CN113159669A

CN113159669A - Tray adjusting method and device, storage medium and electronic device

Info

Publication number: CN113159669A
Application number: CN202110309534.2A
Authority: CN
Inventors: 樊云珊
Original assignee: Suzhou Yinyi Intelligent Technology Co ltd
Current assignee: Suzhou Yinyi Intelligent Technology Co ltd
Priority date: 2021-03-23
Filing date: 2021-03-23
Publication date: 2021-07-23

Abstract

The invention provides a tray adjusting method and device, a storage medium and an electronic device, wherein the method comprises the following steps: acquiring height information of a tray of a delivery robot, wherein the height information includes at least one of: the maximum height of all target objects to be placed on the tray, which is indicated by the order information to be delivered, and the height indicated by the corresponding size mode of the tray; adjusting a target distance so that the adjusted target distance is greater than or equal to the height information, wherein the target distance is used for indicating the height of a space above the tray, where the space is available for placing articles; the target object is used for indicating the target object in the same order information. By adopting the technical scheme, the problem that the height of the tray cannot be adjusted according to the height of the target object to be placed on the tray by the delivery robot is solved.

Description

Tray adjusting method and device, storage medium and electronic device

[ technical field ] A method for producing a semiconductor device

The present invention relates to the field of communications, and in particular, to a method and an apparatus for adjusting a tray, a storage medium, and an electronic apparatus.

[ background of the invention ]

With the rapid development of robot technology, robots have now been applied to various fields of use for various industries, among which intelligent distribution robots. The existing intelligent delivery robots are provided with trays capable of placing objects, but cannot detect whether the objects and the heights of the objects exist on the trays, and are not intelligent enough, and the existing delivery robots cannot automatically adjust the heights of the trays according to the heights of the dishes, so that the full-flow intelligent food delivery service is difficult to realize.

Aiming at the problems that the height of the tray cannot be adjusted by a delivery robot according to the height of a target object to be placed on the tray and the like in the related art, an effective solution is not provided at present.

[ summary of the invention ]

The invention aims to provide a tray adjusting method and device, a storage medium and an electronic device, which at least solve the problems that in the prior art, a distribution robot cannot adjust the height of a tray according to the height of a target object to be placed on the tray and the like.

The purpose of the invention is realized by the following technical scheme:

according to an embodiment of the present invention, there is provided a tray adjusting method including: acquiring height information of a tray of a delivery robot, wherein the height information includes at least one of: the maximum height of all target objects to be placed on the tray, which is indicated by the order information to be delivered, and the height indicated by the corresponding size mode of the tray; adjusting a target distance so that the adjusted target distance is greater than or equal to the height information, wherein the target distance is used for indicating the height of a space above the tray, where the space is available for placing the articles, and preferably, the target distance is used for indicating the minimum height of the space above the tray, where the space is available for placing the articles; the target object is used for indicating the target object in the same order information.

In one exemplary embodiment, before adjusting the target distance such that the adjusted target distance is greater than or equal to the height information, the method further comprises: sequentially acquiring the allowable moving distances of N adjacent trays through a sensor, wherein in the process of sequentially acquiring the allowable moving distances of the N adjacent trays, under the condition that the sum of the allowable moving distances of K adjacent trays is greater than or equal to the required height, the K adjacent trays are adjusted to enable the adjusted target distance to be greater than the height information, and under the condition that the sum of the allowable moving distances of the K adjacent trays is smaller than the required height, the allowable moving distances of K +1 adjacent trays are continuously acquired; wherein the desired height comprises: the difference between the maximum height and the target distance, K is smaller than or equal to N, and the sensor is arranged at the target position of the distribution robot.

In one exemplary embodiment, in a case that the height information is the maximum height, the adjusting the target distance such that the adjusted target distance is greater than the maximum height includes: acquiring a first distance between a first adjacent tray and a second adjacent tray, wherein the second adjacent tray is an adjacent tray of the first adjacent tray; and under the condition that the first distance is greater than the required height, reducing the first distance between the first adjacent tray and the second adjacent tray so as to enable the adjusted target distance to be greater than the maximum height.

In one exemplary embodiment, in the case that the first distance is less than the required height, the method further comprises: acquiring a second distance between the second adjacent tray and a third adjacent tray, wherein the third adjacent tray is an adjacent tray of the second adjacent tray; and under the condition that the sum of the second distance and the first distance is larger than the required height, adjusting the first adjacent tray and the second adjacent tray so that the adjusted target distance is larger than the maximum height.

In one exemplary embodiment, in a case that the height information is the maximum height, the adjusting the target distance such that the adjusted target distance is greater than the maximum height includes: acquiring a first distance between a first adjacent tray and a second adjacent tray, wherein the second adjacent tray is an adjacent tray of the first adjacent tray; and under the condition that the difference between the first distance and a third distance is larger than the required height, reducing the first distance between the first adjacent tray and a second adjacent tray to increase the target distance, wherein the third distance is used for indicating the sum of the height of the target article to be placed on the first adjacent tray or the height of the placed article and a first preset threshold value.

In one exemplary embodiment, in the case that the difference between the first distance and the third distance is smaller than the required height, the method further comprises: acquiring a second distance between the second adjacent tray and a third adjacent tray, wherein the third adjacent tray is an adjacent tray of the second adjacent tray; and under the condition that the fourth distance is greater than the difference of the required heights, adjusting the second adjacent tray and the third adjacent tray so that the adjusted target distance is greater than the maximum height, wherein the fourth distance is used for indicating the difference between the first distance and the third distance and the sum of the differences between the second distance and the fifth distance, and the fifth distance is used for indicating the sum of the height of the target object to be placed on the second adjacent tray or the height of the placed object and a first preset threshold value.

