CN112045686A - Meal distribution method and device - Google Patents
Meal distribution method and device Download PDFInfo
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- CN112045686A CN112045686A CN202010930689.3A CN202010930689A CN112045686A CN 112045686 A CN112045686 A CN 112045686A CN 202010930689 A CN202010930689 A CN 202010930689A CN 112045686 A CN112045686 A CN 112045686A
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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- 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
- B25J11/008—Manipulators for service tasks
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
Abstract
The invention discloses a method and a device for distributing food. Wherein, the method comprises the following steps: acquiring order information of a target order to be delivered, wherein the order information comprises a target position of a food corresponding to the target order, a target image of the food, a target weight of the food and a delivery destination of the food, and the target position is a position for acquiring the food; controlling an intelligent robot for delivering a target order to reach a target position so that the intelligent robot can obtain a meal; the method comprises the steps that under the condition that the intelligent robot receives a current meal, a first image of the current meal is shot, and a first weight of the current meal is obtained; and when the first weight is consistent with the target weight and the first image is consistent with the target image, delivering the current meal to a delivery destination. The invention solves the technical problem of low accuracy of food delivery.
Description
Technical Field
The invention relates to the field of catering distribution, in particular to a method and a device for distributing food.
Background
In the catering industry, the automatic distribution of food is a trend of distribution modes. In the automatic distribution process, how to improve the accuracy of the automatic distribution is a problem to be considered.
In the prior art, in the automatic food delivery process, a problem of food delivery errors may occur, because after the delivery target of the food delivery robot is determined, the food delivery robot is given the wrong food, and the food received by the delivery target is wrong after the food delivery robot delivers the food to the delivery target.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a meal distribution method and device, which at least solve the technical problem of low accuracy of meal distribution.
According to an aspect of an embodiment of the present invention, there is provided a food distribution method including: obtaining order information of a target order to be delivered, wherein the order information comprises a target position of a food corresponding to the target order, a target image of the food, a target weight of the food and a delivery destination of the food, and the target position is a position for obtaining the food; controlling an intelligent robot for distributing the target order to reach the target position so that the intelligent robot can obtain the food; shooting a first image of a current food and acquiring a first weight of the current food under the condition that the intelligent robot receives the current food; and when the first weight is consistent with the target weight and the first image is consistent with the target image, delivering the current meal to the delivery destination.
As an alternative embodiment, when the first weight is consistent with the target weight and the first image is consistent with the target image, the method further includes, after the current meal is delivered to the delivery destination: scanning a meal taking code, wherein the intelligent robot is further used for sending an object code to a target object under the condition of receiving the current meal, the target object is a delivery target of the current meal, and the object code is used for taking away the current meal; and allowing the current object with the meal fetching code to fetch the current meal under the condition that the scanned meal fetching code is consistent with the object code.
As an optional implementation manner, after scanning the meal fetching code, the method further includes: and under the condition that the meal fetching code is inconsistent with the target code, sending a first prompt message to a target account under the condition that the current meal is detected to be fetched, wherein the first prompt message is used for prompting that the current meal is lost.
As an optional implementation manner, when the first weight is consistent with the target weight and the first image is consistent with the target image, the method further includes, in the process of delivering the current meal to the delivery destination: obtaining the first weight of the current meal in real time; and under the condition that the first weight is changed and the change value is greater than a first threshold value, sending a second prompt message to the target account, wherein the second prompt message is used for prompting that the weight change of the current meal exceeds the first threshold value.
As an optional implementation manner, in a case that the first weight is changed, and in a case that a change value is greater than a first threshold value, after the second prompt message is sent to the target account, the method further includes: shooting the current food to obtain a second image; sending the second image to the target account; under the condition of receiving a first instruction returned by the target account, controlling the intelligent robot to return to the target position; and under the condition of receiving a second instruction returned by the target account, controlling the intelligent robot to continue to deliver the current food.
As an optional implementation manner, the obtaining of the first weight of the current meal includes: acquiring the initial weight of the intelligent robot before the current meal is received; acquiring a second weight of the intelligent robot after receiving the current meal; the difference between the second weight and the initial weight is determined as the first weight.
As an optional implementation manner, before the intelligent robot receives the current meal, the method further includes: prompting a first prompt message, wherein the first prompt message is used for prompting that the current food is put into a food storage area of the intelligent robot according to a preset direction; the step of shooting the first image of the current meal comprises the following steps: and shooting the current food under the condition that the current food is detected to be placed in the food storage area according to the preset direction, so as to obtain the first image.
According to another aspect of the embodiments of the present invention, there is also provided a food delivery apparatus including: a first obtaining unit, configured to obtain order information of a target order to be delivered, where the order information includes a target position of a food corresponding to the target order, a target image of the food, a target weight of the food, and a delivery destination of the food, and the target position is a position where the food is obtained; a first control unit, configured to control an intelligent robot for delivering the target order to reach the target location, so that the intelligent robot obtains the meal; the second acquiring unit is used for shooting a first image of the current food and acquiring a first weight of the current food under the condition that the intelligent robot receives the current food; and a second control unit configured to deliver the current meal to the delivery destination when the first weight matches the target weight and the first image matches the target image.
