Multi-protocol fusion-based multi-type catering robot cooperative control system and method

Abstract

The invention belongs to the field of intelligent service robots, and discloses a multi-type catering robot cooperative control system and method based on multi-protocol fusion, and the system comprises a combined controller, a heterogeneous protocol interconnection module, an environment sensing module, an intelligent agent cooperative scheduling module, a power energy module, a man-machine interaction module, and a navigation obstacle avoidance module. The combined controller is in wired connection with the meal making robot and is in wireless communication connection with the meal delivery robot controller through the wireless remote control module; the heterogeneous protocol interconnection module comprises a multi-protocol fusion multi-layer PCB control function board, a WIFI communication interface, a Bluetooth communication interface, a Zigbee communication interface, a 5G communication interface, an ROS 2 communication interface and an MQTT communication interface. According to the system, heterogeneous equipment interconnection is realized through a multi-protocol fusion technology, the system is suitable for efficient communication interaction and remote real-time control of multiple types of robots in the catering service environment, and the actual application requirements of people in the catering service environment are met.

Description

Technical Field

[0001] The present invention relates to the field of intelligent service robots, and in particular to a collaborative control system and method for multi-type catering robots based on multi-protocol fusion. Background Art

[0002] Food preparation robots (such as cocktail robots, bartender robots, chef robots, etc.) are responsible for preparing the drinks, meals and other dishes ordered by the guests or placing the dishes on the plates held by the food delivery robots, which are responsible for delivering the dishes to the guests' tables.

[0003] In the Chinese invention patent application with patent application number 202311597756.4, an automatic food delivery device and a food delivery robot are proposed. In the Chinese invention patent application number 201811592449.6, an intelligent wine and beverage robot and a wine and beverage providing method thereof are proposed. The food delivery robots and wine and beverage robots in the above two patents have the following defects when used in coordination: First, the food delivery robot and the wine and beverage robot lack a common language - "communication protocol", and can only work independently. The coordination between the two requires staff operation. The staff needs to operate the wine and beverage robot first, and after the wine and beverage robot completes the action of placing the food, the staff will operate the food delivery robot, which greatly increases the workload of the staff; second, in the absence of signal interaction to ensure safety, the food delivery robot and the wine and beverage robot cannot be remotely controlled in real time, and the staff needs to operate the robot body, and there is no unified scheduling and control "brain". Summary of the Invention

[0004] The main technical problem to be solved by the present invention is to provide a collaborative control system and method for multiple types of catering robots based on multi-protocol fusion, which realizes the interconnection of heterogeneous devices through multi-protocol fusion technology, and is suitable for efficient communication interaction and remote real-time control of multiple types of robots in catering service environments, meeting the actual application needs of people in catering service environments.

[0005] In order to solve the above technical problems, the present invention provides a first technical solution as follows: A multi-type catering robot collaborative control system based on multi-protocol fusion, including a joint controller, a heterogeneous protocol interconnection module, an environmental perception module, an intelligent agent collaborative scheduling module, a power energy module, a human-computer interaction module, and a navigation and obstacle avoidance module; The joint controller is connected to the meal preparation robot by wire, and is wirelessly connected to the meal delivery robot controller via a wireless remote control module; The heterogeneous protocol interconnection module includes a multi-protocol fusion multi-layer PCB control function board electrically connected to the joint controller. The multi-protocol fusion multi-layer PCB control function board is equipped with a WIFI communication interface, a Bluetooth communication interface, a Zigbee communication interface, a 5G communication interface, a ROS2 communication interface, and an MQTT communication interface.

[0006] The following is a further optimization of the above technical solution by the present invention: The wireless remote control module includes a first wireless controller and a second wireless controller. The first wireless controller is connected to the joint controller via a wired manner, the second wireless controller is connected to the food delivery robot controller via a wired manner, and the first wireless controller is connected to the second wireless controller via a wireless manner.

[0007] Further optimization: The environmental perception module includes a perception main control board electrically connected to the joint controller, and the perception main control board is equipped with an environmental detection switch, an obstacle avoidance switch, a proximity switch and a photoelectric switch.

[0008] Further optimization: The navigation and obstacle avoidance module includes a laser radar, a visual camera, a microphone, an ultrasonic sensor and an inertial measurement unit arranged on the food delivery robot. The laser radar, the visual camera, the microphone, the ultrasonic sensor and the inertial measurement unit are all connected to the perception main control board by wire.

