CN107175663A - A kind of intelligent robot food delivery method of electromagnetic tracking - Google Patents
A kind of intelligent robot food delivery method of electromagnetic tracking Download PDFInfo
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- CN107175663A CN107175663A CN201710423149.4A CN201710423149A CN107175663A CN 107175663 A CN107175663 A CN 107175663A CN 201710423149 A CN201710423149 A CN 201710423149A CN 107175663 A CN107175663 A CN 107175663A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
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Abstract
The invention discloses a kind of intelligent robot food delivery method of electromagnetic tracking, comprise the following steps：Step S1：According to the step of dining table cloth office is provided for the electromagnetic path of robot tracking in dining room；Step S2：Input food delivery instruction and the step of correspondence dining table produces positioning signal is instructed according to the food delivery；Step S3：The step of robot tracking electromagnetic path is travelled is instructed according to the food delivery；Step S4：The step of stopping tracking after robot sensing positioning signal and wait pick-up；Step S5：Robot enters the step of making a return voyage pattern after pick-up.Using technical scheme, it is used as positioning signal by the way that whether the electromagnet in dining table locating module produces magnetic signal, so as to enormously simplify system architecture, robot can be accurately positioned purpose dining table, so that wall scroll electromagnetic path can complete the dispatching of multiple dining tables.
Description
Technical field
The present invention relates to the intelligent robot food delivery method of robot field, more particularly to a kind of electromagnetic tracking.
Background technology
With the arriving in robot epoch, at present, industry-by-industry has all risen " empty-cage-change-bird " plan, originally many by people
The work position of completion, is gradually replaced by robot." automatic food delivery " technology of the prior art is applied to Self service dining table mostly,
Various dish are sent to by the dish for selection liked in face of client with transmission belt automatically.But this mode has great limitation
Property, it is necessary to take certain position space, and be not suitable for the dining room freely ordered.With advances in technology, prior art is also released
The meal delivery robot that can freely dispense, state-of-the-art navigated by camera real-time image acquisition, this increases greatly
Add the complexity of robot, meanwhile, dining room environment mixes, it is impossible to ensure that accurate navigation positions dining table；Prior art is also adopted
With infrared tracking technology, but influenceed larger by light, easily by external environmental interference, so as to be unable to reach the journey of practical application
Degree.
Therefore, for drawbacks described above present in currently available technology, it is necessary to be studied in fact, to provide a kind of scheme,
Solve defect present in prior art.
The content of the invention
In view of this, it is necessory to provide the intelligent robot food delivery of electromagnetic tracking a kind of simple in construction and convenient to carry out
Method, can realize automatic food delivery and reach the purpose for being accurately positioned dining table.
In order to overcome the defect of prior art, technical scheme is as follows：
A kind of intelligent robot food delivery method of electromagnetic tracking, comprises the following steps：
Step S1：According to the step of dining table cloth office is provided for the electromagnetic path of robot tracking in dining room, the electromagnetism
Track is to be laid on ground and pass through the wire of multiple dining tables and lead to alternating current in wire to produce magnetic field signal；
Step S2：Input food delivery instruction and the step of correspondence dining table produces positioning signal is instructed according to the food delivery；
Step S3：The step of robot tracking electromagnetic path is travelled is instructed according to the food delivery；
Step S4：The step of stopping tracking after robot sensing positioning signal and wait pick-up；
Step S5：Robot enters the step of making a return voyage pattern after pick-up；
Wherein, in step s 2, robot is instructed to being arranged on every dining table with unique identifier according to food delivery
Dining table locating module sends purpose dining table information, and dining table locating module eats the dining table information pre-set and the purpose received
Table information is matched, and positioning signal is sent if both match.
Preferably, in step s3, robot detects the magnetic field signal of electromagnetic path and makes machine according to the magnetic field signal
Electromagnetic path described in people's tracking is moved.
Preferably, in step s 5, robot be in make a return voyage pattern when, when sensing terminal magnet, robot stop follow
Mark enters standby mode.
