(7) background information management system of the invention can be realized collecting the vegetable sales situations in dining room, robot trend, meal
Room location management, the people that operates machine walking, and industrial computer of ordering carry out information interaction and information be printed as into papery version, for kitchen
Room is used；
(8) whole system of the invention causes the operation in dining room more efficiently and regular so that the service personal in dining room
Can greatly reduce, be pushed further into the variation of service occupation；
(9) background information management system of the invention can give operator's analysis and suggestion, help operator to reduce buying
Waste, reach the effect that daily food materials have just been sold, so as to increase the profit of operator；Background information management system can be with
Allow operator's monitor in real time dining room, operator can be allowed to manage dining room well；Background information management system adopts original algorithm
Planning map, robot can quickly food delivery to specified dining table.
Description of the drawings
Fig. 1 is structural representation of the present invention based on the meal delivery robot control system of Multi-sensor Fusion；
Fig. 2 is control flow chart of the present invention based on the meal delivery robot control system of Multi-sensor Fusion；
Fig. 3 is inside meal delivery robot of the present invention based on the meal delivery robot control system of Multi-sensor Fusion sensing more
The Information Collection System schematic diagram of device fusion；
Fig. 4 is substantially flow chart of the present invention based on the meal delivery robot control method of Multi-sensor Fusion；
Fig. 5 is embodiment of the present invention meal delivery robot track route figure at the parting of the ways；
Fig. 6 is the dining room map that embodiment of the present invention background information management system shows.
Specific embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combine, the application is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, the present invention provides a kind of meal delivery robot control system based on Multi-sensor Fusion, including industry control
Machine meal ordering system, background information management system and meal delivery robot, meal delivery robot include that the information of Multi-sensor Fusion is received
Collecting system；Industrial computer meal ordering system is used for ordering for customer, and generates order order, further, industrial computer meal ordering system energy
It is enough that cuisine renewal is carried out according to Restaurant Operation person；Background information management system receives order of ordering, and meal delivery robot is managed,
Including location management, Charge Management, transport management and environmental management etc..
The industrial computer meal ordering system dynamic generates menu, the dish stored by dynamic load background server；It is described
Background information management system can be the information of information and passing sales volume that operator analyzes passing buying, so as to draw rationally buying
Scheme；The meal delivery robot can by multiple ultrasound wave layback information and fusion finally realize meal delivery robot walk
Scheduling, make the traveling of meal delivery robot safer；By HONGGUANG scanning module, quickly scanning is carried the meal delivery robot
Dish information and dining table information, quick obtaining information are removed from and being manually entered.
As shown in Fig. 2 customer can browse the cuisine in dining room by the industrial computer of ordering of industrial computer meal ordering system, by handing over
Mutually formula touch screen completes to order with after on-line payment, and the order after checking will send background information management to by network
Corresponding informance will be printed and be sent to kitchen for system, background information management system, and kitchen just can be direct after getting out cuisine
Information is obtained by HONGGUANG barcode scanning by meal delivery robot with paper.And robot is become and can be read and magnetic navigation standard by high-frequency RF ID
Vegetable is sent to into each seat really, then informs that backstage is sent to situation by Xbee.The running of robot is by servo-drive
Device is driving, and carries ultrasonic sensor, can actively avoid the safety that customer has ensured customer；Robot it is detailed
Operational factor can be updated with Xbee communications by background information management system, and the parameter such as industrial computer each cuisine price of ordering can
Timely updated with allowing background information management system to give by wifi；Robot can obtain machine by microcontroller ADC
People's battery electricity of itself, when less than it is a certain amount of when, will with background information management system application cradle position, when filling
When electric seat is idle, just can go to specified location and be charged.
It is that touching formula charges that robot charges, and facilitates the operation of robot autonomous charging.And robot charging system band
There is defencive function, only when arrival specified location charging hole is just connected to the external world, to protect the safety of contact customer, prevent what is got an electric shock
Occur.
Robot is reached after giving directions place, is informed customer's pick-up by speech play, and is known by pressure transducer
The pick-up situation of customer, transmits unreachable message by Xbee after taking, completes whole food delivery flow process.
As shown in figure 3, meal delivery robot includes the Information Collection System of Multi-sensor Fusion, described information collection system bag
Include the contactless RFID of high frequency and read sensor assembly, HONGGUANG scan module, magnetic navigation sensor module, servo-driver mould
Block, servomotor module, ultrasonic sensor modules, voice playing module, HONGGUANG barcode scanning sensor assembly, pressure transducer mould
Block, Xbee wireless transport modules and the main control chip being connected with each module, each module and main control chip are worked in coordination running
Data support is provided for robot.