In one exemplary embodiment, in a case that the height information is the maximum height, before adjusting the target distance such that the adjusted target distance is greater than the maximum height, the method further includes: under the condition that the fact that the to-be-distributed objects with the heights larger than a second preset threshold value are indicated in the to-be-distributed order information is detected, a sixth distance between a bottom tray of the distribution robot and an adjacent tray of the bottom tray is obtained; and determining that the sixth distance is smaller than the height of the object to be delivered, and adjusting the sixth distance between the bottom tray and the adjacent tray of the bottom tray.

In one exemplary embodiment, in a case where the height information is used to indicate a height indicated by a size mode corresponding to the tray, acquiring the height information of the tray of the delivery robot includes: popping up a selection interface on a display screen of the distribution robot; and responding to the selection operation of the target object on the selection interface, and acquiring the height indicated by the size mode corresponding to the selection operation.

In one exemplary embodiment, adjusting the target distance such that the adjusted target distance is equal to the height indicated by the size mode comprises: in the event that at least one of the following is displayed on the selection interface: a first size mode, a second size mode, a third size mode; responding to the selection operation to select a size mode corresponding to the selection operation; acquiring a seventh distance between a target tray selected by the target object and an adjacent tray through a sensor; adjusting the seventh distance to a distance corresponding to the size mode such that the adjusted target distance is equal to the height indicated by the size mode.

According to still another embodiment of the embodiments of the present invention, there is provided a tray adjusting apparatus including: an obtaining module, configured to obtain height information of a tray of a delivery robot, where the height information includes at least one of: the maximum height of all target objects to be placed on the tray, which is indicated by the order information to be delivered, and the height indicated by the corresponding size mode of the tray; the adjusting module is used for adjusting a target distance so that the adjusted target distance is larger than or equal to the height information, wherein the target distance is used for indicating the height of a space above the tray, which can be used for placing the articles, and preferably, the target distance is used for indicating the minimum height of the space above the tray, which can be used for placing the articles; the target object is used for indicating the target object in the same order information.

According to a further embodiment of the embodiments of the present invention, there is provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the tray adjustment method as described in any one of the above when executed.

According to a further embodiment of the embodiments of the present invention, there is provided an electronic apparatus including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the tray adjustment method described in any one of the above.

According to the invention, the height information of the tray on the distribution robot is obtained, wherein the obtained height information at least comprises the maximum height of all target objects to be placed on the tray of the distribution robot in the order information to be distributed and the height indicated by the size mode corresponding to the tray, and the target distance is adjusted according to the obtained height information, so that the adjusted target distance is larger than or equal to the height information. By adopting the technical scheme, the problem that the height of the tray cannot be adjusted according to the height of the target object to be placed on the tray by the delivery robot is solved. And then the distance between adjacent trays is adjusted through the height information of the trays on the distribution robot, so that the target object can be placed in the trays.

[ description of the 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 specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a block diagram of a hardware configuration of a robot of a tray adjusting method according to an embodiment of the present invention;

FIG. 2 is a flow chart of a pallet adjustment method according to an embodiment of the present invention;

FIG. 3 is a diagram illustrating a tray position arrangement according to an embodiment of the present invention;

fig. 4 is a structural view (one) of a distribution robot of the tray adjusting method according to the embodiment of the present invention;

fig. 5 is a structural view (two) of a distribution robot of the tray adjusting method according to the embodiment of the present invention;

fig. 6 is a structural view (three) of a distribution robot of the tray adjusting method of the embodiment of the present invention;

FIG. 7 is a flow chart of a method of tray adjustment according to an embodiment of the present invention;

fig. 8 is a block diagram (one) of a structure of a tray adjusting apparatus according to an embodiment of the present invention;

fig. 9 is a block diagram of a structure of a tray adjusting apparatus according to an embodiment of the present invention (ii).

[ detailed description ] embodiments

The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

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.

The method embodiments provided by the embodiments of the present invention may be executed in a robot or a similar computing device. Taking a robot as an example, fig. 1 is a hardware structure block diagram of a robot of a tray adjusting method according to an embodiment of the present invention. As shown in fig. 1, the robot may include one or more processors 102 (only one is shown in fig. 1), wherein the processors 102 may include, but are not limited to, a Microprocessor (MPU), a Programmable Logic Device (PLD), and a memory 104 for storing data, and optionally, the robot may further include a transmission device 106 for communication function and an input/output device 108, it is understood by those skilled in the art that the structure shown in fig. 1 is merely illustrative and does not limit the structure of the robot.

The memory 104 may be used to store a computer program, for example, a software program and a module of application software, such as a computer program corresponding to the tray adjustment method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located from the processor 102, which may be connected to the robot over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the robot. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.

In the related art, there are two existing interaction methods of an existing delivery robot (which may be understood as one type of delivery robot), namely, a user feedback method, in which when a user places or takes a meal, the operation is performed on an operation interface of the delivery robot, and then the delivery robot performs the next action, and in this way, once the user operates incorrectly or forgets to operate, the delivery robot cannot complete the subsequent work; the other type is a time-delay type, namely the time of the food placing or taking action is set, and the delivery robot automatically carries out the next action after the time is reached, but the method has no feedback and cannot ensure whether the food placing or taking action is finished. In the two interaction modes, the existing intelligent delivery robot cannot detect whether objects exist on the tray or not and the height of the objects, is not intelligent enough, cannot automatically adjust the height of the tray according to the height of dishes, and is difficult to realize full-flow intelligent food delivery service.