As an optional implementation, the apparatus further includes: a scanning unit, configured to scan a meal fetching code after the current meal is delivered to the delivery destination when the first weight is consistent with the target weight and the first image is consistent with the target image, wherein the intelligent robot is further configured to send an object code to a target object when the current meal is received, the target object is a delivery target of the current meal, and the object code is used for fetching the current meal; and the processing unit is used for allowing the current object with the meal fetching code to fetch the current meal under the condition that the scanned meal fetching code is consistent with the target code.
As an optional implementation, the apparatus further includes: and a first sending unit, configured to send a first prompt message to a target account when the meal fetching code is inconsistent with the target code after scanning the meal fetching code and when it is detected that the current meal is fetched, where the first prompt message is used to prompt that the current meal is lost.
As an optional implementation, the apparatus further includes: a third acquiring unit, configured to acquire the first weight of the current meal in real time while the current meal is delivered to the delivery destination when the first weight is consistent with the target weight and the first image is consistent with the target image; and a second sending unit, configured to send a second prompt message to the target account when the first weight changes and the change value is greater than the first threshold, where the second prompt message is used to prompt that the weight change of the current meal exceeds the first threshold.
As an optional implementation, the apparatus further includes: a shooting unit, configured to, when the first weight changes and a change value is greater than a first threshold value, send the second prompt message to a target account, and then shoot the current meal to obtain a second image; a third sending unit, configured to send the second image to the target account; the third control unit is used for controlling the intelligent robot to return to the target position under the condition of receiving the first instruction returned by the target account; and the fourth control unit is used for controlling the intelligent robot to continue to deliver the current meal under the condition of receiving a second instruction returned by the target account.
As an optional implementation, the second obtaining unit includes: the first obtaining module is used for obtaining the initial weight of the intelligent robot before the intelligent robot receives the current meal; the second obtaining module is used for obtaining a second weight of the intelligent robot after receiving the current meal; and a determining module configured to determine a difference between the second weight and the initial weight as the first weight.
As an optional implementation, the apparatus further includes: a prompting unit, configured to prompt a first prompting message before the intelligent robot receives the current meal, where the first prompting message is used to prompt that the current meal is placed in a meal storage area of the intelligent robot according to a predetermined direction; the second acquiring unit includes: and shooting the current food under the condition that the current food is detected to be placed in the food storage area according to the preset direction, so as to obtain the first image.
In the embodiment of the present invention, order information of a target order to be delivered is obtained, where the order information includes a target position of a food corresponding to the target order, a target image of the food, a target weight of the food, and a delivery destination of the food, and the target position is a position where the food is obtained; controlling an intelligent robot for distributing the target order to reach the target position so that the intelligent robot can obtain the food; shooting a first image of a current food and acquiring a first weight of the current food under the condition that the intelligent robot receives the current food; and a method of delivering the current meal to the delivery destination when the first weight matches the target weight and the first image matches the target image. According to the method, after the order information of the target order is obtained, the weight and the image of the current food can be obtained, so that the current food is matched with the order information, and the current food is delivered only if the information is consistent, so that the consistency of the food and the order is ensured, the delivery accuracy of the food is improved, and the technical problem of low delivery accuracy of the food is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of an environment in which an alternative meal delivery method according to embodiments of the present invention may be implemented;
FIG. 2 is a schematic diagram of an environment in which an alternative meal delivery method according to embodiments of the present invention may be implemented;
FIG. 3 is a schematic diagram illustrating the flow of an alternative meal delivery method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of displaying basic information of an alternative food delivery method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of comparing the fetch code and the object code according to an alternative meal delivery method of the present invention;
FIG. 6 is a diagram illustrating an alternative meal delivery method displaying a first prompting message, in accordance with an embodiment of the present invention;
FIG. 7 is a diagram illustrating an alternative meal delivery method displaying a second prompting message, in accordance with an embodiment of the present invention;
FIG. 8 is a schematic diagram of an alternative meal delivery method showing a third prompting message, according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an intelligent robot for an alternative meal distribution method according to an embodiment of the present invention;
fig. 10 is a schematic view of an alternative food delivery apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an aspect of the embodiments of the present invention, there is provided a meal distribution method, which may be applied to, but not limited to, the environment shown in fig. 1 as an alternative implementation manner. The intelligent robot 102 performs data interaction with the server 106 through the network 104, the intelligent robot 102 may send the first image of the current food and the first weight of the current food to the server 106, the server 106 compares the first weight with the target weight of the target order, and the first image is compared with the target image of the target order, so as to determine whether the current food is a food matched with the target order.
Optionally, the meal distribution method in the present application may also be applied to an environment as shown in fig. 2. As shown in fig. 2, the intelligent robot 202 includes a camera 204, a weighing device 206, and a processor 208, the camera 204 can photograph a current meal to obtain a first image, the weighing device 206 can weigh the current meal to obtain a first weight, and the processor 208 compares the first image with a target image and compares the first weight with the target weight to determine whether to deliver the current meal.
Optionally, as an optional implementation manner, as shown in fig. 3, the meal distribution method includes:
s302, obtaining order information of a target order to be delivered, wherein the order information comprises a target position of a food corresponding to the target order, a target image of the food, a target weight of the food and a delivery destination of the food, and the target position is a position for obtaining the food;
s304, controlling the intelligent robot for distributing the target order to reach the target position so that the intelligent robot can obtain the food;
s306, under the condition that the intelligent robot receives the current food, shooting a first image of the current food and acquiring a first weight of the current food;
and S308, when the first weight is consistent with the target weight and the first image is consistent with the target image, delivering the current meal to the delivery destination.