Embodiment
Customer receives customer instructions by the touch screen of industrial computer of ordering, and triggers life of the meal ordering system to backstage transmission data
Order, so as to reach and backstage real-time, interactive.
Meal ordering system has a self-defining control, has picturebox controls and show dish above self-defined control
Picture, label controls show price, have put quantity, the information that dish is introduced.Start meal ordering system every time all first to ask to backstage
The dish information stored inside data, then ergodic data storehouse is sought, finally dynamic load menu again, so as to realize that Real-time and Dynamic is changed
The function of menu.
As shown in figure 4, after the complete meal of meal ordering system point pays success, menu information is sent to background server, backstage letter
Dish information is printed by printer by breath management system by the content of background server.
Company management person obtains Alipay interface by contracting immediately to account function with Alipay company, and meal ordering system is adjusted
The function that Alipay barcode scanning pays is realized with Alipay interface.
The bar code that printer is printed be eight front two storage be seat number, three to seven is robot row
Route information is walked, the 8th is check bit.
As shown in figure 5, in meal delivery robot food delivery way, when meal delivery robot crossroad is run into, 8 will be read
Walking planning information in the middle of bar code, reads 1 byte information and just turns left, and reads 0 information and just directly walks.It is wherein available to deposit
Storage track route information has 5 bytes, and each byte can have 8 positions, and each control is turned left or directly walked.Therefore, each
Bar code can store up to 40 node processing information.If 40 nodes are not enough, background information management system can change 13 into
The bar code of position, the node processing information of storage up to 80.
As shown in fig. 6, the dining room map that this figure is background information management system to be shown.Map planning algorithm is first to judge mesh
The coordinate of cursor position just is not first judging whether to have node in terms of transverse axis if just finding out the right or not above node
First node, and with Dynamic Array n [] record 1, after finding out, look for the plotted in primary nodal point uppermost again
The interstitial content a of process is first found out after finding out second node by node location, at 1 a added behind 0, along with one
1；If the abscissa of second node is not equal to 0, repeatedly aforesaid operations, if equal to 0, then inquire about the node apart from kitchen
If b, then again 1 b added behind 0.Resulting array is overturn, so send dish to the route of specified dining table with regard to structure
Build and complete, then just build can kitchen route, first determine whether or not dining table position or not above node vertical pivot, if
, then the interstitial content from target location to bottom node is inquired about, then adds c 0 again plus one 1 in array n if c,
Then the number of rightmost node is inquired again, is then added d 0 again plus one 1 in array n if d, is finally being inquired most
The number e of the node on top, adds d 0 in array n.Finally array is changed into char [] and is stored into lane database by traversal array
Face.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
It is understood by, can these embodiments be carried out with various equivalent changes without departing from the principles and spirit of the present invention
Change, change, replace and modification, the scope of the present invention is limited by claims and its equivalency range.
Claims (10)
1. a kind of meal delivery robot control system based on Multi-sensor Fusion, it is characterised in that including what is be linked in sequence successively
Industrial computer meal ordering system, background information management system and meal delivery robot, wherein
The industrial computer meal ordering system is used for ordering dishes and the function that places an order for customer, and for updating often cuisine；
The background information management system is used to receive the order of customer and send kitchen to, and monitor in real time dining room information；
The meal delivery robot is used to receive vegetable and food delivery is to customer.
2. the meal delivery robot control system based on Multi-sensor Fusion as claimed in claim 1, it is characterised in that the work
Control machine meal ordering system includes ordering software based on the interactive mode of visualization touch-screen, and which has on-line payment function, described online
Payment includes wechat and Alipay.
3. the meal delivery robot control system based on Multi-sensor Fusion as claimed in claim 1, it is characterised in that after described
Station information management system monitor in real time dining room information, the dining room information include robotary information, flow of restaurant guests, kitchen
Dish storage and various dish sales volumes；Information and passing sales volume of the background information management system by the passing buying of analysis
Information, so as to obtain rational procurement scheme.
