CN113681534A - A kind of artificial intelligence food delivery robot and its food delivery method - Google Patents
A kind of artificial intelligence food delivery robot and its food delivery method Download PDFInfo
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- CN113681534A CN113681534A CN202110967006.6A CN202110967006A CN113681534A CN 113681534 A CN113681534 A CN 113681534A CN 202110967006 A CN202110967006 A CN 202110967006A CN 113681534 A CN113681534 A CN 113681534A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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Abstract
本发明公开了一种人工智能送餐机器人及其送餐方法，包括驱动底座、支撑组件、承托组件、弧形遮挡板和操作台；支撑组件设置在驱动底座的顶端，支撑组件包括第一支撑块，第一支撑块的顶端设置有多个支撑套管，多个支撑套管之间设置有多个支撑柱；多个承托组件分别套设在多个支撑柱之间，承托组件包括连接套管、分隔板和扇形按压板；弧形遮挡板设置在第一支撑块的顶端和第二支撑块的底端之；操作台设置在第二支撑块的顶端。本发明的有益效果是：本发明利用弧形遮挡板和弧形挡板形成一个可以控制开闭的包围空间，这样将承托组件包围在封闭的空间内，避免机器人送餐的过程中，菜品上掉落杂物灰尘，这样使得消费者用餐会更加放心。
The invention discloses an artificial intelligence meal delivery robot and a meal delivery method, comprising a drive base, a support assembly, a support assembly, an arc-shaped shielding plate and an operation table; the support assembly is arranged on the top of the drive base, and the support assembly includes a first A support block, the top of the first support block is provided with a plurality of support sleeves, and a plurality of support columns are arranged between the plurality of support sleeves; a plurality of support components are respectively sleeved between the plurality of support columns, and the support components It includes a connecting sleeve, a partition plate and a fan-shaped pressing plate; the arc-shaped shielding plate is arranged between the top end of the first support block and the bottom end of the second support block; the operating table is arranged at the top end of the second support block. The beneficial effects of the present invention are as follows: the present invention utilizes the arc-shaped shielding plate and the arc-shaped baffle to form an enclosed space that can be opened and closed, so that the supporting component is enclosed in the closed space, so as to avoid the food delivery process by the robot. The debris and dust are dropped on it, so that consumers will feel more at ease when eating.
Description
Technical Field
The invention relates to a food delivery robot, in particular to an artificial intelligent food delivery robot and a food delivery method thereof, and belongs to the technical field of intelligent equipment.
Background
With the continuous development of artificial intelligence technology and the continuous expansion of the field of artificial intelligence, many high-end catering industries have already put into use artificial intelligence food delivery robots, and in some high-grade restaurants, the artificial intelligence food delivery robots are adopted to replace manual work to realize 24-hour continuous food delivery service.
Most of the existing artificial intelligence food delivery robots equipped in restaurants adopt an open design on a bearing part of the robot, so that the design is very convenient for placing and taking food, but the food delivery form inevitably causes some pollution of food in the moving process of the robot, and the completely open food delivery form also brings certain psychological barrier to dinning of eaters; moreover, the existing food delivery robots mostly adopt a layered design for the supporting components, but the supporting components are also designed in an open manner in the same layer, so that the stable fixation of the dinner plate cannot be realized, and the food cannot be distinguished step by step in the same space, so that the taste of the food can be easily changed.
Disclosure of Invention
The invention aims to solve the problems and provides an artificial intelligence meal delivery robot and a meal delivery method thereof.
The invention achieves the above-mentioned purpose through the following technical scheme, an artificial intelligence food delivery robot, comprising:
the driving device comprises a driving base, wherein three universal wheels are arranged at the bottom of the driving base;
the supporting assembly is arranged at the top end of the driving base and comprises a first supporting block, a plurality of supporting sleeves are arranged at the top end of the first supporting block, a plurality of supporting columns are arranged among the supporting sleeves, and a second supporting block is arranged at the top end of one supporting column;
the supporting component comprises a connecting sleeve, a supporting bottom plate is sleeved on the outer wall of the connecting sleeve, four partition plates are arranged at the top end of the supporting bottom plate, and four fan-shaped pressing plates are arranged among the four partition plates;
the arc-shaped baffle plate is arranged between the top end of the first supporting block and the bottom end of the second supporting block, and a plurality of arc-shaped sliding plates are arranged on one side of the arc-shaped baffle plate;
and the operating platform is arranged at the top end of the second supporting block.
