WO2021062681A1

WO2021062681A1 - Automatic meal delivery method and apparatus, and robot

Info

Publication number: WO2021062681A1
Application number: PCT/CN2019/109559
Authority: WO
Inventors: 黄巍伟; 郑小刚; 王国栋
Original assignee: 中新智擎科技有限公司
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2021-04-08

Abstract

An automatic meal delivery method applied to a robot (10), which relates to the technical field of electronic information. The method comprises receiving a delivery instruction for delivering a meal, the delivery instruction bearing the face of a user; then, combining the face of the user, and positioning the location of the user within a dining area; and finally controlling the robot (10) to deliver the meal to the location of the user. A robot (10) executes the described automatic meal delivery method, thus a meal may be accurately delivered to a user so as to improve the dining experience of the user.

Description

Method, device and robot for automatic meal delivery

Technical field

The embodiments of the present invention relate to the field of electronic information technology, and in particular to a method, device and robot for automatic meal delivery.

Background technique

With the development of artificial intelligence technology, robots are becoming more and more intelligent, and the application of robots in various industries has become more and more extensive. With the advent of the new era of smart retail, there are currently some intelligent restaurants that use robots for customers. Provide room service.

In the process of implementing the embodiments of the present invention, the inventor found that the above related technologies have at least the following problems: in application scenarios such as eating in restaurants, robots usually can only deliver meals to a fixed table or near a table, and customers When ordering food, a fixed table must be selected for ordering. If the customer changes the dining position or joins the table with others, the food delivery robot cannot accurately deliver the food to the user.

Summary of the invention

In view of the above-mentioned shortcomings of the prior art, the purpose of the embodiments of the present invention is to provide an automatic meal delivery method, device, and robot, which can accurately deliver the meal to the user.

The purpose of the embodiments of the present invention is achieved through the following technical solutions:

In order to solve the above technical problems, in the first aspect, an embodiment of the present invention provides an automatic meal delivery method, which is applied to a robot, and the method includes:

Receiving a delivery instruction for delivering meals, wherein the delivery instruction carries the face of the user;

Locate the position of the user in the dining area in combination with the face of the user;

The robot is controlled to deliver the meal to the location of the user.

In some embodiments, the step of locating the position of the user in the dining area in combination with the face of the user further includes:

Acquiring an image of the dining area;

Searching for the user in the image according to a preset face recognition algorithm and combining the face of the user;

After the user is searched, the location of the user is located according to a preset binocular stereo vision positioning algorithm.

In some embodiments, the dining area is configured with a first camera, the image is collected by the first camera, and the dining area includes at least two sub-areas;

Before the step of locating the position of the user according to a preset binocular stereo vision positioning algorithm, the method further includes:

After searching for the user, identify the sub-region where the user is located;

Controlling the robot to move to the sub-area where the user is located.

In some embodiments, the robot is equipped with a second camera, and the second camera is a binocular camera,

The step of locating the position of the user according to a preset binocular stereo vision positioning algorithm further includes:

Using the second camera to obtain a depth image containing the user in a sub-region where the user is located, where the depth image contains depth information of the user;

Acquiring the current position of the robot and the shooting direction of the second camera;

The position of the user is located according to the current position of the robot, the shooting direction of the second camera, and the depth information.

In some embodiments, the step of obtaining a depth image containing the user further includes:

Acquire the depth image including the face of the user according to the preset face recognition algorithm.

In some embodiments, the step of controlling the robot to transport the food to the location further includes:

Plan a meal delivery route according to the current location of the robot and the location of the user;

Controlling the robot to move along the food delivery path to the position of the user.

In some embodiments, the dining area is provided with a position correction device;

The method also includes:

When the robot passes the position correction device, read the correction position from the position correction device;

Acquiring the current position recorded by the robot itself;

Determine whether the corrected position is the same as the current position;

If they are not the same, replace the corrected position with the current position.

In order to solve the above technical problems, in a second aspect, an embodiment of the present invention provides an automatic meal delivery device, which is applied to a robot, and the device includes:

The receiving module is configured to receive a delivery instruction for delivering meals, wherein the delivery instruction carries the face of the user;

The positioning module is used to locate the position of the user in the dining area in combination with the face of the user;

The control module is used to control the robot to transport the food to the location of the user.