Preferably, in addition to the step of sensing pressure pallet, the signal that makes a return voyage is produced according to pressure change signal in pallet and entered
And robot enters to make a return voyage pattern and continue electromagnetic path described in tracking and maked a return voyage position to terminal.
Preferably, the alternating current of certain frequency is produced in electromagnetic path by signal source.
Preferably, built in machine people control module in robot, the robot control module is used to be instructed according to setting
Tableware is sent to specified dining table and returned, it includes electromagnetic path detection module, setup module, tongue tube, control module, dynamic
Power drive module and the first wireless communication module, wherein, the electromagnetic path detection module is used for the magnetic field for detecting electromagnetic path
Signal is simultaneously sent to the control module, and the control module controls the parameter of the power drive module to follow robot according to this
Electromagnetic path described in mark is moved；The setup module is used to set the purpose dining table information that robot to be sent to, the control
Purpose dining table information is sent to dining table locating module by module by first wireless communication module；The tongue tube is used to feel
The positioning signal for answering dining table locating module to send, the control module judges that robot is according to the induced signal of the tongue tube
It is no to be sent to specified dining table.
Preferably, the dining table locating module, for producing positioning signal to determine purpose dining table, including the second channel radio
Module, switch control module, switch module and electromagnet are interrogated, wherein, second wireless communication module is used to receive the machine
The purpose dining table information that device people control module is sent；The switch control module is used for the dining table information that will be pre-set with receiving
To purpose dining table information matched, control instruction is sent if both match makes the switch module turn on and then institute
State electromagnet to switch on power generation magnetic signal, otherwise, the switch module is disconnected and then the electromagnet access failure power supply is not produced
Magnetisation signal, the magnetic signal is as positioning signal so as to which robot control module can be by sensing the signal and determining purpose
Dining table.
Preferably, the robot control module also includes pressure sensor, the pressure sensor and the control mould
Block is connected, the pressure for sensing pallet Chinese dinner service.
Preferably, the electromagnetic path detection module realizes the detection of magnetic field signal using multiple LC resonance circuits.
Preferably, a plurality of electromagnetic path is set.
Compared with prior art, it is used as positioning letter by the way that whether the electromagnet in dining table locating module produces magnetic signal
Number, so as to enormously simplify system architecture, robot can be accurately positioned purpose dining table, so that wall scroll electromagnetic path can be completed
The dispatching of multiple dining tables.
Brief description of the drawings
Fig. 1 is the FB(flow block) of the intelligent robot food delivery method of electromagnetic tracking of the present invention.
Fig. 2 is the theory diagram of the system for the intelligent robot food delivery method for realizing electromagnetic tracking of the present invention.
Fig. 3 is the theory diagram of robot control module in the present invention.
Fig. 4 is the theory diagram of dining table locating module in the present invention.
Fig. 5 is the system principle diagram for realizing the inventive method another embodiment.
Fig. 6 is a kind of arrangement schematic diagram being preferable to carry out of electromagnetic path detection module.
Specific examples below will further illustrate the present invention with reference to above-mentioned accompanying drawing.
Embodiment
The technical scheme provided below with reference to accompanying drawing the present invention is described further.
Referring to Fig. 1, it show the present invention and a kind of FB(flow block) of the intelligent robot food delivery method of electromagnetic tracking is provided：One
The intelligent robot food delivery method of electromagnetic tracking is planted, is comprised the following steps：
Step S1：According to the step of dining table cloth office is provided for the electromagnetic path of robot tracking in dining room, the electromagnetism
Track is to be laid on ground and pass through the wire of multiple dining tables and lead to alternating current in wire to produce magnetic field signal；
Step S2：Input food delivery instruction and the step of correspondence dining table produces positioning signal is instructed according to the food delivery；In step
In S2, robot is instructed to send purpose to the dining table locating module with unique identifier on every dining table is arranged on according to food delivery
Dining table information, dining table locating module is matched the dining table information pre-set with the purpose dining table information received, if
Both match, and send positioning signal.