In order to solve the above technical problem, in this embodiment, there is provided a method for adjusting a tray, and fig. 2 is a flowchart (a) of a method for adjusting a tray according to an embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:

step S202, height information of a tray of the distribution robot is obtained, wherein the height information comprises at least one of the following: the maximum height of all target objects to be placed on the tray, which is indicated by the order information to be delivered, and the height indicated by the corresponding size mode of the tray;

step S204, adjusting a target distance to enable the adjusted target distance to be larger than or equal to the height information, wherein the target distance is used for indicating the height of a space above the tray, wherein the space is available for placing articles; the target object is used for indicating the target object in the same order information, and preferably, the target distance is used for indicating the minimum height of the space above the tray, where the object can be placed.

Through the steps, the height information of the tray on the distribution robot is obtained, wherein the obtained height information at least comprises the maximum height of all target objects to be placed on the tray of the distribution robot in the order information to be distributed and the height indicated by the size mode corresponding to the tray, and the target distance is adjusted according to the obtained height information, so that the adjusted target distance is larger than or equal to the height information. By adopting the technical scheme, the problem that the height of the tray cannot be adjusted according to the height of the target object to be placed on the tray by the delivery robot is solved. And then the distance between adjacent trays is adjusted through the height information of the trays on the distribution robot, so that the target object can be placed in the trays.

It should be noted that, if the tray is also located above the tray, the target distance is an eighth distance between the tray and an upper adjacent tray, and if the tray is located above the dispensing robot top bracket, the target distance is a ninth distance between the tray and the dispensing robot top bracket.

In order to better understand how the step S204 is executed, in an alternative embodiment, before adjusting the target distance so that the adjusted target distance is greater than or equal to the height information, the method further includes: sequentially acquiring the allowable moving distances of N adjacent trays through a sensor, wherein in the process of sequentially acquiring the allowable moving distances of the N adjacent trays, under the condition that the sum of the allowable moving distances of K adjacent trays is greater than or equal to the required height, the K adjacent trays are adjusted to enable the adjusted target distance to be greater than the height information, and under the condition that the sum of the allowable moving distances of the K adjacent trays is smaller than the required height, the allowable moving distances of K +1 adjacent trays are continuously acquired; wherein the desired height comprises: the difference between the maximum height and the target distance, K is smaller than or equal to N, and the sensor is arranged at the target position of the distribution robot.

In this embodiment, if there are N adjacent trays above the tray on which the article is to be placed, before adjusting the target distance, it is necessary to determine, by a sensor, additional distances that the N adjacent trays have, that is, distances that the N adjacent trays are allowed to move, if, in the process of sequentially obtaining the additional distances that the N adjacent trays have, a sum of the additional distances of the K adjacent trays is greater than an additionally required height of the tray on which the article is to be placed, the tray of the K adjacent trays is adjusted so that the target distance after adjustment is greater than the height information, and if the sum of the additional distances of the K adjacent trays is smaller than the required height, it is necessary to further obtain an additional distance that the K +1 th adjacent tray has, where the additionally required height of the tray on which the article is to be placed is a maximum height among all target articles to be placed on the tray of the distribution robot and the target distance from the target And K is less than or equal to N.

The sensor is arranged above the tray of the distribution robot, or the position of the sensor can be placed on two sides of the tray to detect on a horizontal plane, and the sensor can also detect the movement distance of the sliding block.

For example, if the target distance of the tray is 12cm, the maximum height of the tray on which the article is to be placed is 20cm, the required height of the tray is 20-12 to 8cm, N adjacent trays are above the tray, and the additional distance possessed by the first adjacent tray is 1cm, which is obtained by the sensor, where 1 is smaller than 8, the additional distance possessed by the second adjacent tray is 2cm, and further 1+2 is smaller than 8, the additional distance possessed by the third adjacent tray is 4cm, and further 1+2+4 is smaller than 8, the additional distance possessed by the fourth adjacent tray is 2cm, and further 1+2+4+2 is larger than 8, and the adjusted target distance is 12+1+2+4+2 to 21cm by adjusting the first adjacent tray, the second adjacent tray, the third adjacent tray, and the fourth adjacent tray, and if the length is more than 20cm, the article can be successfully put in.

It should be noted that, in the embodiment of the present invention, the distribution robot may receive order information, taking an example that an object placed on a tray is a dish, where the order information may include dish information and a height of the dish to be distributed and a maximum height of all dishes, and a sensor is placed below an upper tray or below an upper top bracket of each tray, specifically, as shown in fig. 4 to 5, for the tray on the top of the distribution robot, the sensor may be disposed on the top bracket, for other trays, a sensor is disposed at the bottom of the tray above the other trays, and the sensor may be configured to detect an actual height between each tray, and this actual height may be understood as: when an article is placed on the tray, the distance from the highest point of the article to the tray above the highest point is the distance from the highest point of the article to the tray above the highest point of the article; when no article is placed on the tray, the distance between the two trays or the distance between the tray on the top and the top support is the distance, the actual distance is sent to a processor on the distribution robot, and the processor judges whether the maximum height of the dish is smaller than the actual height of the tray or not, so that the height of the tray is adjusted according to the height of the dish, and the maximum height information in the order information is adjusted according to the height of the dish.