Optionally, in this embodiment, the meal distribution method may be, but is not limited to, applied in the process of distributing the meal. When the intelligent robot delivers the food, the intelligent robot can acquire order information of a target order, then the intelligent robot can shoot a first image of the current food through the camera, a weighing device is used for weighing a first weight of the current food, if the intelligent robot compares that the first weight is consistent with the target weight, and the first image is consistent with the target image, the current food can be determined to be the food corresponding to the target order, the current food can be delivered, and the current food is transported to a delivery destination.
The method includes the steps of obtaining order information of a target order to be delivered, wherein the order information includes a target position of a food corresponding to the target order, a target weight of the food and a target image of the food, and a delivery destination of the food, and the target position is a position where the food is obtained; controlling an intelligent robot for distributing the target order to reach the target position so that the intelligent robot can obtain the food; shooting a first image of a current food and acquiring a first weight of the current food under the condition that the intelligent robot receives the current food; and under the condition that the first weight is consistent with the target weight and the first image is consistent with the target image, the method for delivering the current food to the delivery destination can obtain the weight and the image of the current food after obtaining the order information of the target order, so as to match the weight and the image with the order information, and deliver the current food if the information is consistent, thereby ensuring the consistency of the food and the order and improving the delivery accuracy of the food.
Optionally, in this embodiment of the application, the type of the intelligent robot is not limited. The robot can be a robot for controlling flight, a robot for moving on land, a robot for moving on water, and a robot with the capability of moving on water, land and air. The intelligent robot can be a unmanned aerial vehicle. The intelligent robot may be preset with a computer program that controls the movement of the intelligent robot.
Optionally, the target order in the present application may be an order transmitted to the intelligent robot. The intelligent robot can acquire a target order through the receiver, then analyze order information in the target order, and acquire a target position of a food corresponding to the target order, wherein the target image of the food, the target weight of the food and the delivery destination of the food are acquired, and the target position is the position where the food is acquired, that is, the intelligent robot acquires basic information of the food to be delivered. When the intelligent robot moves to the target position to obtain the food, the staff can place the current food in the food storage area of the intelligent robot, then the intelligent robot takes a picture of the current food and weighs, and finally compares the current food, if the current food is found to be not the food corresponding to the target order by comparison, the intelligent robot can prompt that the food is placed wrongly, and does not carry out delivery. The prompt may be by voice or by displaying content via a display screen. The display screen may display basic information of the target order. For example, as shown in fig. 4, the display screen in fig. 4 displays basic information of the food in the target order. Fig. 4 is merely an example, and does not represent all of the display information.
Optionally, when the current meal is the meal corresponding to the target order, the intelligent robot may scan the meal code through the scanner after the current meal is delivered to the delivery destination. The meal fetching code is a code for fetching meals displayed by the current object of the delivery destination. Can be a two-dimensional code or a bar code, etc. After the intelligent robot scans and gets the meal code, will get meal code and intelligent robot and keep the target code and compare. The object code is distributed for the intelligent robot after the current meal is placed in the meal storage area of the intelligent robot by the staff, and is used for distinguishing whether the current object for taking the meal is the delivery target of the current meal. For example, as shown in FIG. 5, FIG. 5 is a diagram illustrating an alternative alignment of the pick-up code 502 with the object code 504, wherein the pick-up code 502 is identical to the object code 504 to pick up the meal. If the intelligent robot compares that the meal taking code is consistent with the object code, the current object can be determined to be a delivery target, and the current object can be allowed to take the current meal. Optionally, the taking away of the food item by the current object may be performed by opening a lock of the food item storage area, and the lock may be configured to lock the current food item after the current food item is placed in the food item storage area. When the lock is opened, the current subject may take the meal. And if the meal taking code is not consistent with the object code, the current object is not allowed to take the meal. And if the meal taking code is inconsistent with the target code and the current meal is detected to be taken away, sending a first prompt message to the target account to prompt that the current meal is lost. The current meal may be violently taken away. For example, as shown in fig. 6, fig. 6 is a schematic diagram of an optional target account displaying a first prompting message to prompt that a meal is lost, and a position of the meal is also displayed in the diagram.
Optionally, in the process of delivering the current meal by the intelligent robot, the first weight of the current meal can be obtained in real time. The first weight of the meal at present indicates that the meal may have problems, such as missing meal, if it is drastically changed during the distribution process. And under the condition that the first weight is changed, acquiring a change value, and if the change value is greater than a first threshold value, sending a second prompt message to the target account to prompt that the weight change of the current food exceeds the first threshold value. At this moment, the intelligent robot can shoot the current food to obtain a second image of the current food, and sends the second image to the target account, and the target account can check the second image and feed back the second image to the intelligent robot. The intelligent robot is controlled to return to the target position and replace the food under the condition that the intelligent robot information receives a first instruction returned by the target account; and under the condition of receiving a second instruction returned by the target account, controlling the intelligent robot to continue to deliver the current food, and delivering the current food to a delivery destination. For example, as shown in fig. 7, fig. 7 is a schematic diagram illustrating an optional second prompt message to be displayed to the target account, which prompts that the number of food items is reduced by 300 g, and may also display the abnormal position of the food items.