In order to solve the above technical problems, in a third aspect, an embodiment of the present invention provides a robot, including:

At least one processor; and,

A memory communicatively connected with the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the method described in the first aspect above.

In order to solve the above technical problems, in the fourth aspect, embodiments of the present invention also provide a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to make a computer execute The method described in the first aspect above.

In order to solve the above technical problems, in the fifth aspect, embodiments of the present invention also provide a computer program product. The computer program product includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the method described in the first aspect above.

Compared with the prior art, the beneficial effect of the present invention is: different from the prior art, the embodiment of the present invention provides an automatic meal delivery method applied to a robot. The delivery instruction, wherein the delivery instruction carries the face of the user, and then, combined with the face of the user, locates the location of the user in the dining area, and finally, controls the robot to deliver the meal to At the location of the user, the robot executes the method of automatic meal delivery provided in the embodiment of the present invention, and can accurately deliver the meal to the user, so as to improve the dining experience of the user.

Description of the drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings. These exemplified descriptions do not constitute a limitation on the embodiments. The components/modules and steps with the same reference numerals in the drawings represent For similar components/modules and steps, unless otherwise stated, the figures in the drawings do not constitute a limitation of scale.

FIG. 1 is a schematic diagram of an exemplary system structure of an embodiment of an automatic meal delivery method applied to an embodiment of the present invention;

Figure 2 is a flowchart of a method for automatic meal delivery provided by an embodiment of the present invention;

FIG. 3 is a sub-flow chart of step 120 in the method shown in FIG. 2;

FIG. 4 is a sub-flow chart of step 123 in the method shown in FIG. 3;

FIG. 5 is a sub-flow chart of step 130 in the method shown in FIG. 2;

Figure 6 is a flow chart of another method for automatic meal delivery provided by an embodiment of the present invention;

Figure 7 is a schematic structural diagram of an automatic meal delivery device provided by an embodiment of the present invention;

Figure 8 is a schematic structural diagram of another automatic meal delivery device provided by an embodiment of the present invention;

Fig. 9 is a schematic diagram of the hardware structure of a robot for executing the above-mentioned automatic meal delivery method provided by an embodiment of the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be pointed out that for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

In order to make the purpose, technical solutions, and advantages of this application clearer, the following further describes the application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not used to limit the present application.

It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, and all fall within the protection scope of the present application. In addition, although the functional modules are divided in the schematic diagram of the device, and the logical sequence is shown in the flowchart, in some cases, the module division in the device may be different from the module division in the device, or the sequence shown in the flowchart may be executed. Or the steps described. In addition, the words "first" and "second" used herein do not limit the data and execution order, but only distinguish the same or similar items with basically the same function and effect.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention in this specification are only for the purpose of describing specific embodiments, and are not used to limit the present invention. The term "and/or" used in this specification includes any and all combinations of one or more related listed items.

Please refer to FIG. 1, which is a schematic diagram of an exemplary system structure applied to an embodiment of the automatic meal delivery method of the present invention. As shown in FIG. 1, the system structure includes: a robot 10, a terminal 20 and at least one first camera 30. The robot 10 is in communication connection with the terminal 20 and the first camera 30 respectively. The communication connection may be a network connection, and may include various connection types, such as wired, wireless communication, or fiber optic cable.

The user can purchase meals through the terminal 20, the robot 10 can collect the user's face through the terminal 20, and the robot 10 can also acquire an image of the dining area through the first camera 30. The robot 10 can replace the food delivery personnel to complete the food delivery work.

Specifically, when a user purchases a meal through the terminal 20, the terminal 20 collects the user's face, and the robot 10 communicates with the terminal 20 to obtain the user's face collected by the terminal 20. After the meal is completed, the robot 10 receives A delivery instruction for the delivery of meals from the terminal 20, the delivery instruction carrying the user’s face, through the first camera 30 installed in the dining area and the second camera installed on the robot 10, the robot 10 locates the user in the dining area The meal is delivered to the user’s location after the user’s location.

Optionally, the number of robots 10 used for food delivery may be one or more according to different application scenarios, and the number of robots 10 is not limited in this application.