In an optional embodiment, when the height information is the maximum height, the adjusting the target distance to make the adjusted target distance greater than the maximum height includes: acquiring a first distance between the first adjacent tray and a second adjacent tray, wherein the second adjacent tray is an adjacent tray of the first adjacent tray; and under the condition that the first distance is greater than the required height, adjusting the heights of the first adjacent tray and the current tray to reduce the first distance between the first adjacent tray and the second adjacent tray, so that the adjusted target distance is greater than the maximum height.

In this embodiment, under the condition that the target distance is smaller than the maximum height, if no dishes are placed on a first adjacent tray above the tray, a sensor detects and acquires a first distance between the first adjacent tray and a second adjacent tray, where the second adjacent tray is an adjacent tray of the first adjacent tray, and if the first distance is larger than the required height, the first adjacent tray is moved upward so that the adjusted target distance is larger than the maximum height of the dishes.

For better understanding, fig. 3 is a tray position arrangement diagram (a) of a tray adjustment method according to an embodiment of the present invention, it should be noted that there is a third adjacent tray, a fourth adjacent tray to an nth adjacent tray, which are not shown in the drawing, between the second adjacent tray and the top rack in fig. 3, and all the following portions referring to fig. 3 are the same and will not be described below, assuming that dishes are to be placed on the tray in fig. 3, no dishes are on the first adjacent tray, the distance between the tray and the first adjacent tray is S1, the distance between the first adjacent tray and the second adjacent tray is S2 (corresponding to the first distance in this embodiment), the maximum height of the obtained dishes in the order is H, and when H is greater than S1, it is necessary to determine whether the difference between the maximum height and the target distance (H-S1) is smaller than S2, if the height of the dish is less than the maximum height, the first adjacent tray is moved to move the first adjacent tray by a distance (H-S1), so that the distance between the adjusted tray and the first adjacent tray is greater than the maximum height of the dish.

In the execution process of step S204, optionally, when the first distance is smaller than the required height, the method further includes: acquiring a second distance between the second adjacent tray and a third adjacent tray, wherein the third adjacent tray is an adjacent tray of the second adjacent tray; and under the condition that the sum of the second distance and the first distance is larger than the required height, adjusting the first adjacent tray and the second adjacent tray so that the adjusted target distance is larger than the maximum height.

In this embodiment, if the distance between the first adjacent tray and the second adjacent tray is smaller than the required height, the second distance between the second adjacent tray and the third adjacent tray needs to be obtained, and the first adjacent tray and the second adjacent tray are moved upward simultaneously under the condition that the sum of the second distance and the first distance is greater than the required height, so that the adjusted target distance is greater than the maximum height.

In order to better understand the technical solution of this embodiment, as shown in fig. 3, if there is no need to place dishes on the first adjacent tray and the second adjacent tray, the distance S3 between the second adjacent tray and the third adjacent tray (corresponding to the second distance in the embodiment of the present invention) is obtained, and by determining whether (H-S1) is smaller than the sum of the second distance and the first distance (S2+ S3), if so, the first adjacent tray and the second adjacent tray are moved simultaneously, so that the sum of the upward moving distances of the first adjacent tray and the second adjacent tray is (H-S1), thereby making the adjusted target distance greater than the maximum height of the dishes.

In an optional embodiment, when the height information is the maximum height, the target distance is adjusted to make the adjusted target distance greater than the maximum height, and the following technical solutions may be implemented: acquiring a first distance between the first adjacent tray and a second adjacent tray, wherein the second adjacent tray is an adjacent tray of the first adjacent tray; and if the difference between the first distance and a third distance is larger than the required height, reducing the first distance between the first adjacent tray and a second adjacent tray to increase the target distance, wherein the third distance is used for indicating the sum of the height of the target article to be placed on the first adjacent tray or the height of the placed article and a first preset threshold value.

In this embodiment, in order to better understand the above technical solution, as shown in fig. 3, if there is an article or an article to be placed on a first adjacent tray, a sum of a height of the article and a first preset threshold is obtained, where the first preset threshold is set to leave a certain space, so as to facilitate taking and placing the article. If the sum of the height of the target item to be placed on the first adjacent tray and the first preset threshold is obtained to be H1 (which is equivalent to the third distance in this embodiment), whether the difference between the first distance and the third distance (S2-H1) is greater than the dish required height (H-S1) or not is obtained, and if so, the first adjacent tray is moved upwards, and the first distance between the first adjacent tray and the second adjacent tray is reduced, so that the target distance is increased.

In the execution process of step S204, optionally, when the difference between the first distance and the third distance is smaller than the required distance, the method further includes: acquiring a second distance between the second adjacent tray and a third adjacent tray, wherein the third adjacent tray is an adjacent tray of the second adjacent tray; and if the fourth distance is greater than the difference between the maximum height and the target distance, adjusting the second adjacent tray and the third adjacent tray so that the adjusted target distance is greater than the maximum height, wherein the fourth distance is used for indicating the difference between the first distance and the third distance and the sum of the differences between the second distance and the fifth distance, and the fifth distance is used for indicating the sum of the height of the target article to be placed on the second adjacent tray or the height of the placed article and a first preset threshold value.

In this embodiment, for better understanding, as shown in fig. 3, if there is an article or an article to be placed on the first adjacent tray, and if there is an article or an article to be placed on the second adjacent tray, if the sum of the height of the target article to be placed on the second adjacent tray and the first preset threshold is obtained as H2 (corresponding to the fifth distance in this embodiment), the difference between the second distance and the fifth distance is obtained (S3-H2), and the difference between the first distance and the third distance is obtained (S2-H1), and the fourth distance is obtained (S3-H2) + (S2-H1), and if the fourth distance is greater than the difference between the maximum height of the dish and the target distance (H-S1), the first adjacent tray and the second adjacent tray are moved simultaneously.

