CN112925328A - Intelligent control method for motion trail of food delivery robot - Google Patents
Intelligent control method for motion trail of food delivery robot Download PDFInfo
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- CN112925328A CN112925328A CN202110135984.4A CN202110135984A CN112925328A CN 112925328 A CN112925328 A CN 112925328A CN 202110135984 A CN202110135984 A CN 202110135984A CN 112925328 A CN112925328 A CN 112925328A
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- 238000012384 transportation and delivery Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 36
- 235000013305 food Nutrition 0.000 title claims abstract description 29
- 235000012054 meals Nutrition 0.000 claims abstract description 50
- 230000008569 process Effects 0.000 claims description 9
- 230000003111 delayed effect Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000013439 planning Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention provides an intelligent control method of a food delivery robot motion trail, S1, carrying out full-coverage positioning on layout in a restaurant to generate a restaurant map; s2, when a meal preparation instruction of a user is received, obtaining the dining position and the face information of a meal preparation instruction sending end in the restaurant map; s3, when a meal delivery instruction is received for the first time, extracting face information associated with the meal preparation instruction, comparing the face information with the image collected in real time, and if the dining position is unchanged, executing the step S4; if the dining position is changed, revising the dining position in the meal preparation instruction, and executing the step S4; and S4, calculating the shortest path between the position of the robot and the dining position associated with the meal preparation instruction in the restaurant map, and generating a motion trail. The invention has the advantages of high precision, good stability and high cost performance, solves the problem of changeable environment in the restaurant, avoids potential safety hazard, and has strong adaptability and flexible application.
Description
Technical Field
The invention relates to a motion control method of a food delivery robot, in particular provides an intelligent control method of a food delivery robot motion trail, and belongs to the technical field of artificial intelligence.
Background
With the development of social economy and the continuous improvement of the living standard of people, the catering consumption concept of people is gradually changed, people have more frequent and rational dining outside, the selectivity is enhanced, the consumption quality requirement is continuously improved, and the intelligent dining room is applied.
The intelligent restaurant is an intelligent management system tailored for restaurants based on the Internet of things and cloud computing technology, and can remarkably save labor amount, reduce operation cost and improve management performance through a guest self-ordering system, a service calling system, a kitchen interactive system, a front desk cashier system, a preset number-arranging system, an information management system and the like. Meanwhile, the phenomenon of manual mistake and omission of orders can be avoided, customers can enjoy more entertainment information and fun-helping games while the dining time of the customers and the like is shortened, boring time is played, and dining pleasure is added. The meal distribution robot is used as an important component of the intelligent restaurant and plays an extremely important role in practical application.
In the prior art, a food delivery robot mainly lays an operation route of the food delivery robot by using a magnetic track, the magnetic track is adhered to the floor of a restaurant, and the food delivery robot completes movement and other actions on the magnetic track according to a received command. The magnetic track is additionally arranged on the floor of the restaurant, so that the attractiveness of the restaurant is damaged, the requirement of the robot for delivering meals in the moving process is not facilitated, and the operation cost of the restaurant is increased.
In recent years, a meal delivery robot capable of self-positioning and navigation without depending on fixed guide rails has appeared, which adopts laser or visual positioning and navigation, overcomes the defects, but cannot adapt to environmental changes of a restaurant, is easy to collide or stay due to obstacles, has weak adaptability and high meal delivery error rate.
Disclosure of Invention
The technical scheme is as follows: the invention provides the intelligent control method for the motion trail of the food delivery robot, which is reasonable in path planning and accurate in food delivery.
The invention provides an intelligent control method for the motion trail of a food delivery robot,
s1, carrying out full-coverage positioning on the layout in the restaurant to generate a restaurant map;
s2, when a meal preparation instruction of a user is received, obtaining the dining position and the face information of a meal preparation instruction sending end in the restaurant map;
s3, when a meal delivery instruction is received for the first time, extracting face information associated with the meal preparation instruction, comparing the face information with the image collected in real time, and if the dining position is unchanged, executing the step S4; if the dining position is changed, revising the dining position in the meal preparation instruction, and executing the step S4;
and S4, calculating the shortest path between the position of the robot and the dining position associated with the meal preparation instruction in the restaurant map, and generating a motion trail.
The technical scheme is further defined as follows: and in the meal delivery process, monitoring the face information position in the meal preparation instruction in real time, if the position is changed, comparing whether the face information position corresponds to the meal position information positioned in the restaurant map, if so, revising the meal position information associated with the meal preparation instruction, and executing the step S4 again.
Further: in the food delivery process, whether an obstacle exists on the shortest path is monitored in real time, whether the obstacle is a fixed obstacle or a movable obstacle is determined according to time difference comparison, if the obstacle is the fixed obstacle, the step S4 is executed again, and if the obstacle is the movable obstacle, delayed waiting is adopted for avoiding.
Further: the method of the time difference comparison comprises the following steps: when an obstacle exists on the shortest path in real time, the positions of the obstacle in the two monitoring images are compared after the preset time is delayed, if the positions are the same, the obstacle is a fixed obstacle, and if the positions are different, the obstacle is a movable obstacle.