Preferably, a plurality of butt joint grooves have been seted up to a lateral wall of arc shielding plate, and is a plurality of two locking grooves have all been seted up to the inner wall at the front and the back in butt joint groove, and is a plurality of the equal fixedly connected with in front of arc slide pulls the piece, and is a plurality of the opposite side of arc slide all is provided with the locking subassembly.
Preferably, the locking subassembly includes the butt joint piece, the butt joint piece is connected with butt joint groove sliding interlude, the positive middle part of butt joint piece has been seted up and has been adjusted logical groove, it is connected with the locking piece to adjust the equal sliding interlude in notch that leads to the groove openly and the back, two the locking piece is connected with wherein two locking groove sliding interlude respectively, two the equal fixedly connected with barrier plate in one side that the locking piece is in opposite directions, two between the barrier plate, and be located to adjust and lead to the inslot and be provided with control spring.
Preferably, the spread groove has been seted up on support sleeve's top, the bottom and the spread groove sliding interpenetration of support column are connected, support sleeve's top and bottom have all been seted up and have been placed the annular, the outer wall cover of support sleeve bottom is equipped with the barrier ring, barrier ring sliding interpenetration is connected in the spread groove, be provided with buffer spring between the inner wall of spread groove bottom and the bottom of support column.
Preferably, one side on operation panel top is provided with the operation screen, another avris on operation panel top is provided with the stereo set of reporting.
Preferably, four movable sliding openings are formed in one side of each partition plate, and guide sliding chutes are formed in the front and back inner walls of the movable sliding openings.
Preferably, the four fan-shaped pressing plates surround to form an annular shape, a moving plate is fixedly connected between adjacent sides, the four moving plates are respectively connected with the four moving sliding openings in a sliding and inserting manner, guide sliding blocks are fixedly connected to the front sides and the back sides of the four moving plates, and the eight guide sliding blocks are respectively connected with the eight guide sliding grooves in a sliding and inserting manner.
Preferably, eight all be provided with extrusion spring in the direction spout, eight extrusion spring's top respectively with the inner wall fixed connection on eight direction spout tops, eight extrusion spring's bottom respectively with the top fixed connection of eight direction sliders.
Preferably, supporting baseplate's top, and be located four division boards between and seted up four and hold the groove, the equal fixedly connected with support ring in connecting sleeve's top and bottom, two the support ring is placed the annular respectively with wherein two and is rotated to alternate and connect.
A meal delivery method of an artificial intelligence meal delivery robot comprises the following steps;
the first step is as follows: firstly, pushing a pulling block towards the direction far away from a butt joint groove, and opening an arc-shaped baffle plate by pulling an arc-shaped sliding plate to expose an internal bearing assembly;
the second step is that: firstly, one of the fan-shaped pressing plates is pulled upwards, after the distance between the bottom end of the fan-shaped pressing plate and the top end of the supporting bottom plate is increased to be capable of placing a dinner plate, the dinner plate is placed in the placing groove at the top end of the supporting bottom plate, and then the force on the fan-shaped pressing plate is released slowly;
the third step: the supporting bottom plate is pinched and horizontally rotated, one area where the dinner plate is placed is rotated away, and then the second step of operation is repeated until the four placing areas at the top end of the same supporting bottom plate are filled;
the fourth step: moving the pulling block towards the direction close to the butt joint groove to seal the opening of the arc-shaped baffle plate;
the fifth step: the driving base is controlled through the operation screen on the operation table, the driving base controls the universal wheels to move the whole device, and the meal is sent to a customer table for ordering.