It should be noted that if no article is placed on the second adjacent tray, it is directly determined whether the sum of the second distance S3 and the difference between the first distance and the third distance (S2-H1) (S3 + (S2-H1) is greater than the required height of the required tray, and if so, the first adjacent tray and the second adjacent tray are directly adjusted so that the adjusted target distance is greater than the maximum height of the dish.

In an optional embodiment, in step S204, when the height information is the maximum height, before adjusting the target distance to make the adjusted target distance greater than the maximum height, the method further includes: under the condition that the fact that the to-be-distributed objects with the heights larger than a second preset threshold value are indicated in the to-be-distributed order information is detected, a sixth distance between a bottom tray of the distribution robot and an adjacent tray of the bottom tray is obtained; and determining that the sixth distance is smaller than the height of the object to be delivered, and adjusting the sixth distance between the bottom tray and the adjacent tray of the bottom tray.

In this embodiment, when it is detected that an object to be delivered having a height greater than a second preset threshold is indicated in the order information to be delivered, that is, when it is detected that a dish having a larger height exceeds the second preset threshold, a sixth distance between a bottom tray of the delivery robot and a tray adjacent to the bottom tray is obtained, and when the sixth distance is smaller than the height of the object to be delivered, the sixth distance between the bottom tray and the tray adjacent to the bottom tray is adjusted.

That is, for dishes with larger size, it is preferable to place the dishes on the bottom tray, and if the bottom tray cannot place the items to be placed, the above-mentioned steps S202 to S204 are performed.

In the above step S202, in an optional embodiment, when the height information is used to indicate a height indicated by a size mode corresponding to the tray, the obtaining of the height information of the tray of the delivery robot includes: popping up a selection interface on a display screen of the distribution robot; and responding to the selection operation of the target object on the selection interface, and acquiring the height indicated by the size mode corresponding to the selection operation.

In this embodiment, or under the condition that the distribution robot cannot acquire the order information to be distributed, the distribution robot enters another operation mode, and the height information is used to indicate the height indicated by the size mode corresponding to the tray, and acquire the height information of the tray of the distribution robot, a selection interface pops up on a display screen of the distribution robot for a user to perform a relevant selection operation, the user may perform a relevant operation according to a prompt of the display screen, and the distribution robot responds to the selection operation of the target object on the selection interface to obtain the height indicated by the size mode corresponding to the selection operation.

Optionally, adjusting the target distance so that the adjusted target distance is equal to the height indicated by the size mode may be implemented by the following technical solution: in the event that at least one of the following is displayed on the selection interface: a first size mode, a second size mode, and a third size mode, responsive to the selection operation, for selecting a size mode corresponding to the selection operation; acquiring a seventh distance between a target tray selected by the target object and the adjacent tray through a sensor; and adjusting the seventh distance to a distance corresponding to the size mode so that the adjusted target distance is equal to the height indicated by the size mode.

In this embodiment, different modes are displayed on the screen of the dispensing robot, corresponding to a small-size mode (corresponding to the first-size mode), a medium-size mode (corresponding to the second-size mode), and a large-size mode (corresponding to the third-size mode). When not selected, the tray is at a default height and is not adjusted. When a user selects a certain mode and selects to operate a certain tray, the distance between a target tray and a tray adjacent to the target tray is acquired through a sensor above each tray, and then the distribution robot adjusts the distance between the target tray selected by a target object and the tray adjacent to the target tray (which is equivalent to a seventh distance in the present embodiment) to a distance corresponding to the size mode.

It should be noted that, for better describing the present invention, the above target distance is an eighth distance between the tray and N adjacent trays. Obviously, in the course of the implementation of the invention, there are also cases where the target distance is the ninth distance of the pallet from the top support of the dispensing robot. If the target distance is the ninth distance between the pallet and the top bracket of the dispensing robot, the specific implementation principle is similar to the above embodiment, and in a different place, when the target distance is the eighth distance between the pallet and N adjacent pallets, the pallet and the N adjacent pallets in the vertical direction of the pallet need to be adjusted. When the target distance is the ninth distance between the pallet and the top support of the dispensing robot, it is the pallet and N adjacent pallets in the downward direction of the pallet that need to be adjusted.

It is to be understood that the above-described embodiments are only a few, but not all, embodiments of the present invention. In order to better understand the above data labeling method, the following describes the above process with reference to an embodiment, but the method is not limited to the technical solution of the embodiment of the present invention, and specifically:

in a specific embodiment, a delivery robot with a tray object detection function, fig. 4 is a structural diagram (one) of the delivery robot of the tray adjustment method according to the embodiment of the present invention, in fig. 4, there are three trays, a first tray, a second tray, a third tray, and an uppermost top bracket, and in a specific application process, the number of the trays may be multiple, but is not limited to 3, and the present invention is not described herein again. Fig. 5 is a structural diagram (ii) of a distribution robot of the tray adjusting method according to the embodiment of the present invention, wherein a sensor capable of emitting and receiving light waves or sound waves is disposed above each tray, and specifically referring to fig. 5, whether an article is disposed on a tray is detected by comparing the difference between the emitted and received signals. For the first tray, the sensor may be placed on the robot top support, and for the second and third trays, the sensor may be placed at the bottom of the upper tray. It should be noted that the position of the sensor may be placed on both sides of the tray to detect whether there is an article on the tray at the level. The sensor feeds back the height value to the central processing unit after detecting the object and the height of the object, and the central processing unit controls the tray to ascend and descend to a proper height after calculating.