It should be noted that the food management method provided by the embodiment of the present application is generally executed by the above-mentioned robot 10, and correspondingly, the food management device is generally set in the robot 10.

The terminal 20 is an electronic device that can collect a user's face image and install a meal shopping application. The terminal 20 may be a mobile terminal, a tablet, a computer, or other devices that carry a camera or can connect an external camera to collect images. The terminal 20 may be an electronic device in a restaurant. When the user places an order, the user’s face image is collected and the meal information purchased by the user is obtained. After the meal information is obtained, the meal information is sent to the kitchen, and the After the meal is completed, a delivery instruction is sent to the robot 10 to notify the robot 10 to perform meal delivery work. The terminal 20 may also be a user's personal electronic device. When the user needs to have a meal, the user can select meals through an application on the terminal 20.

Optionally, the number of the terminals 20 may be one or more. When there are multiple terminals 20, data can be shared among multiple terminals 20, or an upper terminal is provided to obtain data collected by all lower terminals. For example, two terminals 20 are provided in the kitchen and restaurant respectively, and the two terminals 20 can share data. After the terminal 20 of the restaurant collects the user’s face and food information, it sends the food information to the kitchen. The terminal 20 is for the catering staff to read. After the meal is completed, the terminal 20 in the kitchen sends a delivery instruction to notify the robot 10 to deliver the meal. At the same time, the terminal 20 in the restaurant sends the face of the user corresponding to the meal information to the robot. 10.

The first camera 30 is an image acquisition device whose field of view can cover the entire dining area. Optionally, in order to achieve coverage of the entire dining area, the first camera 30 can obtain the user's face image regardless of the user's orientation, for example, in the dining space as shown in the figure, preferably in the restaurant The first camera 30 can be set on the ceiling and above the four corners of the dining area, and/or a panoramic camera is set in the center of the dining area to obtain the approximate position of the user in the dining area.

In addition, since in the embodiment of the present invention, the location of the user in the dining area is specifically used to obtain the location of the user through a preset binocular stereo vision positioning algorithm, it is understandable that the second The camera 11 is a binocular camera to obtain parallax and depth information of the image.

Specifically, the embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

The embodiment of the present invention provides an automatic meal delivery method, which can be executed by the above-mentioned capable robot 10. Please refer to FIG. 2, which shows a flowchart of an automatic meal delivery method applied according to the above system structure. , The method includes but is not limited to the following steps:

Step 110: Receive a delivery instruction for delivering meals.

Wherein, the delivery instruction carries the face of the user, and the face of the user is collected when the user brushes his face to purchase the meal. In the embodiment of the present invention, the user orders a meal through the terminal 20 as shown in FIG. 1. After the meal is completed, the robot 10 will receive a delivery instruction for delivering the meal. After the robot 10 obtains the delivery instruction, it will execute the delivery instruction.

Step 120: Locate the position of the user in the dining area in combination with the face of the user.

In the embodiment of the present invention, in order to accurately obtain the user's specific location in the dining area, the camera uses face recognition, combined with the user's face carried by the delivery instruction, to achieve accurate positioning of the user's location in the dining area .

Step 130: Control the robot to deliver the meal to the location of the user.

After obtaining the location of the user, the robot sets a travel route to the user, and transports the food to the location. It is understandable that in practical applications, due to the complex environment of the restaurant, the situation of people walking may affect the delivery process of the robot. Therefore, the robot used in the embodiment of the present invention also has a certain obstacle avoidance ability, and can deliver meals. It is delivered to the user's location accurately and quickly.

The embodiment of the present invention provides an automatic meal delivery method applied to a robot. The method receives a delivery instruction for delivering meals, wherein the delivery instruction carries the user's face, and then combines the user's face with the delivery instruction. The face of the user is located in the dining area, and finally, the robot is controlled to deliver the meal to the user’s location. The robot executes the automatic meal delivery method provided in the embodiment of the present invention, which can The food is delivered to the user accurately to improve the user's dining experience.

In some embodiments, please refer to FIG. 3, which is a sub-flow chart of step 120 in the method shown in FIG. 2. The step 120 specifically includes:

Step 121: Obtain an image of the dining area.