The invention has the beneficial effects that:
firstly, the invention utilizes the arc-shaped shielding plate and the arc-shaped baffle plate to form an enclosing space which can be controlled to be opened and closed, so that the bearing assembly is enclosed in the enclosed space, sundries and dust falling from dishes in the process of delivering food by the robot are avoided, thus consumers can have more relieved dinner, and meanwhile, the opening and closing control of the butt joint groove and the butt joint block is more convenient and compact.
The supporting component is designed, the supporting base plate utilizes four containing areas of four partition plates Fengcheng, so that dishes can be stored in a separated mode, meanwhile, four fan-shaped pressing plates are arranged among the four partition plates, and the fan-shaped pressing plates can be located above the four containing areas at the top end of the supporting base plate through the matching of structures between the fan-shaped pressing plates and the partition plates, so that the contained dishes are shielded and protected from the top end.
And thirdly, the buffer spring is arranged between the connecting part of the support column and the support sleeve, so that the ground force borne by the buffer spring can be dispersed and transmitted in the vertical direction firstly in the moving process of the robot, and then the buffer spring is utilized to well buffer and offset, so that dishes placed on the support bottom plate can be more stably conveyed to the front of a dining table of a customer in the food delivery process of the robot.
Fourthly, placing ring grooves are formed in the top end and the bottom end of the supporting sleeve, supporting rings are arranged on the top end and the bottom end of the connecting sleeve, the supporting rings are connected in the placing ring grooves in an inserting mode, and contact surfaces of the supporting rings and the placing ring grooves are smooth, so that the supporting base plate can rotate by taking one supporting column as a rotating shaft through rotation and guide limitation of the supporting rings and the placing ring grooves, the position of a containing area of the supporting base plate is adjusted, and food placing and taking are very convenient.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the connection of the support assembly, curved shutter and curved slide plate of the present invention;
FIG. 3 is an enlarged view of the structure at A in FIG. 2 according to the present invention;
FIG. 4 is a cross-sectional view of the construction of the docking block of the present invention;
FIG. 5 is a schematic view of the connection of the support and bolster assemblies of the present invention;
FIG. 6 is a schematic structural view of a support assembly of the present invention;
FIG. 7 is an enlarged view of the structure of FIG. 6 at B in accordance with the present invention;
FIG. 8 is a partial cross-sectional view of the support post and support sleeve junction of the present invention;
FIG. 9 is a schematic view of the construction of the support assembly of the present invention;
fig. 10 is an enlarged view of the structure at C in fig. 9 according to the present invention.
In the figure: 1. a drive base; 101. a universal wheel; 2. a first support block; 201. an arc-shaped shielding plate; 202. an arc-shaped sliding plate; 203. a butt joint groove; 204. pulling the block; 205. a butt joint block; 206. adjusting the through groove; 207. a blocking plate; 208. a locking block; 209. a control spring; 3. a second support block; 301. a support pillar; 302. a blocking ring; 303. a support sleeve; 304. placing a ring groove; 305. connecting grooves; 306. a buffer spring; 4. a support base plate; 401. a partition plate; 402. moving the sliding port; 403. a compression spring; 404. connecting a sleeve; 405. a support ring; 5. a fan-shaped pressing plate; 501. moving the plate; 502. a guide slider; 6. an operation platform.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 10, an artificial intelligence food delivery robot includes:
the driving device comprises a driving base 1, wherein three universal wheels 101 are arranged at the bottom of the driving base 1;
the driving base 1 is an existing mature intelligent driving assembly, a control chip, a driving motor, a steering shaft and the like which control the universal wheel 101 to steer and move are arranged in the driving base 1, a plurality of sensors are arranged on the front face of the driving base 1, the control chip sends a control instruction to the driving motor and the steering shaft through real-time signals sent by the plurality of sensors after program operation is completed, and the universal wheel 101 is controlled to avoid obstacles to steer and move stably;
the universal wheels 101 are arranged in a three-position mode, so that the lowest steering radius can be realized, and the movement of the robot is more stable by using a triangular structure.