Further: the delay waiting method comprises the following steps: when the robot moves along the shortest path to the preset distance from the obstacle, stopping moving; and when the obstacle is monitored to leave the shortest path, the robot continues to move.
Further: in step S1, the layout in the restaurant is positioned in a full coverage manner, and the restaurant map is generated by positioning with the ultra-wideband positioning system, and numbering is performed for each dining position.
Further: step S2, a user meal preparation instruction is sent by scanning a two-dimensional code preset on a seat, and the user meal preparation instruction carries seat number information; and obtaining the diner information of the counterpoint position in the restaurant map through the seat number information.
Further: in step S3, the method for determining that the dining position has changed is: when the position of the diner is changed, whether the new position corresponds to the position corresponding to the seat number in the restaurant map needs to be judged, if yes, the diner position is judged to be changed, and if not, the diner position is not changed.
Has the advantages that: the invention provides an intelligent control method for the motion trail of a food delivery robot, which realizes the accurate positioning of diners through a face recognition technology, generates an optimal path by combining a restaurant map, and has the advantages of high precision, good stability and high cost performance; in the food delivery process, the position information of the dining personnel is monitored in real time through face recognition, and the intelligent food delivery with seats replaced after the customers order is realized through comparison with the dining position information, so that the problem of path errors caused by the fact that the users only leave the seats temporarily is solved. In addition, the invention monitors the path in real time in the process of delivering food and adopts the obstacle avoidance means, thereby solving the problem of changeable environment in the restaurant, avoiding potential safety hazard, having strong adaptability and flexible application.
Drawings
The invention is described in further detail below with reference to the following figures and embodiments:
fig. 1 is a flowchart of an intelligent control method for a motion trail of a food delivery robot provided by the invention.
Detailed Description
Example 1: the embodiment provides an intelligent control method for a motion trail of a food delivery robot, which is applied to an intelligent restaurant.
Deployment of a system environment:
(1) the UWB positioning base station and the camera are arranged in the circumferential direction of the restaurant, and the UWB positioning base station and the camera realize full coverage in the restaurant. The UWB positioning base station positions the articles in the restaurant in real time, and the camera monitors the image change in the restaurant in real time.
(2) And each dining position in the restaurant is provided with a meal ordering two-dimensional code, and the meal ordering two-dimensional code carries seat number information.
(3) And the information collected by the UWB positioning base station and the camera is sent to a central server.
(4) The central server is in two-way communication with the meal delivery robot.
The intelligent control method for the motion trail of the food delivery robot provided by the embodiment specifically comprises the following execution steps:
and S1, carrying out full-coverage positioning on the layout in the restaurant to generate a restaurant map.
The central server positions fixed articles in the restaurant through the UWB positioning technology, and manually inputs the sizes of the fixed articles to generate a restaurant map. And marking the dining positions in the restaurant map, numbering each dining position, wherein the numbering corresponds to the seat number carried in the two-dimensional ordering code on the dining positions.
And S2, when a meal preparation instruction of the user is received, obtaining the dining position and the face information of the meal preparation instruction sending end in the restaurant map.
The user orders with regard to the two-dimensional code on the dining position through scanning, and when central server received the order of preparing meal, through the seat number of the dining position that the two-dimensional code carried, fix a position the user in the dining room map, simultaneously, through the image that the camera was gathered, carry out face identification to the user of corresponding position department, finally deposit the dining position and face information in central server.
S3, when a meal delivery instruction is received for the first time, extracting face information associated with the meal preparation instruction, comparing the face information with the image collected in real time, and if the dining position is unchanged, executing the step S4; if the dining position is changed, the dining position in the meal preparation instruction is revised again, and step S4 is executed again.
When the position of the diner is changed, whether the new position corresponds to the position corresponding to the seat number in the restaurant map needs to be judged, if yes, the diner position is judged to be changed, and if not, the diner position is not changed.
And S4, calculating the shortest path between the position of the robot and the dining position associated with the meal preparation instruction in the restaurant map, and generating a motion trail.
S5, monitoring the face information position in the meal preparation instruction in real time in the meal delivery process, comparing whether the face information position corresponds to the position corresponding to the seat number in the restaurant map or not if the face information position changes, revising the meal position information associated with the meal preparation instruction if the face information position corresponds to the position corresponding to the seat number in the restaurant map, and executing the step S4 again.
In the food delivery process, whether an obstacle exists on the shortest path is monitored in real time, whether the obstacle is a fixed obstacle or a movable obstacle is determined according to time difference comparison, if the obstacle is the fixed obstacle, the step S4 is executed again, and if the obstacle is the movable obstacle, delayed waiting is adopted for avoiding.
The method of the time difference comparison comprises the following steps: when an obstacle exists on the shortest path in real time, the positions of the obstacle in the two monitoring images are compared after the preset time is delayed, if the positions are the same, the obstacle is a fixed obstacle, and if the positions are different, the obstacle is a movable obstacle.
The delay waiting method comprises the following steps: when the robot moves along the shortest path to the preset distance from the obstacle, stopping moving; and when the obstacle is monitored to leave the shortest path, the robot continues to move.