In the embodiment of the present invention, the robot obtains the image of the dining area through the first camera set in the restaurant, and then recognizes the user from the image of the dining area through a preset face recognition algorithm, and recognizes the After the user, the second camera set on the robot is used to locate the user's position through a preset binocular stereo vision positioning algorithm.

Step 122: Search for the user in the image according to a preset face recognition algorithm and combined with the face of the user.

The preset face recognition algorithm is an algorithm that is preset in the robot to recognize faces. The algorithm can extract the faces in the image of the dining area obtained by the camera and the ones collected when the user swipes the face to buy meals. Match the characteristic information of the obtained face to determine the user in the image of the dining area. The preset face recognition algorithm may be a common face recognition algorithm such as a local feature analysis method (Local Face Analysis), an eigenface method (Eigenface or PCA), a neural network method (Neural Networks), etc.

Step 123: After searching for the user, locate the position of the user according to a preset binocular stereo vision positioning algorithm.

After the robot obtains the image of the dining area through the camera of the restaurant, and recognizes the user from the image, the robot obtains the position of the user relative to the robot through the preset binocular stereo vision positioning algorithm. The principle is to analyze the depth and parallax of the image of the dining area and the image taken by the binocular camera carried by the robot itself to obtain the depth information of the user relative to the robot, and combine the restaurant map to obtain the user's location.

In some embodiments, the dining area is configured with a first camera, and the image is captured by the first camera, and the dining area includes at least two sub-areas. Please refer to FIG. 4, which is shown in FIG. 3. A sub-flow chart of step 123 in the method, the step 123 specifically includes:

Step 1231: After searching for the user, identify the sub-area where the user is located.

In practical applications, in order to save storage space, facilitate the robot’s food delivery work, and improve user experience, under normal circumstances, the height of the food delivery robot is limited, and the second camera installed on the robot is easily affected by obstacles such as tables and chairs or Other users obscure the line of sight, or the target user is in a state of looking down at the mobile phone, which makes it difficult for the food delivery robot to obtain the target user's face image. To solve this problem, the dining area of the restaurant can be divided into N sub-areas. Please refer to FIG. 1 together. In FIG. 1, the dining area S is divided into nine sub-areas. After the user is searched through the camera 30, it can be determined that the sub-area where the user is located is the sub-area S5.

Optionally, each sub-region can be distinguished by color, pattern, or a combination of color and pattern, and a distinguishing mark is set and numbered in each of the sub-regions, so that the sub-region where the user is located can be identified by the distinguishing mark.

Step 1232: Control the robot to move to the sub-area where the user is located.

After determining the sub-area where the user is located, the robot is controlled to move to the sub-area where the user is located, so as to narrow the search range of the second camera of the robot, so as to further realize precise positioning of the user.

In some embodiments, the robot is equipped with a second camera, and the second camera is a binocular camera. Please continue to refer to FIG. 4, and the step 123 further includes:

Step 1233: Obtain a depth image containing the user in the sub-region where the user is located through the second camera.

Wherein, the depth image includes depth information of the user. The step of acquiring the depth image containing the user further includes: acquiring the depth image containing the face of the user according to the preset face recognition algorithm.

Specifically, the second camera is controlled to scan the sub-area where the user is located, and images are collected in real time during the scanning process. Then, the preset face recognition algorithm described in step 122 can be used to identify the data collected by the second camera. Whether the image contains the face of the user, after the image containing the face of the user is recognized, the depth information of the user is acquired, and the image containing the depth information is the depth image.

Optionally, since the second camera is a binocular camera, that is, it has two cameras. When the second camera scans the sub-area where the user is located, and collects images for identifying the user's face, Only one camera of the binocular camera can be used to collect images. When it is determined that the image contains the user's face, the other camera is turned on, and the images collected by the two cameras and the parallax of the two cameras are combined to obtain the user's depth information. It can be understood that the depth information is the distance information between the second camera and the user.

Step 1234: Obtain the current position of the robot and the shooting direction of the second camera.

Further, when the robot obtains the depth image containing the face of the user, it also needs to obtain the current position of the robot and the shooting direction of the second camera to further accurately locate the user.