Step S3：The step of robot tracking electromagnetic path is travelled is instructed according to the food delivery；In step s3, robot is examined
Survey the magnetic field signal of electromagnetic path and electromagnetic path is moved according to the magnetic field signal makes robot tracking.
Step S4：The step of stopping tracking after robot sensing positioning signal and wait pick-up；In one kind side of being preferable to carry out
In formula, in addition to the step of sensing pressure pallet, produced according to pressure change signal in pallet and make a return voyage signal and then robot enters
Enter to make a return voyage and pattern and continue electromagnetic path described in tracking and make a return voyage position to terminal.
Step S5：Robot enters the step of making a return voyage pattern after pick-up；Robot be in make a return voyage pattern when, sense terminal
During magnet, robot stops tracking and enters standby mode.
Referring to Fig. 2, the principle of the system for the intelligent robot food delivery method for realizing a kind of electromagnetic tracking of the invention is shown
Block diagram, including electromagnetic path, meal delivery robot and dining table locating module, electromagnetic path pass through multiple dining tables, and it is to be laid on ground
The wire in face simultaneously leads to alternating current to produce magnetic field signal in wire.Electricity can be laid according to the layout of dining table in actual dining room
Magnetic orbital, robot can be according to the specific path trace tracking of electromagnetic path, so that greatly reducing technology realizes difficulty, can
Suitable for most dining room.
The built in machine people control module in robot, referring to Fig. 3, show the original of robot control module in the present invention
Block diagram is managed, robot control module is used to tableware is sent to specified dining table and returned along electromagnetic path according to setting instruction,
It further comprises that electromagnetic path detection module, setup module, tongue tube, control module, power drive module and first are wireless
Communication module, wherein, electromagnetic path detection module is used to detect the magnetic field signal of electromagnetic path and is sent to control module, controls
Module is the core of control, and its magnetic field signal obtained according to electromagnetic path detection module calculates current robot and deviates electricity
The situation of magnetic orbital, the parameter of power drive module is controlled according to this makes robot keep the motion of tracking electromagnetic path；Setup module
For the purpose dining table information for setting robot to be sent to, while control module is eaten purpose by the first wireless communication module
Table information is sent to dining table locating module；Tongue tube is used to sense the positioning signal that dining table locating module is sent, control module root
Judge whether robot is sent to specified dining table according to the induced signal of tongue tube.
Referring to Fig. 4, the theory diagram of dining table locating module in the present invention is shown, for producing positioning signal so as to machine
People determines purpose dining table, further comprises the second wireless communication module, switch control module, switch module and electromagnet, wherein,
Second wireless communication module is used for the purpose dining table information for receiving robot control module's transmission；Switch control module is used for will be pre-
The dining table information first set is matched with the purpose dining table information received, and sending control instruction if both match makes
Switch module is turned on and then electromagnet switches on power generation magnetic signal, otherwise, and switch module disconnects and then electromagnet access failure electricity
Source does not produce magnetic signal, and magnetic signal is as positioning signal so as to which robot control module can be by sensing the signal and determining mesh
Dining table.
Using above-mentioned technical proposal, it is necessary to which when dispensing tableware, tableware is placed on the pallet of robot simultaneously by staff
The purpose dining table information of setting, robot enters food delivery state, starts tracking electromagnetic path traveling, while passing through the first channel radio
News module sends purpose dining table information to the dining table locating module being arranged on each dining table, and each dining table locating module has
The dining table information of unique mark, if its default dining table information is with received purpose dining table information match, dining table
Locating module makes the electromagnet built in it send magnetic signal, and when robot passes through the dining table, built-in tongue tube detects the magnetic
Signal, thus robot judges to reach purpose dining table and stops traveling, waits client to take tableware away, completes after food delivery, robot enters
Enter state of making a return voyage, continue tracking electromagnetic path until returning to terminal, into standby mode.In the present invention, pass through dining table positioning mould
Whether the electromagnet in block produces magnetic signal as positioning signal, so as to enormously simplify system architecture, robot can be accurate
Purpose dining table is positioned, so that wall scroll electromagnetic path can complete the dispatching of multiple dining tables.