Meanwhile, in order to better explain how the distance of the tray is adjusted up and down in the distribution robot, fig. 6 is a structural diagram (three) of the distribution robot of the tray adjusting method according to the embodiment of the present invention, two dual guide rails are arranged inside the distribution robot, which are a first dual guide rail and a second dual guide rail respectively, and two electric sliders are arranged on each tray, wherein the first electric slider is connected with the first dual guide rail, the second electric slider is connected with the second dual guide rail, and when the electric sliders slide up and down on the dual guide rails, the electric sliders drive the tray to slide up and down on the dual guide rails, thereby realizing the up and down adjustment of the tray in the distribution robot.

Initially, the three trays can be placed at the lowest part, the distance above the object is detected after the object is placed, and if the space is large, the trays move upwards to a proper distance; the three trays can also be placed at uniform intervals initially.

To better explain the technical solution of the present invention, fig. 7 is a flowchart (ii) of a tray adjusting method according to an embodiment of the present invention, and the specific steps are as follows:

step S702: selecting a receiving mode or a non-receiving mode, if the receiving mode is selected, executing step S704, and if the non-receiving mode is selected, executing step S712;

step S704: acquiring all dish information of an order and the maximum height of dishes;

step S706: judging whether the maximum heights of the dishes are all smaller than the actual tray height, if so, executing a step S708, otherwise, executing a step S710;

step S708: the height of the tray is not adjusted;

step S710: detecting whether other trays have extra distances through a sensor, if so, moving the other trays, and putting dishes in the trays;

step S712: the tray stores a default height;

step S714: detecting which tray the user selects;

step S716: detecting whether a user selects a small-size mode or other mode;

step S718: detecting the movable range of the tray and moving the tray.

And if the order receiving mode is selected, receiving food delivery order information, acquiring the height of the dishes in the order information, and adjusting the height of the tray according to the height of the dishes, wherein the adjustment is performed according to the height of the dishes as the maximum height information in the order information.

For mutual adjustment between the multi-layer trays: when the maximum heights are all smaller than the heights between the actual trays, the adjustment is not carried out; when the actual height of the tray is detected to be smaller than the height of the order information dishes, detecting whether the difference value between the actual height of the adjacent tray and the minimum height h of the tray during the meal placement obtained according to the order information of the adjacent tray is larger than or equal to the height required by the tray, if so, moving the adjacent tray, otherwise, detecting another adjacent tray, and if the other tray does not meet the condition or does not have another adjacent tray, detecting the difference value of the second adjacent tray until the sum of the difference values of all the trays is detected to be met, and correspondingly adjusting the height of the detected tray; and when the sum of all the difference values does not meet the condition, sending an alarm that the order dishes cannot be placed.

It should be noted that, when a meal is placed, the minimum height between the trays (which is equivalent to the third distance or the fourth distance in the above embodiment) is the dish height + the first preset reserved threshold, where the actual height of the tray is detected by the sensor, and the order information is set by the preset height. The distribution robot can carry out optimal distribution according to the dish height information in the ordering information, and the method specifically comprises the following steps: the preset bottom is a large-size dish placing tray, and when dish height information is detected to contain dishes exceeding the preset value (large-size dishes), the order is preferentially distributed to the bottom tray. When the actual height of the bottom tray does not satisfy the dish size, the adjustment is performed through the above-described steps S202 to S204.

If the order non-receiving mode is selected (that is, the order information does not include the height of the dishes, and the distribution robot does not receive the order information), three tray height modes are set, which are respectively: a small-size mode, a medium-size mode, and a large-size mode. And selecting a food placing mode on a screen of the distribution robot, and when the food placing mode is not selected, setting the tray to be at a default height without adjustment. When the distribution robot detects that the user uses the next tray, the tray selection is automatically exited, the tray selection is switched to the next tray, and when the tray weight change is detected again, the tray mode selection interface is switched to. When the user selects the small-size mode, the distribution robot moves the tray to enable the tray to meet the small size; when the user selects the medium size mode, the distribution robot detects the movable range of the adjacent dinner plates and moves the tray to enable the tray to be in a preset medium size; when the user selects the large-size mode, the distribution robot detects the movable range of all the trays, and moves the tray on which the trays are placed away from the selected tray so that the tray is in a predetermined large size.

In addition, the invention can accurately and efficiently detect whether articles and the height of the objects are on the tray or not through the sensor above the tray, can accurately adjust the height of the tray by utilizing the height, and can automatically perform subsequent actions after the objects are detected, so that the whole food delivery process is more intelligent.

Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present application may be substantially embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk), and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, or a network device) to execute the methods described in the embodiments of the present application.

In this embodiment, a tray adjusting device is further provided, and the tray adjusting device is used to implement the foregoing embodiments and preferred embodiments, and the description of the tray adjusting device is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.

Fig. 8 is a block diagram (one) of a structure of a tray adjusting device according to an alternative embodiment of the present invention, as shown in fig. 8:

an obtaining module 80, configured to obtain height information of a tray of the distribution robot, where the height information includes at least one of: the maximum height of all target objects to be placed on the tray, which is indicated by the order information to be delivered, and the height indicated by the corresponding size mode of the tray;

an adjusting module 82, configured to adjust a target distance so that the adjusted target distance is greater than or equal to the height information, where the target distance is used to indicate a height of a space above the tray where an item can be placed; the target object is used for indicating the target object in the same order information. Preferably, the target distance is used to indicate a minimum height of space above the tray available for placing items.