It is understandable that when the robot has just moved to the sub-area where the user is located, there may be situations where the user faces the robot, causing the robot to fail to recognize the user's face. Therefore, further, the robot can move and search within the sub-region to obtain a depth image containing the user's face. Alternatively, an algorithm that can recognize the posture or back of the user is provided, and the position of the user is determined by recognizing the posture or back of the user. In this case, the terminal 20 described in FIG. 1 needs to also be equipped to collect the user’s posture. Or the function of the back view.

Step 1235: locate the position of the user according to the current position of the robot, the shooting direction of the second camera, and the depth information.

According to the current position of the robot and the shooting direction of the second camera, the direction relative to the robot can be determined, and then combined with the depth information, that is, the distance between the user and the robot, you can get The precise positioning of the user in the dining area, that is, the sub-area where the user is located.

In the embodiment of the present invention, the second camera provided on the robot further searches for the target customer to further determine the specific location of the user. As the area that the food delivery robot needs to search becomes smaller, the sight of its binocular camera is less blocked, and it is closer to the target customer, which is conducive to obtaining clearer images and improving the accuracy of face recognition. In addition, the search area becomes smaller, which also shortens the search time, and improves efficiency and user experience.

In some embodiments, please refer to FIG. 5, which is a sub-flow chart of step 130 in the method shown in FIG. 2. The step 130 specifically includes:

Step 131: Plan a meal delivery route according to the current location of the robot and the location of the user.

Step 132: Control the robot to move to the position of the user along the food delivery path.

In the embodiment of the present invention, after searching and locating the user’s location, the robot obtains its current location, plans the food delivery path according to its current location and the user’s location, and controls the robot’s sample food delivery path to move to the user’s location .

In practical applications, since the environment between the robot and the user is usually complex, and other mobile customers, service personnel, animals, robots, etc. are prone to appear, the robot also needs to have certain obstacle avoidance functions.

Specifically, the robot can detect obstacles through sensors, and when encountering obstacles, re-plan the food delivery path. Or, after detecting the obstacle in advance, calculate whether the obstacle will move and the distance moved, and plan the food delivery path according to the movement of the obstacle. For example, all the food delivery robots can share the food delivery path according to the The planned food delivery path determines the current food delivery path of the robot to avoid collisions between the food delivery robots. It can also be a combination of the above two methods.

In some embodiments, please refer to FIG. 6, which shows a flowchart of another method of automatic meal delivery. Based on the method of automatic meal delivery described in FIGS. 2 to 5, the method further includes:

Step 141: When the robot passes the position correction device, read the corrected position from the position correction device.

Step 142: Obtain the current position where the robot itself records.

Step 143: Determine whether the corrected position is the same as the current position. If they are not the same, skip to step 144; if they are the same, skip to step 131.

Step 144: Replace the corrected position with the current position.

As the robot delivers food inside the restaurant, as the number of food deliveries and movement distance increase, its positioning will deviate. Therefore, an embodiment of the present invention also provides a method for correcting the position of a robot. Specifically, when the robot passes through the correcting device, the corrected position is read from the correcting device, and the corrected position is the preset coordinate information of the correcting device on the dining area. When it is determined that the current position of the robot is not the same as the corrected position, it indicates that the robot's own positioning has a deviation. At this time, the corrected position is replaced with the current position to correct the positioning deviation of the robot. After the current position of the robot is corrected, the step 131 is executed, and the food delivery path from the robot to the user is re-planned according to the corrected current position of the robot to ensure that the food can be accurately delivered to the user.

The correction device may be a transmitting device that enables the robot to read information. Correspondingly, a corresponding sensor or other receiving device should be installed on the robot to obtain or read the information of the correction device. For example, the correction device may be a magnetic strip, and the robot is provided with a magnetic sensor accordingly. Alternatively, the calibration device may be a radio frequency tag, and the robot should be provided with a reader/writer accordingly. Specifically, it can be set according to actual needs.

Please refer to FIG. 1 together. In the embodiment of the present invention, the correction device A is taken as an example of a magnetic stripe, and the magnetic stripe is arranged on the dividing line between the sub-regions. The four magnetic stripe divide the dining area exactly There are nine sub-regions (S1, S2...S9), the horizontally placed magnetic stripe A1 and magnetic stripe A2 have horizontal coordinate information, and the vertically placed magnetic stripe A3 and magnetic stripe A4 have horizontal coordinate information. The chassis of the robot is equipped with a magnetic sensor. Whenever the robot passes the boundary between the sub-areas (magnetic stripe A), the robot performs a positioning detection, and the magnetic sensor reads the current coordinate position of the magnetic stripe. Correct the position information of the robot to ensure the accuracy of the robot's operation.