In a preferred embodiment, robot control module also includes pressure sensor, pressure sensor and control
Molding block is connected, the pressure for sensing pallet Chinese dinner service, the pressure value changes control machine detected by pressure sensor
People's state.When tableware is lifted, pressure sensor senses pressure change signal and is sent to control module, control module production
It is raw to make a return voyage signal and then robot control module enters state of making a return voyage and continues tracking electromagnetic path and makes a return voyage position to terminal.Due to
There is provided pressure sensor, the generation that the signal that makes a return voyage need not be artificial, as long as service plate is picked up, pressure sensor will automatically generate one
The individual signal that makes a return voyage.
In a preferred embodiment, the system is additionally provided with terminal magnet, and robot control module, which is in, makes a return voyage
During state, when tongue tube senses terminal magnet, robot control module stops tracking, into standby mode.Due to setting
Terminal magnet, robot completes that during food delivery specified location can be rested in automatically, so as to facilitate food delivery arrangement.
In a preferred embodiment, the system also includes signal source, is serially connected in electromagnetic path, in electromagnetism
The alternating current of certain frequency is produced in track.Alternating current is produced by signal source, so as to be set by practical service environment
The frequency of alternating current is put, can reach that the signal for eliminating extraneous specific environment presence is disturbed by changing frequency.Preferably, hand over
The frequency of time-dependent current is 20KHz.
In a preferred embodiment, electromagnetic path is laid on below ground.Such as, be laid on dining room floor or
Below ceramic tile, so that guest's walking is not interfered with, simultaneously as magnetic field signal is spatial distribution, also will not be to robot
Tracking has any impact.
In a preferred embodiment, setup module uses key-press module or touch display screen, facilitates staff
Operation.
In a preferred embodiment, in addition to voice cue module, voice cue module is connected with control module
Connect, for sending information of voice prompt.Such as, the prompting of " unlatching food delivery " during start machine people food delivery, can be sent, mesh is reported and submitted
Dining table information, so as to staff examine information；When robot reaches purpose dining table, carrying for " food delivery completion " can be sent
Show, such as, " Delivered of ordering woulds you please slow use " reminds user's pick-up.
In a preferred embodiment, power drive module includes at least motor and steering wheel, and motor is used for control machine
The speed of device people, steering wheel is used for the direction of control machine people.Control module is used for startup and the speed of travel of control machine people.
Electromagnetic path detection module checks electromagnetic signal, and control module judges that robot deviates the situation of electromagnetic path, same time control according to this
The motion state of the parameter change robot of motor and steering wheel processed makes it keep tracking electromagnetic path.General motor needs motor to drive
Dynamic model block realizes control, and control module controlled motor drive module changes the motion state of motor.Control module passes through pwm signal
Control steering wheel.Preferably, pid algorithm is run in control module, can be with distance in the speed and traveling process of control machine people
Optimal selection.
In a preferred embodiment, a plurality of electromagnetic path is set, so as to cover whole dining room comprehensively.Referring to
Fig. 5, show a kind of theory diagram of the intelligent robot food delivery system another embodiment of electromagnetic tracking of the invention, it is
There is provided the situation of two electromagnetic paths, similarly extends also to any bar electromagnetic path, every electromagnetic path is by one certainly
Individual robot is responsible for dispatching, and independent operating, not co-orbital robot can be dispensed simultaneously, so as to substantially increase food delivery effect
Rate.