The supporting assembly is arranged at the top end of the driving base 1 and comprises a first supporting block 2, a plurality of supporting sleeves 303 are arranged at the top end of the first supporting block 2, a plurality of supporting columns 301 are arranged among the supporting sleeves 303, and a second supporting block 3 is arranged at the top end of one supporting column 301;
the sizes and specifications of the first supporting block 2 and the second supporting block 3 are completely the same and are disc-shaped, the bottom end of the first supporting block 2 is fixedly connected with the top end of the driving base 1, the top end of the supporting column 301 is fixedly connected with the middle part of the bottom end of the supporting sleeve 303 above the supporting column, the bottom end of the supporting sleeve 303 arranged at the bottom is fixedly connected with the top end of the first supporting block 2, and the top end of the supporting sleeve 303 arranged at the top is fixedly connected with the bottom end of the second supporting block 3.
The supporting component is sleeved among the supporting columns 301 and located among the supporting sleeves 303 respectively, the supporting component comprises a connecting sleeve 404, a supporting base plate 4 is sleeved on the outer wall of the connecting sleeve 404, four partition plates 401 are arranged at the top end of the supporting base plate 4, and four fan-shaped pressing plates 5 are arranged among the four partition plates 401;
the connecting sleeve 404 is sleeved on the part of the support column 301 between the upper support sleeve 303 and the lower support sleeve 303, the support bottom plate 4 is sleeved on one third of the bottom of the connecting sleeve 404, and the diameter of the inner wall of the connecting sleeve 404 is the same as that of the outer wall of the support column 301.
The top end of the bottom plate 4 is supported, four containing grooves are formed among the four partition plates 401, the top end and the bottom end of the connecting sleeve 404 are fixedly connected with supporting rings 405, and the two supporting rings 405 are respectively in rotating penetrating connection with the two containing ring grooves 304;
the top of the supporting bottom plate 4 is divided into four areas by the four partition plates 401, the four containing grooves are respectively arranged in the middle of the four areas, the size of the supporting ring 405 is matched with the size of the placing ring groove 304, and the contact surfaces of the supporting ring 405 and the placing ring groove 304 are smooth, so that the supporting ring 405 can rotate in the placing ring groove 304.
The arc-shaped baffle plate 201 is arranged between the top end of the first supporting block 2 and the bottom end of the second supporting block 3, and a plurality of arc-shaped sliding plates 202 are arranged on one side of the arc-shaped baffle plate 201;
one end of the arc sliding plate 202 is inserted into the arc shielding plate 201 in a sliding manner, and the arc sliding plate 202 is made of plastic plates and has good flexibility and plasticity.
The operating table 6 is arranged at the top end of the second supporting block 3, an operating screen is arranged on one side of the top end of the operating table 6, and a broadcast sound box is arranged on the other side of the top end of the operating table 6;
the top of the operation table 6 is provided with an inclined plane, and the operation screen is embedded in the inclined plane, so that the operation screen can be consulted and operated conveniently.
As a technical optimization scheme of the invention, a plurality of butt-joint grooves 203 are formed in one side wall of the arc-shaped shielding plate 201, two locking grooves are formed in the inner walls of the front and back surfaces of the butt-joint grooves 203, pulling blocks 204 are fixedly connected to the front surfaces of the arc-shaped sliding plates 202, and locking assemblies are arranged on the other sides of the arc-shaped sliding plates 202;
two locking grooves in the same butt joint groove 203 are arranged in the middle of the front and back inner walls of the butt joint groove in a centrosymmetric manner, the locking grooves are semispherical grooves, the pulling block 204 is used for controlling the opening and closing of the arc-shaped sliding plate 202, and the arc-shaped sliding plate 202 achieves the purpose of closing the opening of the arc-shaped shielding plate 201.