The embodiment of the present invention also provides an automatic meal delivery device. Please refer to FIG. 7, which shows a schematic structural diagram of an automatic meal delivery device. The automatic meal delivery device 200 includes: a receiving module 210, a positioning Module 220 and control module 230.

The receiving module 210 is configured to receive a delivery instruction for delivering meals, wherein the delivery instruction carries the face of the user.

The positioning module 220 is used to locate the position of the user in the dining area in combination with the face of the user.

The control module 230 is used to control the robot to transport the meal to the location of the user.

In some embodiments, the positioning module 220 is also used to obtain an image of the dining area; according to a preset face recognition algorithm and combined with the user's face, search for the user in the image; After the user is searched, the location of the user is located according to a preset binocular stereo vision positioning algorithm.

In some embodiments, the dining area is configured with a first camera, the image is collected by the first camera, the dining area includes at least two sub-areas, and the positioning module 220 is also used for searching After reaching the user, identify the sub-area where the user is located; control the robot to move to the sub-area where the user is located.

In some embodiments, the robot is equipped with a second camera, the second camera is a binocular camera, and the positioning module 220 is further configured to pass the second camera in the sub-area where the user is located, Acquire a depth image containing the user, where the depth image contains the depth information of the user; obtain the current position of the robot and the shooting direction of the second camera; according to the current position of the robot, the The shooting direction of the second camera and the depth information locate the position of the user.

In some embodiments, the positioning module 220 is further configured to obtain the depth image including the face of the user according to the preset face recognition algorithm.

In some embodiments, the control module 230 is further configured to plan a meal delivery path according to the current position of the robot and the location of the user; control the robot to move to the user along the meal delivery path s position.

In some embodiments, the dining area is provided with a position correction device. Please also refer to FIG. 8, which shows a schematic structural diagram of another automatic meal delivery device. The device 200 further includes a correction module 240.

The correction module 240 is used to read the correction position from the position correction device when the robot passes the position correction device; obtain the current position where the robot itself is recorded; determine the correction position Whether it is the same as the current position; if not, replace the corrected position with the current position.

The embodiment of the present invention also provides a robot. Please refer to Fig. 9, which shows the hardware structure of the robot capable of executing the automatic meal delivery method described in Figs. 2-6. The robot 10 may be the robot 10 shown in FIG. 1.

The robot 10 includes: at least one processor 11; and a memory 12 communicatively connected with the at least one processor 11, and one processor 11 is taken as an example in FIG. 9. The memory 12 stores instructions that can be executed by the at least one processor 11, and the instructions are executed by the at least one processor 11, so that the at least one processor 11 can execute the instructions shown in FIGS. 2 to 6 above. The method of automatic meal delivery described above. The processor 11 and the memory 12 may be connected by a bus or in other ways. In FIG. 9, the connection by a bus is taken as an example.

As a non-volatile computer-readable storage medium, the memory 12 can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, as corresponding to the automatic meal delivery method in the embodiment of the present application. Program instructions/modules, for example, the various modules shown in FIG. 7 and FIG. 8. The processor 11 executes various functional applications and data processing of the server by running non-volatile software programs, instructions, and modules stored in the memory 12, that is, realizing the automatic meal delivery method in the foregoing method embodiment.

The memory 12 may include a program storage area and a data storage area. The program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of an automatic meal delivery device. In addition, the memory 12 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 12 may optionally include a memory remotely provided with respect to the processor 11, and these remote memories may be connected to an automatic meal delivery device via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 12, and when executed by the one or more processors 11, the automatic meal delivery method in any of the foregoing method embodiments is executed, for example, the above-described diagram is executed. The method steps from 2 to 6 realize the functions of the modules and units in Figs. 7 to 8.

The above-mentioned products can execute the methods provided in the embodiments of the present application, and have functional modules and beneficial effects corresponding to the execution methods. For technical details that are not described in detail in this embodiment, please refer to the method provided in the embodiment of this application.