[0009] Further optimization: The intelligent agent collaborative scheduling module includes an intelligent agent collaborative circuit board connected to the joint controller, and the intelligent agent collaborative circuit board is equipped with a scheduling unit.

[0010] Further optimization: The power energy module includes a battery unit, the input end of the battery unit is connected to the charging unit, and the output end of the battery unit is connected to the environmental perception power supply unit, the food delivery robot power supply unit and the circuit board power supply unit.

[0011] Further optimization: the human-computer interaction module includes a display, which is connected to the joint controller.

[0012] Further optimization: the display is provided with a display screen, a selection key, an order confirmation key, a payment process key, a warm reminder key and other service keys.

[0013] In order to solve the above technical problems, the present invention provides a first technical solution as follows: A control method for a multi-type catering robot collaborative control system based on multi-protocol fusion, characterized by the following detailed steps: S1. Start the collaborative control system and keep it running. S2. Determine whether the person ordering the meal has reserved a set meal in advance; S3. If the set meal is not booked in advance, the order taker can place the order directly on site; S4. The joint controller issues corresponding instructions and controls the food delivery robot to complete the corresponding action requirements; S5. The food delivery robot delivers the food to the designated location number and then returns to the standby origin position by default.

[0014] The following is a further optimization of the above technical solution by the present invention: The specific steps of the food delivery robot control method in step S5 are as follows: S501: The joint controller issues corresponding production instructions based on the meal information and issues a "meal delivery robot returns to the table" instruction to the meal delivery robot; S502: The food delivery robot receives the instruction and returns to the food receiving position, and sends a signal to the joint controller indicating that the food delivery robot is now available to receive food. S503: The joint controller cooperates with the meal preparation robot to complete the meal placement process; S504: The joint controller sends a "meal delivery completed, ready to go" command to the food delivery robot and sends the corresponding table number of the person who ordered the food; S505: The food delivery robot delivers food in sequence according to the received table information and returns to the food receiving area after completion; S506: Before returning to the meal receiving area, the delivery robot sends a signal to the joint controller stating that the delivery robot is requesting to enter the meal receiving area. After the joint controller determines that there is no interference, it sends a command to the delivery robot stating that the delivery robot is allowed to enter the meal receiving area. S507: After the food delivery robot receives the food receiving area, it sends a signal to the joint controller that “the food delivery robot can now receive food”, and then the cycle is repeated.

[0015] The present invention adopts the above technical solution and has the following beneficial effects: 1. It has the function of interconnecting heterogeneous systems. It intelligently converts multiple communication protocols through the heterogeneous protocol interconnection module, successfully unifying the communication protocols between different robot systems. It effectively overcomes the long-standing problem of heterogeneous protocols caused by the single and incompatible communication protocols used by various robots and the difficulty in adapting to equipment from other manufacturers. It completely breaks the barriers to collaborative control between different types of robots, and enables different robots to smoothly achieve effective signal interaction and seamless transmission of program instructions.

[0016] 2. Equipped with high-precision navigation and rapid obstacle avoidance structure, it uses advanced sensors such as laser radar and visual cameras integrated on the robot body to perform millisecond-level real-time scanning of the travel path and dynamically change the three-dimensional trajectory map.

[0017] It also works closely with the environmental perception module and uses a multimodal fusion algorithm to comprehensively detect dynamic obstacles in the path. It can not only accurately identify the obstacle type and motion trajectory, but also measure the relative distance between the robot and the obstacle and the speed change in real time.

[0018] This effectively solves the navigation failure problem caused by traditional robots' reliance on static preset maps. Through dynamic environment modeling and real-time path planning, it achieves centimeter-level positioning accuracy and millisecond-level obstacle avoidance response, ensuring that the robot can still maintain efficient and safe operation in complex scenarios.

[0019] 3. The intelligent collaborative scheduling module uses multi-level strategies to efficiently collaborate, builds a dynamic task allocation engine based on a distributed decision-making architecture, and integrates model predictive control (MPC) and distributed reinforcement learning (MARL) mechanisms. It can also perceive the spatial position and task status of multiple robots in real time, and generate conflict-free paths through a spatiotemporal path planning algorithm. This solves the problem that traditional scheduling algorithms (such as fixed path planning) are difficult to cope with sudden obstacles or urgent orders and are prone to path conflicts or resource competition, thereby improving the efficiency of dynamic task allocation.