The locking assembly comprises a butt joint block 205, the butt joint block 205 is connected with a butt joint groove 203 in a sliding and inserting manner, an adjusting through groove 206 is formed in the middle of the front face of the butt joint block 205, locking blocks 208 are connected with notches on the front face and the back face of the adjusting through groove 206 in a sliding and inserting manner, the two locking blocks 208 are respectively connected with two locking grooves in a sliding and inserting manner, blocking plates 207 are fixedly connected to opposite sides of the two locking blocks 208, and a control spring 209 is arranged between the two blocking plates 207 and in the adjusting through groove 206;
the size of the butt joint block 205 is the same as the opening size of the butt joint groove 203, the locking block 208 is a hemispherical block and is matched with the locking groove, and the locking block 208 and the locking groove are structurally designed, so that the locking and the opening of the two are smoother;
the diameter of the adjusting through groove 206 in the middle of the butt joint block 205 is one point and one time of the diameter of the opening at the two ends, the locking block 208 is prevented from completely separating from the adjusting through groove 206 by the sliding of the blocking plate 207 in the middle of the adjusting through groove 206, the control spring 209 is always in an extrusion state, and thus the locking block can act on the two blocking plates 207 to push the two locking blocks 208 away to the farthest distance positions at the two ends of the adjusting through groove 206.
As a technical optimization scheme of the invention, the top end of the support sleeve 303 is provided with a connecting groove 305, the bottom of the support column 301 is slidably and alternately connected with the connecting groove 305, the top end and the bottom end of the support sleeve 303 are both provided with placing ring grooves 304, the outer wall of the bottom of the support sleeve 303 is sleeved with a stop ring 302, the stop ring 302 is slidably and alternately connected in the connecting groove 305, and a buffer spring 306 is arranged between the inner wall of the bottom end of the connecting groove 305 and the bottom end of the support column 301;
the diameter of the bottom of the connecting groove 305 is one point and one time of the diameter of the top opening, the diameter of the blocking ring 302 is the same as that of the bottom of the connecting groove 305, and the supporting column 301 is confined in the connecting groove 305 by the inner walls of the top notches of the blocking ring 302 and the connecting groove 305.
As a technical optimization scheme of the invention, one side of each of the four partition plates 401 is provided with a movable sliding opening 402, and the inner walls of the front and back of each of the four movable sliding openings 402 are provided with guide sliding chutes;
the four fan-shaped pressing plates 5 are encircled to form an annular shape, moving plates 501 are fixedly connected between adjacent sides of the four fan-shaped pressing plates, the four moving plates 501 are respectively connected with the four moving sliding openings 402 in a sliding and penetrating manner, guide sliding blocks 502 are fixedly connected to the front sides and the back sides of the four moving plates 501, and the eight guide sliding blocks 502 are respectively connected with the eight guide sliding grooves in a sliding and penetrating manner;
all be provided with extrusion spring 403 in the eight direction spouts, eight extrusion spring 403's top respectively with the inner wall fixed connection at eight direction spout tops, eight extrusion spring 403's bottom respectively with the top fixed connection of eight direction sliders 502.
A meal delivery method of an artificial intelligence meal delivery robot comprises the following steps;
the first step is as follows: firstly, pushing a pulling block 204 towards the direction far away from the butt joint groove 203, and opening an arc-shaped baffle plate 201 by pulling an arc-shaped sliding plate 202 to expose the internal bearing component;
the second step is that: firstly, one of the fan-shaped pressing plates 5 is pulled upwards, after the distance between the bottom end of the fan-shaped pressing plate 5 and the top end of the supporting bottom plate 4 is increased to be capable of placing a dinner plate, the dinner plate is placed in the placing groove at the top end of the supporting bottom plate 4, and then the force on the fan-shaped pressing plate 5 is released slowly;
the third step: the supporting bottom plate 4 is held, the supporting bottom plate horizontally rotates, an area where the dinner plate is placed is rotated away, and then the second step of operation is repeated until the four placing areas at the top end of the same supporting bottom plate 4 are filled;
the fourth step: moving the pulling block 204 towards the direction close to the butt joint groove 203 to seal the opening of the arc-shaped shielding plate 201;
the fifth step: the driving base 1 is controlled by the operation screen on the operation table 6, the universal wheel 101 is controlled by the driving base 1 to move the whole device, and the meal is delivered to a customer table for ordering.
In use, the invention is described with reference to figures 2 to 4;
the first step of operation is implemented, firstly, the pulling block 204 is pushed towards the direction far away from the butt joint groove 203, the pulling block 204 drives the arc sliding plate 202 connected with the pulling block to synchronously move, at the moment, the butt joint block 205 slides out of the butt joint groove 203 along with the arc sliding plate 202, the arc shielding plate 201 is opened, and the internal supporting assembly is exposed.