Optionally, in the process that the intelligent robot weighs the current food, the weighing device of the intelligent robot can directly weigh the current food, and can also weigh the whole intelligent robot. If the intelligent robot is weighed, acquiring the initial weight of the intelligent robot before the intelligent robot receives the current meal; acquiring a second weight of the intelligent robot after receiving the current meal; determining a difference between the second weight and the initial weight as the first weight.
Optionally, before the intelligent robot receives the current meal, a third prompt message may be prompted, where the third prompt message is used to prompt that the current meal is placed into the meal storage area of the intelligent robot according to a predetermined direction; and shooting the current food under the condition that the current food is detected to be placed in the food storage area according to the preset direction, so as to obtain the first image.
For example, as shown in fig. 8, fig. 8 is a schematic diagram of an optional third prompting message.
The following explains an embodiment of the present application with reference to a specific example. As shown in fig. 9, the intelligent robot includes a meal loading module 902 for loading the unmanned aerial vehicle to deliver the individual meal. Can be a transparent plastic tray and a basket. The whole outward appearance is the basket shape, and the link can hang to unmanned aerial vehicle relevant position. And the image acquisition module 904 is used for acquiring image information in the food loading module. The shot pictures are used for analyzing whether the placed food is accurate, whether the package is complete, whether spilling occurs or not and the like. A weight detection module 906 for weight change of the food holding module. Including whether weight and initial weight increase in the distribution process, reduce (probably take place to spill), weight change in the short time (probably because the damaged, beverage deformation reason of inside packing causes to rock and causes) communication module 908 for with the restaurant between the communication, send unusual information and remind, if: food mistakes, damaged appearance, weight changes, food spills, abnormal food takers, etc. The analysis module 910 is configured to analyze information such as orders, weights of food items, and snapshot pictures, and determine whether the quality of food is wrong and whether the food is taken by mistake. Pictures of food breakage and the like are learned in advance through a machine learning mode, and a model 912 is trained and used for identifying whether the quality of food is wrong or not. And the early warning module 914 performs early warning by using light or sound.
The intelligent robot may be an unmanned aerial vehicle. The drone receives an instruction to dispense a meal, the instruction requiring the drone to dispense a target order from location 1 to location 2. The order information includes the weight and image of the meal. Unmanned aerial vehicle arrives position 1, and the staff places the current meal in unmanned aerial vehicle's meal article take up the dress module to hit appointed order at the dining room endpoint and taken meal and accomplish, and send the meal code to the person of taking meal. The unmanned aerial vehicle receives the object code sent by the staff. The unmanned aerial vehicle uses the image acquisition device to take a picture to the meal dress module, and weight detection module analysis weight information then compares the image that obtains of shooing and the weight information that obtains of weighing with the image and the weight in the order information, and whether analysis image and weight are unanimous with the order, and after being errorless, the side can deliver. In the distribution process, the weight detection module continuously collects weight data and monitors the condition of the food.
When the food is delivered to the position 2, the food taker needs to display the food taking code to the image acquisition device, and the food can be taken after the food is identified without error. In the process, if the staff places the current meal, the analysis module detects whether the meal is correct or not through weight data and image recognition, whether the appearance is qualified or not, the qualified rear part can take off, and if the meal is unqualified, the early warning module informs the restaurant to place again. In the process of distributing food by the unmanned aerial vehicle, the weight change safety range is set by combining weather and wind power conditions, such as the shaking condition caused by weather and flight factors allowed by the unmanned aerial vehicle, and when the weight change amplitude is detected to exceed the preset range, the restaurant is informed through the communication module. For example, in sunny weather without wind and rain, the unmanned plane delivers meals and allows the weight of the meals to float between 90% and 110%, and if there is wind or rain, the weight of the meals to float between 80% and 120%. If the weight of the food exceeds the floating range, the restaurant needs to be informed of the difference of the food, such as spilling. If the unmanned aerial vehicle arrives at the position 2, the meal taking code is not identified, and after the preset time, the unmanned aerial vehicle can be controlled to return. If the meal taking code is not recognized and the original weight of the meal loading module is recovered, the meal is violently taken away, and the communication module informs the restaurant.
By the embodiment, order information of a target order to be delivered is acquired, wherein the order information includes a target position of a food corresponding to the target order, a target weight of the food and a target image of the food, and a delivery destination of the food, and the target position is a position where the food is acquired; controlling an intelligent robot for distributing the target order to reach the target position so that the intelligent robot can obtain the food; shooting a first image of a current food and acquiring a first weight of the current food under the condition that the intelligent robot receives the current food; and under the condition that the first weight is consistent with the target weight and the first image is consistent with the target image, the method for delivering the current food to the delivery destination can obtain the weight and the image of the current food after obtaining the order information of the target order, so as to match the weight and the image with the order information, and deliver the current food if the information is consistent, thereby ensuring the consistency of the food and the order and improving the delivery accuracy of the food.
As an optional implementation, in a case where the first weight is consistent with the target weight and the first image is consistent with the target image, after the current meal is delivered to the delivery destination, the method further includes:
scanning a meal taking code, wherein the intelligent robot is further used for sending an object code to a target object under the condition that the current meal is received, the target object is a delivery target of the current meal, and the object code is used for taking away the current meal;
and allowing the current object holding the meal fetching code to fetch the current meal under the condition that the scanned meal fetching code is consistent with the object code.
The purpose of the embodiment is to ensure that the food taking object is the object matched with the target order in the food taking process, and avoid food taking errors.