4. the meal delivery robot control system based on Multi-sensor Fusion as described in claim 1 or 3, it is characterised in that institute
Stating background information management system includes printer, and the printer is used to print order with paper, described to include that bar code is believed with paper
Breath and Customer Information, the bar code information include that customer has order dish, customer and ordered time and robot ambulation route, institute
Stating Customer Information includes customer's number and customer's seat information.
5. the meal delivery robot control system based on Multi-sensor Fusion as claimed in claim 1, it is characterised in that described to send
Meal robot includes the Information Collection System of Multi-sensor Fusion, and described information collection system includes that the contactless RFID of high frequency reads
Take sensor assembly, HONGGUANG scan module, magnetic navigation sensor module, servo-driver module, servomotor module, ultrasound wave
Sensor assembly, voice playing module, HONGGUANG barcode scanning sensor assembly, pressure sensor module, Xbee wireless transport modules with
And the main control chip being connected with each module, each module and main control chip work in coordination running and provide data for robot and support,
Wherein
The contactless RFID of the high frequency reads sensor assembly to be used to recognize meal delivery robot positional information；
The HONGGUANG scan module be used for read background information management system printing=order strip information；
The magnetic navigation sensor module is used to recognize magnetic material and provide positional information for meal delivery robot；
The servo-driver module is used for constant speed ground at regular time and quantity and drives servomotor；
The servomotor module is used for the power for providing meal delivery robot advance；
The ultrasonic sensor modules are used for the barrier for detecting front, so as to the function of avoidance is provided to meal delivery robot；
The voice playing module is used to carry out speech play, and causes meal delivery robot to carry out interaction with customer；
The pressure sensor module is used to detect whether service plate has thing so that whole food delivery process more hommization and can be carried
The high speed of service；
The Xbee wireless transport modules are used for meal delivery robot and enter the transmission of row information with background information management system.
6. the meal delivery robot control system based on Multi-sensor Fusion as claimed in claim 5, it is characterised in that the master
Control chip is adopted including STM32 as at least one of main control chip, 51 single-chip microcomputers or Arduino microcontroller.
7. the meal delivery robot control system based on Multi-sensor Fusion as claimed in claim 5, it is characterised in that described to send
Meal robot obtains the electricity of robot battery itself by the ADC that includes inside main control chip, when electricity is less than one
When quantitative, ADC is to background information management system application cradle position；When cradle is idle, meal delivery robot
Instructed according to background information management system, be charged to specified location.
8. the meal delivery robot control system based on Multi-sensor Fusion as claimed in claim 2, it is characterised in that the work
Control machine meal ordering system, its concrete operations include：
S1, customer browse the cuisine in dining room by industrial computer meal ordering system, and by the interactive mode at industrial computer meal ordering system interface
Software of ordering completes to order and on-line payment；
S2, industrial computer meal ordering system verify that to order the order after checking is passed and is sent to background information management system；
Wherein, described that order is verified, verification method is：Order after wechat or Alipay on-line payment, industrial computer point
Meal system verified using developer's interface that wechat or Alipay give, and determines whether order pays successfully.
9. the meal delivery robot control system based on Multi-sensor Fusion as claimed in claim 8, it is characterised in that after described
Station information management system, its concrete operations include：
S3, background information management system carry out printing with paper to order, and are sent to kitchen；
S4, kitchen employee obtain the sequence information with paper, and are completed corresponding vegetable according to sequence information；.
10. the meal delivery robot control system based on Multi-sensor Fusion as claimed in claim 9, it is characterised in that described
Meal delivery robot, its concrete food delivery flow process is：
S5, meal delivery robot receive the vegetable of kitchen employee, and vegetable is sent to customer seat according to the sequence information with paper；
After S6, meal delivery robot reach customer seat, customer's pick-up is informed by speech play；If customer's pick-up, backward
Station information management system transmits pick-up information, completes food delivery flow process.
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| CN201610979420.8A CN106569494A (en) | 2016-11-08 | 2016-11-08 | Food delivery robot control system based on multi-sensor fusion |
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| CN108038800A (en) * | 2017-12-19 | 2018-05-15 | 叶天森 | A kind of intelligence provides catering system and method |
| CN108279679A (en) * | 2018-03-05 | 2018-07-13 | 华南理工大学 | A kind of Intelligent meal delivery robot system and its food delivery method based on wechat small routine and ROS |
| CN108542227A (en) * | 2018-04-28 | 2018-09-18 | 四川化工职业技术学院 | Automatic food delivery and meal method is received in a kind of intelligent shop towards little Wei food and beverage enterprises |
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