In the above-mentioned technical solutions, due to laying a plurality of electromagnetic path, there can be the track that cross interlocks, this is to robot
Tracking navigation causes new technical difficulty.Prior art, electromagnetic path detection module is generally real using multiple LC resonance circuits
The detection of existing magnetic field signal, and inductance in LC resonance circuits be horizontal symmetrical be distributed in both sides above track, utilize a left side
The inductance detection of right symmetric position to magnetic field signal difference determine offset track size.From electromagnetic induction principle, inductance
During parallel electromagnetic path, induced-current is produced in inductance, the position with electromagnetic path can be determined that by faradic size
Relation；And induced-current is can't detect when inductance vertical electromagnetism, therefore, prior art uses Parallel Symmetric inductance arrangement side
Formula, can realize accurate tracking in common rail.But, tested under the track situation that cross interlocks, horizontal inductance distribution
Easily there is signal interference when track interlocks, so as to cause robot to exceed the bounds phenomenon, cause dispatching to malfunction.
In order to overcome above-mentioned technological deficiency, in a preferred embodiment, electromagnetic path detection module uses four road LC
Resonance circuit, referring to Fig. 6, show a kind of arrangement schematic diagram of the electromagnetic path detection module in be preferable to carry out, four LC are humorous
Circuit shake along the symmetrical distribution of track, wherein two symmetrical LC resonance circuits (inductance) and electromagnetism on the inside of electromagnetic path
Track is vertical, and it is in 45° angle that two symmetrical LC resonance circuits (inductance) on the outside of electromagnetic path are vertical with electromagnetic path, this
Plant arrangement mode to be conducive to detecting right-angled intersection track, can also be rapid correction in off-track.Robot exists
When being travelled on non-crossing track, the LC resonance circuits in outside can detect track, and inner side LC resonance circuits can not detect signal.
And when dolly drives to cross track, can be detected simultaneously by what two tracks were obtained because outside LC resonance circuits are in 45 °
Signal value increase, inner side LC resonance circuits can detect the trajectory signal in vertical travel direction, can know more accurately rail
Road information, so as to which there is higher discrimination to the track of right-angled intersection, it is ensured that robot is along default electromagnetic path
Traveling.
In a preferred embodiment, the frequency of the alternating current produced in electromagnetic path is 20kHz, thus, is set
The inductance for using frequency also for 20kHz, can specifically using that capacitance is 10nH for 6.8n electric capacity and inductance value of LC resonance circuits
Constitute a LC resonance circuit.In order to avoid the interference of other outside frequency signals, it can be believed by changing electrified wire
The frequency in number source realizes the frequency relation formula of the change to gathering signal frequency, electric capacity C1 and inductance L1 and collection signal：
LC resonance circuits can select the signal frequency of collection, eliminate extraneous special so as to change the frequency of signal source to reach
Fixed interference signal.
The explanation of above example is only intended to the method and its core concept for helping to understand the present invention.It should be pointed out that pair
, under the premise without departing from the principles of the invention, can also be to present invention progress for those skilled in the art
Some improvement and modification, these are improved and modification is also fallen into the protection domain of the claims in the present invention.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (10)
1. a kind of intelligent robot food delivery method of electromagnetic tracking, it is characterised in that comprise the following steps：
Step S1：According to the step of dining table cloth office is provided for the electromagnetic path of robot tracking in dining room, the electromagnetic path
To be laid on ground and wire by multiple dining tables and leading to alternating current in wire to produce magnetic field signal；
Step S2：Input food delivery instruction and the step of correspondence dining table produces positioning signal is instructed according to the food delivery；
Step S3：The step of robot tracking electromagnetic path is travelled is instructed according to the food delivery；
Step S4：The step of stopping tracking after robot sensing positioning signal and wait pick-up；
Step S5：Robot enters the step of making a return voyage pattern after pick-up；
Wherein, in step s 2, robot has unique identifier to being arranged on dining table on every dining table is instructed according to food delivery
Locating module sends purpose dining table information, and dining table locating module believes the dining table information pre-set and the purpose dining table received
Breath is matched, and positioning signal is sent if both match.