As an optional implementation manner, after scanning the meal fetching code, the method further includes:
and under the condition that the meal fetching code is inconsistent with the target code and under the condition that the current meal is detected to be fetched, sending a first prompt message to a target account, wherein the first prompt message is used for prompting that the current meal is lost.
The purpose of this embodiment is to ensure that in the process of taking food, if the food that should not be taken away is taken away, a message can be sent immediately to inform the restaurant, and the camera of the unmanned aerial vehicle can be started to shoot 360-degree scenes around immediately to obtain a video, and the video is sent to the target account of the restaurant.
As an optional implementation manner, in the process of delivering the current meal to the delivery destination when the first weight is consistent with the target weight and the first image is consistent with the target image, the method further includes:
acquiring the first weight of the current food in real time;
and sending a second prompting message to the target account under the condition that the first weight is changed and the change value is greater than a first threshold value, wherein the second prompting message is used for prompting that the weight change of the current food exceeds the first threshold value.
The purpose of this embodiment is to monitor the weight of the meal in real time to avoid that the meal is delivered to the hands of the customer after being leaked, and the customer experience is not affected.
As an optional implementation manner, in a case that the first weight is changed, and in a case that a change value is greater than a first threshold value, after the second prompt message is sent to the target account, the method further includes:
shooting the current food to obtain a second image;
sending the second image to the target account;
under the condition that a first instruction returned by the target account is received, controlling the intelligent robot to return to the target position;
and under the condition of receiving a second instruction returned by the target account, controlling the intelligent robot to continue to deliver the current food.
The purpose of the present embodiment is to manually verify the status of a meal item if the weight of the meal item changes and the change value exceeds the first threshold. If there are only false positives for other reasons, delivery may continue.
As an optional implementation, the obtaining the first weight of the current meal comprises:
acquiring the initial weight of the intelligent robot before the current meal is received;
acquiring a second weight of the intelligent robot after receiving the current meal;
determining a difference between the second weight and the initial weight as the first weight.
The purpose of the present embodiment is to accurately obtain the first weight of the current meal.
As an optional implementation, before the intelligent robot receives the current meal, the method further includes: prompting a first prompt message, wherein the first prompt message is used for prompting that the current food is placed into a food storage area of the intelligent robot according to a preset direction;
the shooting of the first image of the current meal comprises: and shooting the current food under the condition that the current food is detected to be placed in the food storage area according to the preset direction, so as to obtain the first image.
For example, unmanned aerial vehicle's lock is opened in the suggestion, slowly puts into current meal article from unmanned aerial vehicle's meal article storage area right side to left side, guarantees the clarity accuracy of the first image that obtains.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
According to another aspect of the embodiment of the invention, a food distribution device for implementing the food distribution method is further provided. As shown in fig. 10, the apparatus includes:
a first obtaining unit 1002, configured to obtain order information of a target order to be delivered, where the order information includes a target position of a food corresponding to the target order, a target image of the food, a target weight of the food, and a delivery destination of the food, and the target position is a position where the food is obtained;
a first control unit 1004, configured to control the intelligent robot for delivering the target order to reach the target location, so that the intelligent robot acquires the food;
a second obtaining unit 1006, configured to, when the intelligent robot receives a current meal, capture a first image of the current meal and obtain a first weight of the current meal;
a second control unit 1008, configured to deliver the current meal to the delivery destination if the first weight matches the target weight and the first image matches the target image.
Optionally, in this embodiment, the food dispensing apparatus may be, but is not limited to, applied in the process of dispensing food. When the intelligent robot delivers the food, the intelligent robot can acquire order information of a target order, then the intelligent robot can shoot a first image of the current food through the camera, a weighing device is used for weighing a first weight of the current food, if the intelligent robot compares that the first weight is consistent with the target weight, and the first image is consistent with the target image, the current food can be determined to be the food corresponding to the target order, the current food can be delivered, and the current food is transported to a delivery destination.
The method includes the steps of obtaining order information of a target order to be delivered, wherein the order information includes a target position of a food corresponding to the target order, a target weight of the food and a target image of the food, and a delivery destination of the food, and the target position is a position where the food is obtained; controlling an intelligent robot for distributing the target order to reach the target position so that the intelligent robot can obtain the food; shooting a first image of a current food and acquiring a first weight of the current food under the condition that the intelligent robot receives the current food; and under the condition that the first weight is consistent with the target weight and the first image is consistent with the target image, the method for delivering the current food to the delivery destination can obtain the weight and the image of the current food after obtaining the order information of the target order, so as to match the weight and the image with the order information, and deliver the current food if the information is consistent, thereby ensuring the consistency of the food and the order and improving the delivery accuracy of the food.
Optionally, in this embodiment of the application, the type of the intelligent robot is not limited. The robot can be a robot for controlling flight, a robot for moving on land, a robot for moving on water, and a robot with the capability of moving on water, land and air. The intelligent robot can be a unmanned aerial vehicle. The intelligent robot may be preset with a computer program that controls the movement of the intelligent robot.