Refer to fig. 2, 5, 9 and 10;
the second step of operation is implemented, firstly, one of the fan-shaped pressing plates 5 is pulled upwards, the fan-shaped pressing plate 5 drives the moving plate 501 to move upwards in the moving sliding port 402, the moving plate 501 drives the guide sliding block 502 to move in the guide sliding groove, meanwhile, the extrusion spring 403 is stressed and compressed, and after the distance between the bottom end of the fan-shaped pressing plate 5 and the top end of the supporting bottom plate 4 is increased to be capable of placing a dinner plate, the dinner plate is placed in the placing groove at the top end of the supporting bottom plate 4;
then slowly releasing the force on the fan-shaped pressing plate 5, under the action of the restoring force of the extrusion spring 403, the fan-shaped pressing plate 5 slowly moves downwards until being suspended above the dinner plate, and meanwhile, the extrusion spring 403 pulls the fan-shaped pressing plate 5, so that the bottom end of the fan-shaped pressing plate 5 is prevented from being attached to the dishes pressed in the dinner plate.
Refer to fig. 5, 7-9;
the third step is carried out by pinching the support base 4, rotating it horizontally, rotating it away from the area where the plate is placed, guided by the support ring 405 and the resting ring groove 304, and then repeating the second step until all four resting areas on the top of the same support base 4 are filled.
Refer to fig. 2 to 4;
implementing the fourth step of operation, moving the pulling block 204 towards the direction close to the butt joint groove 203, and driving the butt joint block 205 to synchronously move by the pulling block 204 through the arc-shaped sliding plate 202;
after the butt joint block 205 moves into the butt joint groove 203, the two locking blocks 208 extrude the inner wall of the butt joint groove 203 and retract into the adjusting through groove 206, and meanwhile, the control spring 209 is extruded through the blocking plate 207 to be stressed and contracted;
until the two locking pieces 208 move to the two locking grooves, the restoring force of the control spring 209 causes the two locking pieces 208 to slide into the two locking grooves by acting on the blocking plate 207.
Reference is made to fig. 1, 2, 5 and 8;
the fifth step of operation is implemented, the driving base 1 is controlled through the operation screen on the operation table 6, the universal wheels 101 are controlled by the driving base 1 to move the whole device, and the meal is delivered to a customer table for ordering;
in the moving process of the whole device, if the device bumps or slightly collides, the supporting column 301 can transmit the received force downwards, the force is weakened by the buffer spring 306 in a buffering way, and meanwhile, the blocking ring 302 can be matched with the groove wall of the top notch of the connecting groove 305 to prevent the supporting column 301 from sliding out of the connecting groove 305.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
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| CN202110967006.6A CN113681534B (en) | 2021-08-23 | 2021-08-23 | Artificial intelligent food delivery robot and food delivery method thereof |
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| CN210823248U (en) * | 2019-08-21 | 2020-06-23 | 四川金秋新型建材有限公司 | Frame is put to building materials |
| CN111805551A (en) * | 2020-06-01 | 2020-10-23 | 杭州电子科技大学 | A food delivery robot and its food delivery method |
| CN113246149A (en) * | 2021-05-26 | 2021-08-13 | 佛山市邦力和科技有限公司 | Intelligent service robot |
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2021
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| US9535421B1 (en) * | 2014-02-28 | 2017-01-03 | Savioke, Inc. | Mobile delivery robot with interior cargo space |
| CN107598937A (en) * | 2017-09-15 | 2018-01-19 | 上海有个机器人有限公司 | A kind of service robot |
| CN109732624A (en) * | 2019-03-11 | 2019-05-10 | 李永梅 | A kind of meal delivery device based on intelligent robot |
| KR20190106907A (en) * | 2019-05-31 | 2019-09-18 | 엘지전자 주식회사 | THE MOVING ROBOT AND THE CONTROL METHOD thereof |
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| CN113681534B (en) | 2022-12-09 |
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