2. the intelligent robot food delivery method of electromagnetic tracking according to claim 1, it is characterised in that in step s3,
The magnetic field signal of robot detection electromagnetic path and the electromagnetic path motion according to the magnetic field signal makes robot tracking.
3. the intelligent robot food delivery method of electromagnetic tracking according to claim 1 or 2, it is characterised in that in step S5
In, robot be in make a return voyage pattern when, when sensing terminal magnet, robot stop tracking entering standby mode.
4. the intelligent robot food delivery method of electromagnetic tracking according to claim 3, it is characterised in that also including sensing support
The step of disk pressure, make a return voyage signal and then robot are produced according to pressure change signal in pallet enter to make a return voyage and pattern and continue to follow
Electromagnetic path described in mark makes a return voyage position to terminal.
5. the intelligent robot food delivery method of electromagnetic tracking according to claim 3, it is characterised in that existed by signal source
The alternating current of certain frequency is produced in electromagnetic path.
6. the intelligent robot food delivery method of electromagnetic tracking according to claim 3, it is characterised in that built-in in robot
Robot control module, the robot control module is used to tableware is sent to specified dining table and returned according to setting instruction,
It includes electromagnetic path detection module, setup module, tongue tube, control module, power drive module and the first wireless telecommunications mould
Block, wherein, the electromagnetic path detection module is used to detect the magnetic field signal of electromagnetic path and is sent to the control module, institute
State control module controls the parameter of the power drive module to move electromagnetic path described in robot tracking according to this；It is described to set
Module is used to set the purpose dining table information that robot to be sent to, and the control module passes through first wireless communication module
Purpose dining table information is sent to dining table locating module；The tongue tube is used to sense the positioning letter that dining table locating module is sent
Number, the control module judges whether robot is sent to specified dining table according to the induced signal of the tongue tube.
7. the intelligent robot food delivery method of electromagnetic tracking according to claim 3, it is characterised in that the dining table positioning
Module, for producing positioning signal to determine purpose dining table, including the second wireless communication module, switch control module, switching molding
Block and electromagnet, wherein, second wireless communication module is used to receive the purpose dining table that the robot control module sends
Information；The switch control module is used to be matched the dining table information pre-set with the purpose dining table information received,
Control instruction is sent if both match makes that the switch module is turned on and then the electromagnet switches on power generation magnetic letter
Number, otherwise, the switch module disconnects and then the electromagnet access failure power supply does not produce magnetic signal, and the magnetic signal is as fixed
Position signal can be by sensing the signal and determining purpose dining table so as to robot control module.
8. the intelligent robot food delivery method of electromagnetic tracking according to claim 6, it is characterised in that the robot control
Molding block also includes pressure sensor, and the pressure sensor is connected with the control module, for sensing pallet Chinese dinner service
Pressure.
9. the intelligent robot food delivery method of electromagnetic tracking according to claim 6, it is characterised in that the electromagnetic path
Detection module realizes the detection of magnetic field signal using multiple LC resonance circuits.
10. the intelligent robot food delivery method of electromagnetic tracking according to claim 1, it is characterised in that a plurality of electricity is set
Magnetic orbital.
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| 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 |
| CN109886839A (en) * | 2019-01-11 | 2019-06-14 | 杭州火小二科技有限公司 | A kind of intelligence food delivery system and method |
| CN110232456A (en) * | 2018-03-06 | 2019-09-13 | 阿里巴巴集团控股有限公司 | Food and drink office system and food and drink order information processing method, device |
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| CN106774311A (en) * | 2016-12-01 | 2017-05-31 | 成都市宏德永兴养殖有限公司 | The air navigation aid of farmland forest land unmanned vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110232456A (en) * | 2018-03-06 | 2019-09-13 | 阿里巴巴集团控股有限公司 | Food and drink office system and food and drink order information processing method, device |
| 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 |
| CN109886839A (en) * | 2019-01-11 | 2019-06-14 | 杭州火小二科技有限公司 | A kind of intelligence food delivery system and method |
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