Optionally, the target order in the present application may be an order transmitted to the intelligent robot. The intelligent robot can acquire a target order through the receiver, then analyze order information in the target order, and acquire a target position of a food corresponding to the target order, wherein the target image of the food, the target weight of the food and the delivery destination of the food are acquired, and the target position is the position where the food is acquired, that is, the intelligent robot acquires basic information of the food to be delivered. When the intelligent robot moves to the target position to obtain the food, the staff can place the current food in the food storage area of the intelligent robot, then the intelligent robot takes a picture of the current food and weighs, and finally compares the current food, if the current food is found to be not the food corresponding to the target order by comparison, the intelligent robot can prompt that the food is placed wrongly, and does not carry out delivery. The prompt may be by voice or by displaying content via a display screen. The display screen may display basic information of the target order. For example, as shown in fig. 4, the display screen in fig. 4 displays basic information of the food in the target order. Fig. 4 is merely an example, and does not represent all of the display information.
Optionally, when the current meal is the meal corresponding to the target order, the intelligent robot may scan the meal code through the scanner after the current meal is delivered to the delivery destination. The meal fetching code is a code for fetching meals displayed by the current object of the delivery destination. Can be a two-dimensional code or a bar code, etc. After the intelligent robot scans and gets the meal code, will get meal code and intelligent robot and keep the target code and compare. The object code is distributed for the intelligent robot after the current meal is placed in the meal storage area of the intelligent robot by the staff, and is used for distinguishing whether the current object for taking the meal is the delivery target of the current meal. For example, as shown in FIG. 5, FIG. 5 is a diagram illustrating an alternative alignment of the pick-up code 502 with the object code 504, wherein the pick-up code 502 is identical to the object code 504 to pick up the meal. If the intelligent robot compares that the meal taking code is consistent with the object code, the current object can be determined to be a delivery target, and the current object can be allowed to take the current meal. Optionally, the taking away of the food item by the current object may be performed by opening a lock of the food item storage area, and the lock may be configured to lock the current food item after the current food item is placed in the food item storage area. When the lock is opened, the current subject may take the meal. And if the meal taking code is not consistent with the object code, the current object is not allowed to take the meal. And if the meal taking code is inconsistent with the target code and the current meal is detected to be taken away, sending a first prompt message to the target account to prompt that the current meal is lost. The current meal may be violently taken away. For example, as shown in fig. 6, fig. 6 is a schematic diagram of an optional target account displaying a first prompting message to prompt that a meal is lost, and a position of the meal is also displayed in the diagram.
Optionally, in the process of delivering the current meal by the intelligent robot, the first weight of the current meal can be obtained in real time. The first weight of the meal at present indicates that the meal may have problems, such as missing meal, if it is drastically changed during the distribution process. And under the condition that the first weight is changed, acquiring a change value, and if the change value is greater than a first threshold value, sending a second prompt message to the target account to prompt that the weight change of the current food exceeds the first threshold value. At this moment, the intelligent robot can shoot the current food to obtain a second image of the current food, and sends the second image to the target account, and the target account can check the second image and feed back the second image to the intelligent robot. The intelligent robot is controlled to return to the target position and replace the food under the condition that the intelligent robot information receives a first instruction returned by the target account; and under the condition of receiving a second instruction returned by the target account, controlling the intelligent robot to continue to deliver the current food, and delivering the current food to a delivery destination. For example, as shown in fig. 7, fig. 7 is a schematic diagram illustrating an optional second prompt message to be displayed to the target account, which prompts that the number of food items is reduced by 300 g, and may also display the abnormal position of the food items.
Optionally, in the process that the intelligent robot weighs the current food, the weighing device of the intelligent robot can directly weigh the current food, and can also weigh the whole intelligent robot. If the intelligent robot is weighed, acquiring the initial weight of the intelligent robot before the intelligent robot receives the current meal; acquiring a second weight of the intelligent robot after receiving the current meal; determining a difference between the second weight and the initial weight as the first weight.
Optionally, before the intelligent robot receives the current meal, a third prompt message may be prompted, where the third prompt message is used to prompt that the current meal is placed into the meal storage area of the intelligent robot according to a predetermined direction; and shooting the current food under the condition that the current food is detected to be placed in the food storage area according to the preset direction, so as to obtain the first image.
For example, as shown in fig. 8, fig. 8 is a schematic diagram of an optional third prompting message.
The following explains an embodiment of the present application with reference to a specific example. As shown in fig. 9, the intelligent robot includes a meal loading module 902 for loading the unmanned aerial vehicle to deliver the individual meal. Can be a transparent plastic tray and a basket. The whole outward appearance is the basket shape, and the link can hang to unmanned aerial vehicle relevant position. And the image acquisition module 904 is used for acquiring image information in the food loading module. The shot pictures are used for analyzing whether the placed food is accurate, whether the package is complete, whether spilling occurs or not and the like. A weight detection module 906 for weight change of the food holding module. Including whether weight and initial weight increase in the distribution process, reduce (probably take place to spill), weight change in the short time (probably because the damaged, beverage deformation reason of inside packing causes to rock and causes) communication module 908 for with the restaurant between the communication, send unusual information and remind, if: food mistakes, damaged appearance, weight changes, food spills, abnormal food takers, etc. The analysis module 910 is configured to analyze information such as orders, weights of food items, and snapshot pictures, and determine whether the quality of food is wrong and whether the food is taken by mistake. Pictures of food breakage and the like are learned in advance through a machine learning mode, and a model 912 is trained and used for identifying whether the quality of food is wrong or not. And the early warning module 914 performs early warning by using light or sound.