The embodiment of the present application also provides a non-volatile computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, for example, The above described method steps in FIGS. 2 to 6 implement the functions of the modules in FIGS. 7 to 8.

The embodiments of the present application also provide a computer program product, including a calculation program stored on a non-volatile computer-readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, cause all The computer executes the automatic meal delivery method in any of the foregoing method embodiments, for example, executes the method steps in FIGS. 2 to 6 described above to realize the functions of the modules in FIGS. 7 to 8.

The embodiment of the present invention provides an automatic meal delivery method applied to a robot. The method receives a delivery instruction for delivering meals, wherein the delivery instruction carries the user's face, and then combines the user's face with the delivery instruction. The face of the user is located in the dining area, and finally, the robot is controlled to deliver the meal to the user’s location. The robot executes the automatic meal delivery method provided in the embodiment of the present invention, and can The food is delivered to the user accurately to improve the user's dining experience.

It should be noted that the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physically separate. Units can be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

Through the description of the above implementation manners, those of ordinary skill in the art can clearly understand that each implementation manner can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. A person of ordinary skill in the art can understand that all or part of the processes in the methods of the foregoing embodiments can be implemented by a computer program instructing relevant hardware. The program can be stored in a computer readable storage medium, and the program can be stored in a computer readable storage medium. When executed, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium can be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; under the idea of the present invention, the technical features of the above embodiments or different embodiments can also be combined. The steps can be implemented in any order, and there are many other variations of the different aspects of the present invention as described above. For the sake of brevity, they are not provided in the details; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art The skilled person should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the implementations of the present invention Examples of the scope of technical solutions.

Claims

An automatic meal delivery method, characterized in that it is applied to a robot, and the method includes:

Receiving a delivery instruction for delivering meals, wherein the delivery instruction carries the face of the user;

Locate the position of the user in the dining area in combination with the face of the user;

The robot is controlled to deliver the meal to the location of the user.
The method of claim 1, wherein:

The step of locating the position of the user in the dining area in combination with the face of the user further includes:

Acquiring an image of the dining area;

Searching for the user in the image according to a preset face recognition algorithm and combining the face of the user;

After the user is searched, the location of the user is located according to a preset binocular stereo vision positioning algorithm.
The method according to claim 2, wherein the dining area is equipped with a first camera, the image is collected by the first camera, and the dining area includes at least two sub-areas;

Before the step of locating the position of the user according to a preset binocular stereo vision positioning algorithm, the method further includes:

After searching for the user, identify the sub-region where the user is located;

Controlling the robot to move to the sub-area where the user is located.
The method according to claim 3, wherein the robot is equipped with a second camera, and the second camera is a binocular camera,

The step of locating the position of the user according to a preset binocular stereo vision positioning algorithm further includes:

Using the second camera to obtain a depth image containing the user in a sub-region where the user is located, where the depth image contains depth information of the user;

Acquiring the current position of the robot and the shooting direction of the second camera;

The position of the user is located according to the current position of the robot, the shooting direction of the second camera, and the depth information.
The method of claim 4, wherein:

The step of obtaining a depth image containing the user further includes:

Acquire the depth image including the face of the user according to the preset face recognition algorithm.
The method according to claim 4 or 5, wherein the step of controlling the robot to transport the meal to the location further comprises:

Plan a meal delivery route according to the current location of the robot and the location of the user;

Controlling the robot to move along the food delivery path to the position of the user.
The method according to claim 6, wherein the dining area is provided with a position correction device;

The method also includes:

When the robot passes the position correction device, read the correction position from the position correction device;

Acquiring the current position recorded by the robot itself;

Determine whether the corrected position is the same as the current position;

If they are not the same, replace the corrected position with the current position.
An automatic meal delivery device, characterized in that it is applied to a robot, and the device includes:

The receiving module is configured to receive a delivery instruction for delivering meals, wherein the delivery instruction carries the face of the user;

The positioning module is used to locate the position of the user in the dining area in combination with the face of the user;

The control module is used to control the robot to transport the food to the location of the user.
A robot, characterized in that it comprises:

At least one processor; and,

A memory communicatively connected with the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute any one of claims 1-7 Methods.
A computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to make a computer execute the method according to any one of claims 1-7 .