[0020] On the one hand, the rolling optimization characteristics of the model predictive control (MPC) mechanism can be used to predict the robot's future trajectory, dynamically adjust the path curvature and speed parameters to avoid potential dangers, and prevent collisions between delivery robots; on the other hand, with the help of the distributed decision-making capabilities of the distributed reinforcement learning (MARL) mechanism, the optimal food preparation and delivery task sequence is assigned to each robot based on multi-dimensional constraints such as order priority, the kitchen's food delivery rhythm, and the waiting time of the person who ordered the food.

[0021] 4. The intelligent collaborative scheduling module adopts a dual-track scheduling architecture to achieve efficient collaboration between order management and distributed task scheduling. It can make optimal allocations through the Hungarian algorithm when the robot tasks are fully loaded, and stimulate competitive task responses of idle robots through a dynamic auction mechanism.

[0022] For urgent order scenarios, a three-level interruption priority strategy is deployed - "preemptive scheduling - flexible adjustment - optimal planning". Preemptive scheduling is initiated for special orders such as VIP customers and emergency allergen processing, and flexible time window adjustment is adopted for expedited orders. For ordinary order scenarios, the optimal planned path is followed under time and space constraints.

[0023] Moreover, it can also divide key resources such as shared channels and charging stations into dynamically allocated time-space resource blocks. Combined with the robot's real-time posture and task timing, resource reservation and conflict resolution can be achieved through a distributed negotiation protocol, thereby significantly improving the task scheduling flexibility and system robustness in complex catering service scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 This is a connection diagram of the collaborative control system in Example 1 of the present invention; Figure 2 Schematic diagram of a heterogeneous protocol interconnection module in Embodiment 1 of the present invention; Figure 3 Schematic diagram of the environment perception module and the navigation and obstacle avoidance module in the first embodiment of the present invention; Figure 4 Schematic diagram of the scheduling architecture of the agent collaborative scheduling module in the first embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the power energy module in the first embodiment of the present invention; Figure 6 Schematic diagram of the structure of the human-computer interaction module in the first embodiment of the present invention; Figure 7 This is a flowchart of a collaborative control system control method in Embodiment 2 of the present invention; Figure 8 This is a schematic diagram of the connection between the input terminal of the joint controller and the food delivery robot through the wireless remote control module in the second embodiment of the present invention; Figure 9 This is a schematic diagram of the wiring connection between the output end of the joint controller and the food delivery robot through the wireless remote control module in Example 2 of the present invention.

[0026] In the figure: 1. Joint controller; 2. Heterogeneous protocol interconnection module; 201. Multi-protocol fusion multi-layer PCB control function board; 202. WIFI communication interface; 203. Bluetooth communication interface; 204. Zigbee communication interface; 205. 5G communication interface; 206. ROS2 communication interface; 207. MQTT communication interface; 3. Environmental perception module; 301. Perception main control board; 302. Environmental detection switch; 303. Obstacle avoidance switch; 304. Proximity switch; 305. Photoelectric switch; 4. Intelligent body collaborative scheduling module; 401. Intelligent body collaborative circuit board; 402. Scheduling unit; 5. Power energy module; 501. Battery unit; 502. Charging unit; 503 , overheating protection unit; 504, fast charging drive unit; 505, environmental perception power supply unit; 506, food delivery robot power supply unit; 507, circuit board power supply unit; 6, human-computer interaction module; 601, display; 602, display screen; 603, selection key; 604, order confirmation key; 605, payment process key; 606, warm reminder key; 607, other service key; 7, navigation and obstacle avoidance module; 701, laser radar; 702, visual camera; 703, microphone; 704, ultrasonic sensor; 705, inertial measurement unit; 8, food preparation robot; 9, wireless remote control module; 901, first wireless controller; 902, second wireless controller; 10, food delivery robot. DETAILED DESCRIPTION

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0028] Example 1 like Figures 1-6 As shown together, a multi-type catering robot collaborative control system based on multi-protocol fusion includes a joint controller 1, a heterogeneous protocol interconnection module 2, an environmental perception module 3, an intelligent body collaborative scheduling module 4, a power energy module 5, a human-computer interaction module 6 and a navigation and obstacle avoidance module 7.