The intelligent robot may be an unmanned aerial vehicle. The drone receives an instruction to dispense a meal, the instruction requiring the drone to dispense a target order from location 1 to location 2. The order information includes the weight and image of the meal. Unmanned aerial vehicle arrives position 1, and the staff places the current meal in unmanned aerial vehicle's meal article take up the dress module to hit appointed order at the dining room endpoint and taken meal and accomplish, and send the meal code to the person of taking meal. The unmanned aerial vehicle receives the object code sent by the staff. The unmanned aerial vehicle uses the image acquisition device to take a picture to the meal dress module, and weight detection module analysis weight information then compares the image that obtains of shooing and the weight information that obtains of weighing with the image and the weight in the order information, and whether analysis image and weight are unanimous with the order, and after being errorless, the side can deliver. In the distribution process, the weight detection module continuously collects weight data and monitors the condition of the food.
When the food is delivered to the position 2, the food taker needs to display the food taking code to the image acquisition device, and the food can be taken after the food is identified without error. In the process, if the staff places the current meal, the analysis module detects whether the meal is correct or not through weight data and image recognition, whether the appearance is qualified or not, the qualified rear part can take off, and if the meal is unqualified, the early warning module informs the restaurant to place again. In the process of distributing food by the unmanned aerial vehicle, the weight change safety range is set by combining weather and wind power conditions, such as the shaking condition caused by weather and flight factors allowed by the unmanned aerial vehicle, and when the weight change amplitude is detected to exceed the preset range, the restaurant is informed through the communication module. For example, in sunny weather without wind and rain, the unmanned plane delivers meals and allows the weight of the meals to float between 90% and 110%, and if there is wind or rain, the weight of the meals to float between 80% and 120%. If the weight of the food exceeds the floating range, the restaurant needs to be informed of the difference of the food, such as spilling. If the unmanned aerial vehicle arrives at the position 2, the meal taking code is not identified, and after the preset time, the unmanned aerial vehicle can be controlled to return. If the meal taking code is not recognized and the original weight of the meal loading module is recovered, the meal is violently taken away, and the communication module informs the restaurant.
By the embodiment, order information of a target order to be delivered is acquired, wherein the order information includes a target position of a food corresponding to the target order, a target weight of the food and a target image of the food, and a delivery destination of the food, and the target position is a position where the food is acquired; controlling an intelligent robot for distributing the target order to reach the target position so that the intelligent robot can obtain the food; shooting a first image of a current food and acquiring a first weight of the current food under the condition that the intelligent robot receives the current food; and under the condition that the first weight is consistent with the target weight and the first image is consistent with the target image, the method for delivering the current food to the delivery destination can obtain the weight and the image of the current food after obtaining the order information of the target order, so as to match the weight and the image with the order information, and deliver the current food if the information is consistent, thereby ensuring the consistency of the food and the order and improving the delivery accuracy of the food.
As an optional implementation, the apparatus further includes:
a scanning unit, configured to scan a meal fetching code after the current meal is delivered to the delivery destination when the first weight is consistent with the target weight and the first image is consistent with the target image, where the intelligent robot is further configured to send the target code to a target object when the current meal is received, the target object is a delivery target of the current meal, and the target code is used to fetch the current meal;
and the processing unit is used for allowing the current object with the meal taking code to take the current meal under the condition that the scanned meal taking code is consistent with the target code.
The purpose of the embodiment is to ensure that the food taking object is the object matched with the target order in the food taking process, and avoid food taking errors.
As an optional implementation, the apparatus further includes:
and the first sending unit is used for sending a first prompt message to a target account under the condition that the current meal is detected to be taken away under the condition that the meal taking code is inconsistent with the target code after the meal taking code is scanned, wherein the first prompt message is used for prompting that the current meal is lost.
The purpose of this embodiment is to ensure that in the process of taking food, if the food that should not be taken away is taken away, a message can be sent immediately to inform the restaurant, and the camera of the unmanned aerial vehicle can be started to shoot 360-degree scenes around immediately to obtain a video, and the video is sent to the target account of the restaurant.
As an optional implementation, the apparatus further includes:
a third obtaining unit, configured to obtain the first weight of the current meal in real time in a process of delivering the current meal to the delivery destination when the first weight is consistent with the target weight and the first image is consistent with the target image;
and the second sending unit is used for sending a second prompting message to the target account under the condition that the first weight is changed and the change value is greater than the first threshold value, wherein the second prompting message is used for prompting that the weight change of the current meal exceeds the first threshold value.
The purpose of this embodiment is to monitor the weight of the meal in real time to avoid that the meal is delivered to the hands of the customer after being leaked, and the customer experience is not affected.
As an optional implementation, the apparatus further includes:
the shooting unit is used for shooting the current meal to obtain a second image after sending the second prompt message to a target account under the condition that the first weight is changed and the change value is larger than a first threshold value;
a third sending unit, configured to send the second image to the target account;
the third control unit is used for controlling the intelligent robot to return to the target position under the condition of receiving the first instruction returned by the target account;
and the fourth control unit is used for controlling the intelligent robot to continue to deliver the current meal under the condition of receiving a second instruction returned by the target account.
The purpose of the present embodiment is to manually verify the status of a meal item if the weight of the meal item changes and the change value exceeds the first threshold. If there are only false positives for other reasons, delivery may continue.
As an optional implementation, the second obtaining unit includes:
the first obtaining module is used for obtaining the initial weight of the intelligent robot before the intelligent robot receives the current meal;
the second obtaining module is used for obtaining a second weight of the intelligent robot after the intelligent robot receives the current meal;
a determination module to determine a difference between the second weight and the initial weight as the first weight.