According to the tray adjusting device, the height information of the tray on the distribution robot is obtained, wherein the obtained height information at least comprises the maximum height of all target objects to be placed on the tray of the distribution robot in the order information to be distributed and the height indicated by the size mode corresponding to the tray, and the target distance is adjusted according to the obtained height information, so that the adjusted target distance is larger than or equal to the height information. By adopting the technical scheme, the problem that the height of the tray cannot be adjusted according to the height of the target object to be placed on the tray by the delivery robot is solved. And then the distance between adjacent trays is adjusted through the height information of the trays on the distribution robot, so that the target object can be placed in the trays.

Fig. 9 is a block diagram of a structure of a tray adjusting apparatus according to an alternative embodiment of the present invention (ii), and in an alternative embodiment, the adjusting module 82 includes: an obtaining unit 822 and an adjusting unit 824, wherein the obtaining unit 822 is further configured to sequentially obtain the allowable movement distances of the N adjacent trays through a sensor, in which in the process of sequentially obtaining the allowable movement distances of the N adjacent trays, if the sum of the allowable movement distances of the K adjacent trays is greater than or equal to the required height, the adjusting unit 824 is configured to adjust the K adjacent trays so that the adjusted target distance is greater than the height information, and if the sum of the allowable movement distances of the K adjacent trays is less than the required height, the allowable movement distances of K +1 adjacent trays are continuously obtained; wherein the desired height comprises: the difference between the maximum height and the target distance, K is smaller than or equal to N, and the sensor is arranged at the target position of the distribution robot.

In an optional embodiment, the obtaining unit 822 is further configured to obtain a first distance between the first adjacent tray and a second adjacent tray, where the second adjacent tray is an adjacent tray of the first adjacent tray; when the first distance is greater than the required height, the adjusting unit 824 is further configured to adjust heights of a first adjacent tray and a current tray to reduce the first distance between the first adjacent tray and a second adjacent tray, so that the adjusted target distance is greater than the maximum height.

Optionally, the obtaining unit 822 is further configured to obtain a second distance between the second adjacent tray and a third adjacent tray, where the third adjacent tray is an adjacent tray of the second adjacent tray; in a case that the sum of the second distance and the first distance is greater than the required height, the adjusting unit 824 is further configured to adjust the first adjacent tray and the second adjacent tray so that the adjusted target distance is greater than the maximum height.

In an optional embodiment, the obtaining unit 822 is configured to obtain a first distance between the first adjacent tray and a second adjacent tray, where the second adjacent tray is an adjacent tray of the first adjacent tray; in a case that a difference between the first distance and a third distance is greater than the required height, the adjusting unit 824 is further configured to reduce the first distance between the first adjacent tray and a second adjacent tray to increase the target distance, where the third distance is used to indicate a sum of a height of a target item to be placed on the first adjacent tray or a height of a placed item and a first preset threshold.

Optionally, the obtaining unit 822 is configured to obtain a second distance between the second adjacent tray and a third adjacent tray, where the third adjacent tray is an adjacent tray of the second adjacent tray; and when the fourth distance is greater than the difference between the maximum height and the target distance, the adjusting unit is used for adjusting the second adjacent tray and the third adjacent tray so that the adjusted target distance is greater than the maximum height, wherein the fourth distance is used for indicating the difference between the first distance and the third distance and the sum of the differences between the second distance and the fifth distance, and the fifth distance is used for indicating the sum of the height of the target object to be placed on the second adjacent tray or the height of the placed object and a first preset threshold value.

In an optional embodiment, the obtaining unit 824 is configured to, in a case that it is detected that there is an object to be dispensed whose height is greater than a second preset threshold value, obtain a sixth distance between a bottom tray of the dispensing robot and an adjacent tray of the bottom tray; determining that the sixth distance is smaller than the height of the object to be dispensed, the adjusting unit 824 is configured to adjust the sixth distance between the bottom tray and a tray adjacent to the bottom tray.

In this embodiment, when it is detected that an object to be delivered having a height greater than a second preset threshold is indicated in order information to be delivered, that is, when a dish having a larger height exceeding the second preset threshold is detected, a sixth distance between a bottom tray of the delivery robot and a tray adjacent to the bottom tray is obtained, it is determined that the sixth distance is smaller than the height of the object to be delivered, and the sixth distance between the bottom tray and the tray adjacent to the bottom tray is adjusted.

In an alternative embodiment, the obtaining module 82 is further configured to pop up a selection interface on a display screen of the delivery robot; and responding to the selection operation of the target object on the selection interface, and acquiring the height indicated by the size mode corresponding to the selection operation.

Optionally, in a case where at least one of the following is displayed on the selection interface: a first size mode, a second size mode, a third size mode, and an adjustment module 84 for selecting a size mode corresponding to the selection operation in response to the selection operation; acquiring a seventh distance between a target tray selected by the target object and the adjacent tray through a sensor; and adjusting the seventh distance to a distance corresponding to the size mode so that the adjusted target distance is equal to the height indicated by the size mode.

It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.

Embodiments of the present invention also provide a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to perform the steps of any of the above method embodiments when executed.

Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:

s1, height information of the tray of the distribution robot is obtained, wherein the height information comprises at least one of the following: the maximum height of all target objects to be placed on the tray, which is indicated by the order information to be delivered, and the height indicated by the corresponding size mode of the tray;

s2, adjusting the target distance to enable the adjusted target distance to be larger than or equal to the height information, wherein the target distance is used for indicating the height of the space above the tray, where the space is available for placing the articles; the target object is used for indicating the target object in the same order information, and preferably, the target distance is used for indicating the minimum height of the space above the tray, where the object can be placed.

Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a U disk, a read only memory ROM, a random access memory RAM, a removable hard disk, a magnetic disk, or an optical disk.

Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.

Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.

Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:

s2, adjusting the target distance to enable the adjusted target distance to be larger than or equal to the height information, wherein the target distance is used for indicating the height of the space above the tray, where the space is available for placing the articles; preferably, the target distance is used to indicate a minimum height of space above the tray available for placing items; the target object is used for indicating the target object in the same order information.

Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.

It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method of adjusting a pallet, comprising: the method comprises the following steps:

acquiring height information of a tray of a delivery robot, wherein the height information includes at least one of: the maximum height of all target objects to be placed on the tray, which is indicated by the order information to be delivered, and the height indicated by the corresponding size mode of the tray;

adjusting a target distance so that the adjusted target distance is greater than or equal to the height information, wherein the target distance is used for indicating the height of a space above the tray, where the space is available for placing articles;

the target object is used for indicating the target object in the same order information.

2. The method of claim 1, wherein: before adjusting the target distance such that the adjusted target distance is greater than or equal to the height information, the method further comprises:

sequentially acquiring the allowable moving distances of N adjacent trays through a sensor, wherein in the process of sequentially acquiring the allowable moving distances of the N adjacent trays, under the condition that the sum of the allowable moving distances of K adjacent trays is greater than or equal to the required height, the K adjacent trays are adjusted to enable the adjusted target distance to be greater than the height information, and under the condition that the sum of the allowable moving distances of the K adjacent trays is smaller than the required height, the allowable moving distances of K +1 adjacent trays are continuously acquired;

wherein the desired height comprises: the difference between the maximum height and the target distance, K is smaller than or equal to N, and the sensor is arranged at the target position of the distribution robot.

3. The method of claim 2, wherein: when the height information is the maximum height, the adjusting the target distance so that the adjusted target distance is greater than the maximum height includes:

acquiring a first distance between a first adjacent tray and a second adjacent tray, wherein the second adjacent tray is an adjacent tray of the first adjacent tray;

and under the condition that the first distance is greater than the required height, reducing the first distance between the first adjacent tray and the second adjacent tray so as to enable the adjusted target distance to be greater than the maximum height.

4. The method of claim 3, wherein: in the case that the first distance is less than the required height, the method further comprises:

acquiring a second distance between the second adjacent tray and a third adjacent tray, wherein the third adjacent tray is an adjacent tray of the second adjacent tray;

and under the condition that the sum of the second distance and the first distance is larger than the required height, adjusting the first adjacent tray and the second adjacent tray so that the adjusted target distance is larger than the maximum height.

5. The method of claim 2, wherein: when the height information is the maximum height, the adjusting the target distance so that the adjusted target distance is greater than the maximum height includes:

and under the condition that the difference between the first distance and a third distance is larger than the required height, reducing the first distance between the first adjacent tray and a second adjacent tray to increase the target distance, wherein the third distance is used for indicating the sum of the height of the target article to be placed on the first adjacent tray or the height of the placed article and a first preset threshold value.

6. The method of claim 5, wherein: in the case that the difference between the first distance and the third distance is less than the required height, the method further comprises:

and under the condition that the fourth distance is greater than the difference of the required heights, adjusting the second adjacent tray and the third adjacent tray so that the adjusted target distance is greater than the maximum height, wherein the fourth distance is used for indicating the difference between the first distance and the third distance and the sum of the differences between the second distance and the fifth distance, and the fifth distance is used for indicating the sum of the height of the target object to be placed on the second adjacent tray or the height of the placed object and a first preset threshold value.

7. The method of claim 1, wherein: in a case that the height information is the maximum height, adjusting the target distance so that the adjusted target distance is greater than the maximum height, the method further includes:

under the condition that the fact that the to-be-distributed objects with the heights larger than a second preset threshold value are indicated in the to-be-distributed order information is detected, a sixth distance between a bottom tray of the distribution robot and an adjacent tray of the bottom tray is obtained;

and determining that the sixth distance is smaller than the height of the object to be delivered, and adjusting the sixth distance between the bottom tray and the adjacent tray of the bottom tray.

8. The method of claim 1, wherein: when the height information is used for indicating the height indicated by the size mode corresponding to the tray, the height information of the tray of the distribution robot is acquired, and the height information comprises the following steps:

popping up a selection interface on a display screen of the distribution robot;

and responding to the selection operation of the target object on the selection interface, and acquiring the height indicated by the size mode corresponding to the selection operation.

9. The method of claim 8, wherein: adjusting the target distance such that the adjusted target distance is equal to the height indicated by the size mode, comprising:

in the event that at least one of the following is displayed on the selection interface: a first size mode, a second size mode, a third size mode; responding to the selection operation to select a size mode corresponding to the selection operation;

acquiring a seventh distance between a target tray selected by the target object and an adjacent tray through a sensor;

adjusting the seventh distance to a distance corresponding to the size mode such that the adjusted target distance is equal to the height indicated by the size mode.

10. A tray adjustment device, comprising:

an obtaining module, configured to obtain height information of a tray of a delivery robot, where the height information includes at least one of: the maximum height of all target objects to be placed on the tray, which is indicated by the order information to be delivered, and the height indicated by the corresponding size mode of the tray;

the adjusting module is used for adjusting the target distance so that the adjusted target distance is larger than or equal to the height information, wherein the target distance is used for indicating the height of a space above the tray, wherein the space is used for placing articles; the target object is used for indicating the target object in the same order information.

11. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to carry out the method of any one of claims 1 to 9 when executed.

12. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 9.