[0029] In this embodiment, the interconnection of heterogeneous devices is achieved through multi-protocol fusion technology, and the service efficiency is optimized in combination with a distributed decision-making algorithm, making the present invention suitable for efficient communication and interaction of multiple types of robots in catering service scenarios. It has high compatibility and can coordinate task scheduling, improve multiple security guarantees, and can also perform dynamic path planning and cross-platform communication.

[0030] In the following content, the collaborative control between the meal preparation robot 8 and the meal delivery robot 10 is taken as an example.

[0031] like Figure 1 As shown, the joint controller 1, as the core control element of the collaborative control system, can realize the execution of multi-threaded, highly complex, and multi-tasking tasks simultaneously, and can adopt an industrial-grade PC controller.

[0032] In this embodiment, the joint controller 1 can be equipped with a multi-core processor (Intel Core i7 / i9 and other models of multi-core processors can be used), a graphics card (GeForce RTX 30 series graphics card produced by NVIDIA can be used), memory (16GB and above of high-frequency memory can be used), a solid-state drive, an I / O module, a data acquisition card and other electrical components, and the installation structure, connection relationship and principle of each electrical component on the rack are all existing technologies, which are well known to ordinary technicians in this field and will not be repeated here.

[0033] In this embodiment, in order to ensure the long-term operation of the present invention, the electrical components in the joint controller 1 are all industrial-grade components with a mean time between failures (MTBF) of more than 20,000 hours, supporting 7*24 hours continuous operation.

[0034] In this embodiment, a reinforcement structure and a shock-absorbing component may be further provided inside the joint controller 1 (the reinforcement structure and the shock-absorbing component may both adopt structures well known to those skilled in the art) so that the present invention can adapt to mechanical vibration scenarios.

[0035] The joint controller 1 is connected to the meal-making robot 8 via a wired connection.

[0036] like Figure 8 and Figure 9 As shown together, the joint controller 1 and the wireless remote control module 9 are wirelessly connected to the controller of the food delivery robot 10.

[0037] Among them, the wireless remote control module 9 includes a first wireless controller 901 and a second wireless controller 902. The first wireless controller 901 is communicated with the joint controller 1 via a wired manner, and the second wireless controller 902 is communicated with the controller of the food delivery robot 10 via a wired manner. The first wireless controller 901 is communicated with the second wireless controller 902 via a wireless manner.

[0038] In this embodiment, the first wireless controller 901 and the second wireless controller 902 can both be wireless switch controllers of the type DW-J01-8 / 8 produced by Shenzhen Dawei Zhitong Technology Co., Ltd.

[0039] In this embodiment, the input of the first wireless controller 901 is the output of the second wireless controller 902 , and similarly, the input of the second wireless controller 902 is the output of the first wireless controller 901 .

[0040] The output signal of the joint controller 1 is sent to the input end of the first wireless controller 901 via a wired manner, and the input end of the first wireless controller 901 is transmitted to the output end of the second wireless controller 902 via a wireless manner. The output end of the second wireless controller 902 is connected to the input end of the controller of the food delivery robot 10 via a wired manner, thereby realizing the control of the food delivery robot 10 by the joint controller 1, and similarly, the control of the food delivery robot 10 by the joint controller 1 is also realized.

[0041] The meal-preparing robot 8 is also controlled by the joint controller 1. The data communication and settings of the joint controller 1 are all carried out through RS485 wired mode. The meal-delivering robot 10 is mobile and the path of each movement may be different. Therefore, it is not feasible to use a wired connection. Therefore, the joint controller 1 is wirelessly connected to the controller of the meal-delivering robot 10 to realize the wireless communication function between the two.

[0042] This realizes a wireless transmission communication mode between the meal preparation robot 8 and the meal delivery robot 10, which not only reduces hard-wired wiring, but also avoids interference between the meal preparation robot 8 and the meal delivery robot 10.

[0043] like Figure 1 and Figure 2 As shown in common, the heterogeneous protocol interconnection module 2 includes a multi-protocol fusion multi-layer PCB control function board 201 electrically connected to the joint controller 1, and the multi-protocol fusion multi-layer PCB control function board 201 is equipped with a WIFI communication interface 202, a Bluetooth communication interface 203, a Zigbee communication interface 204, a 5G communication interface 205, a ROS2 communication interface 206, and an MQTT communication interface 207.