The purpose of the present embodiment is to accurately obtain the first weight of the current meal.
As an optional implementation, the apparatus further includes: the prompting unit is used for prompting a first prompting message before the intelligent robot receives the current meal, wherein the first prompting message is used for prompting that the current meal is placed into a meal storage area of the intelligent robot according to a preset direction;
the second acquiring unit includes: and shooting the current food under the condition that the current food is detected to be placed in the food storage area according to the preset direction, so as to obtain the first image.
For example, unmanned aerial vehicle's lock is opened in the suggestion, slowly puts into current meal article from unmanned aerial vehicle's meal article storage area right side to left side, guarantees the clarity accuracy of the first image that obtains.
The integrated unit in the above embodiments, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in the above computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be substantially or partially implemented in the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, and including instructions for causing one or more computer devices (which may be personal computers, servers, or network devices) to execute all or part of the steps of the method according to the embodiments of the present invention.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (10)
1. A method of food distribution, comprising:
acquiring order information of a target order to be delivered, wherein the order information comprises a target position of a food corresponding to the target order, a target image of the food, a target weight of the food and a delivery destination of the food, and the target position is a position for acquiring the food;
controlling an intelligent robot for distributing the target order to reach the target position so that the intelligent robot acquires the food;
under the condition that the intelligent robot receives a current meal, shooting a first image of the current meal and acquiring a first weight of the current meal;
and when the first weight is consistent with the target weight and the first image is consistent with the target image, delivering the current meal to the delivery destination.
2. The method of claim 1, wherein after the current meal is delivered to the delivery destination with the first weight in accordance with the target weight and the first image in accordance with the target image, the method further comprises:
scanning a meal taking code, wherein the intelligent robot is further used for sending an object code to a target object under the condition that the current meal is received, the target object is a delivery target of the current meal, and the object code is used for taking away the current meal;
and allowing the current object holding the meal fetching code to fetch the current meal under the condition that the scanned meal fetching code is consistent with the object code.
3. The method of claim 2, wherein after scanning the meal code, the method further comprises:
and under the condition that the meal fetching code is inconsistent with the target code and under the condition that the current meal is detected to be fetched, sending a first prompt message to a target account, wherein the first prompt message is used for prompting that the current meal is lost.
4. The method of claim 1, wherein in the event that the first weight corresponds to the target weight and the first image corresponds to the target image, during the delivery of the current meal to the delivery destination, the method further comprises:
acquiring the first weight of the current food in real time;
and sending a second prompting message to the target account under the condition that the first weight is changed and the change value is greater than a first threshold value, wherein the second prompting message is used for prompting that the weight change of the current food exceeds the first threshold value.
5. The method of claim 4, wherein after sending the second prompting message to the target account if the first weight changes and if the change value is greater than the first threshold value, the method further comprises:
shooting the current food to obtain a second image;
sending the second image to the target account;
under the condition that a first instruction returned by the target account is received, controlling the intelligent robot to return to the target position;
and under the condition of receiving a second instruction returned by the target account, controlling the intelligent robot to continue to deliver the current food.
6. The method of claim 1, wherein obtaining the first weight of the current meal comprises:
acquiring the initial weight of the intelligent robot before the current meal is received;
acquiring a second weight of the intelligent robot after receiving the current meal;
determining a difference between the second weight and the initial weight as the first weight.
7. The method of claim 1,
before the intelligent robot receives the current meal, the method further comprises: prompting a first prompt message, wherein the first prompt message is used for prompting that the current food is placed into a food storage area of the intelligent robot according to a preset direction;
the shooting of the first image of the current meal comprises: and shooting the current food under the condition that the current food is detected to be placed in the food storage area according to the preset direction, so as to obtain the first image.
8. A meal delivery apparatus, comprising:
the system comprises a first obtaining unit, a second obtaining unit and a sending unit, wherein the first obtaining unit is used for obtaining order information of a target order to be sent, the order information comprises a target position of a food corresponding to the target order, a target image of the food, a target weight of the food and a sending destination of the food, and the target position is a position for obtaining the food;
the first control unit is used for controlling the intelligent robot for distributing the target order to reach the target position so that the intelligent robot can obtain the food;
the second obtaining unit is used for shooting a first image of the current food and obtaining a first weight of the current food under the condition that the intelligent robot receives the current food;
a second control unit configured to deliver the current meal to the delivery destination when the first weight matches the target weight and the first image matches the target image.
9. The apparatus of claim 8, further comprising:
a scanning unit, configured to scan a meal fetching code after the current meal is delivered to the delivery destination when the first weight is consistent with the target weight and the first image is consistent with the target image, where the intelligent robot is further configured to send the target code to a target object when the current meal is received, the target object is a delivery target of the current meal, and the target code is used to fetch the current meal;
and the processing unit is used for allowing the current object with the meal taking code to take the current meal under the condition that the scanned meal taking code is consistent with the target code.
10. The apparatus of claim 9, further comprising:
and the first sending unit is used for sending a first prompt message to a target account under the condition that the current meal is detected to be taken away under the condition that the meal taking code is inconsistent with the target code after the meal taking code is scanned, wherein the first prompt message is used for prompting that the current meal is lost.
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Cited By (1)
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| CN115231179A (en) * | 2022-08-08 | 2022-10-25 | 上海有个机器人有限公司 | Weighing-based robot distribution method and system and related products |
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