While there have been shown and described what are at present considered the fundamental principles of the invention, its essential features and advantages, it should be understood by those skilled in the art that the above-described embodiments are not intended to limit the invention in any way, and that all technical solutions obtained by means of equivalents or equivalent changes may fall within the scope of the invention.
Claims (8)
1. An intelligent control method for a motion trail of a food delivery robot is characterized by comprising the following steps:
s1, carrying out full-coverage positioning on the layout in the restaurant to generate a restaurant map;
s2, when a meal preparation instruction of a user is received, obtaining the dining position and the face information of a meal preparation instruction sending end in the restaurant map;
s3, when a meal delivery instruction is received for the first time, extracting face information associated with the meal preparation instruction, comparing the face information with the image collected in real time, and if the dining position is unchanged, executing the step S4; if the dining position is changed, revising the dining position in the meal preparation instruction, and executing the step S4;
and S4, calculating the shortest path between the position of the robot and the dining position associated with the meal preparation instruction in the restaurant map, and generating a motion trail.
2. The intelligent control method for the motion trail of the food delivery robot according to claim 1, characterized in that: and in the meal delivery process, monitoring the face information position in the meal preparation instruction in real time, if the position is changed, comparing whether the face information position corresponds to the meal position information positioned in the restaurant map, if so, revising the meal position information associated with the meal preparation instruction, and executing the step S4 again.
3. The intelligent control method for the motion trail of the food delivery robot according to claim 1, characterized in that: in the food delivery process, whether an obstacle exists on the shortest path is monitored in real time, whether the obstacle is a fixed obstacle or a movable obstacle is determined according to time difference comparison, if the obstacle is the fixed obstacle, the step S4 is executed again, and if the obstacle is the movable obstacle, delayed waiting is adopted for avoiding.
4. The intelligent control method for the motion trail of the food delivery robot according to claim 3, characterized in that: the method of the time difference comparison comprises the following steps: when an obstacle exists on the shortest path in real time, the positions of the obstacle in the two monitoring images are compared after the preset time is delayed, if the positions are the same, the obstacle is a fixed obstacle, and if the positions are different, the obstacle is a movable obstacle.
5. The intelligent control method for the motion trail of the food delivery robot according to claim 3, characterized in that: the delay waiting method comprises the following steps: when the robot moves along the shortest path to the preset distance from the obstacle, stopping moving; and when the obstacle is monitored to leave the shortest path, the robot continues to move.
6. The intelligent control method for the motion trail of the food delivery robot according to claim 1, characterized in that: in step S1, the layout in the restaurant is positioned in a full coverage manner, and the restaurant map is generated by positioning with the ultra-wideband positioning system, and numbering is performed for each dining position.
7. The intelligent control method for the motion trail of the food delivery robot according to claim 1, characterized in that: step S2, a user meal preparation instruction is sent by scanning a two-dimensional code preset on a seat, and the user meal preparation instruction carries seat number information; and obtaining the diner information of the counterpoint position in the restaurant map through the seat number information.
8. The intelligent control method for the motion trail of the food delivery robot according to claim 1, characterized in that: in step S3, the method for determining that the dining position has changed is: when the position of the diner is changed, whether the new position corresponds to the position corresponding to the seat number in the restaurant map needs to be judged, if yes, the diner position is judged to be changed, and if not, the diner position is not changed.
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| CN202110135984.4A CN112925328A (en) | 2021-02-01 | 2021-02-01 | Intelligent control method for motion trail of food delivery robot |
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| CN107030710A (en) * | 2017-04-20 | 2017-08-11 | 中山市六和智能科技有限公司 | Meal delivery robot and Intelligent cafeteria applied to Intelligent cafeteria |
| CN110096055A (en) * | 2019-03-28 | 2019-08-06 | 浙江科技学院 | A kind of intelligence food delivery air navigation aid and navigation system |
| CN110710852A (en) * | 2019-10-30 | 2020-01-21 | 广州铁路职业技术学院（广州铁路机械学校） | Meal delivery method, system, medium and intelligent device based on meal delivery robot |
| CN111037577A (en) * | 2019-12-06 | 2020-04-21 | 西安广源机电技术有限公司 | Restaurant robot service method and system |
-
2021
- 2021-02-01 CN CN202110135984.4A patent/CN112925328A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150006243A1 (en) * | 2013-06-28 | 2015-01-01 | AZAPA R&D Americas, Inc. | Digital information gathering and analyzing method and apparatus |
| CN107030710A (en) * | 2017-04-20 | 2017-08-11 | 中山市六和智能科技有限公司 | Meal delivery robot and Intelligent cafeteria applied to Intelligent cafeteria |
| CN110096055A (en) * | 2019-03-28 | 2019-08-06 | 浙江科技学院 | A kind of intelligence food delivery air navigation aid and navigation system |
| CN110710852A (en) * | 2019-10-30 | 2020-01-21 | 广州铁路职业技术学院（广州铁路机械学校） | Meal delivery method, system, medium and intelligent device based on meal delivery robot |
| CN111037577A (en) * | 2019-12-06 | 2020-04-21 | 西安广源机电技术有限公司 | Restaurant robot service method and system |
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