[0044] In this embodiment, the multi-protocol fusion multi-layer PCB control function board 201 includes a multi-layer PCB board, a protocol conversion chip, a microcontroller, a power management module, and an input and output module, etc. The structure, installation relationship and principle between each part belong to the existing technology and are well known to ordinary technicians in this field, so they will not be repeated here.

[0045] In this embodiment, the multi-layer PCB board is composed of seven PCB boards - a WiFi circuit board, a Bluetooth circuit board, a Zigbee circuit board, a 5G circuit board, a ROS2 circuit board, an MQTT circuit board and a power management board.

[0046] Through the mutual cooperation between the WIFI circuit board, Bluetooth circuit board, Zigbee circuit board, 5G circuit board, ROS2 circuit board and MQTT circuit board, the communication protocols between different types of robots can be processed in a unified manner, enabling effective signal interaction and program instruction transmission between different types of robots.

[0047] In this embodiment, the ROS2 circuit board is used as the main control board, and is connected to other circuit boards through the ROS2 communication interface 206 (such as an Ethernet interface or a USB interface), thereby realizing the conversion of different communication protocol signals and data scheduling.

[0048] The WIFI circuit board is connected to the ROS2 circuit board (main control board) via the WIFI communication interface 202 (e.g., SPI interface, USRT interface) to upload data to the cloud or receive remote commands, and the WIFI module thereon (e.g., the ESP32 wireless communication module produced by Espressif Systems (Shanghai) Co., Ltd.) communicates with the external network via the antenna.

[0049] The Bluetooth circuit board communicates via the Bluetooth communication interface 203 (eg, UART interface, I 2 C interface) is connected to the ROS2 circuit board to support long-distance device interconnection, and the Bluetooth module on it (such as the CC2541 Bluetooth module produced by Chengdu Yibite Electronic Technology Co., Ltd.) communicates with the external network through the antenna.

[0050] The Zigbee circuit board is connected to the ROS2 circuit board via the Zigbee communication interface 204 (eg, UART interface, SPI interface), and the Zigbee module thereon (eg, CC2530 Zigbee networking module produced by Shenzhen Silicon Transmission Technology Co., Ltd.) communicates with the terminal node via the antenna.

[0051] The 5G circuit board is connected to the ROS2 circuit board via a 5G communication interface 205 (e.g., a PCIe interface or a USB interface), and the 5G module on the circuit board (e.g., a QuectlRM500Q 5G communication module manufactured by Shanghai Quectel Communications Technology Co., Ltd.) communicates with the base station via an antenna. The MQTT circuit board is connected to the ROS2 circuit board through the MQTT communication interface 207 (such as UART interface, Ethernet interface), and the MQTT module on it (such as the EMQXMQTT service module of Hangzhou Yingyun Technology Co., Ltd.) is responsible for message routing and distribution, supporting the connection of massive devices.

[0052] The power management board is connected to the power energy module 5 and provides stable power to each circuit board.

[0053] In this embodiment, the heterogeneous protocol interconnection module 2 establishes a multi-protocol fusion communication architecture, adopts the ROS2 industrial-grade control board or equivalent middleware, and builds a unified topic (Topic) and service (Service) interface, thereby effectively shielding the differences in the underlying communication protocols and providing a standardized communication interface for cross-manufacturer devices.

[0054] At the same time, the multi-protocol fusion multi-layer PCB control function board 201 integrates a bidirectional protocol conversion engine, which supports the seamless conversion of private industrial protocols such as ABB Robot Web Services and URScript into the ROS2 Action standard protocol, and realizes transparent interconnection of heterogeneous protocols through a protocol conversion gateway (not shown in the figure), ensuring the real-time command (millisecond-level delay) of the message queue to achieve multi-protocol fusion communication.

[0055] From the above, it can be seen that the heterogeneous protocol interconnection module 2 has the function of interconnecting heterogeneous systems, can intelligently convert multiple communication protocols, and successfully unify the communication protocols between different robot systems, effectively overcoming the collaborative tinkering problems caused by the closed protocols of traditional robot systems, thereby completely breaking the barriers to collaborative control between different types of robots. It also realizes cross-platform communication and university collaboration of multiple types of robots in catering service scenarios through the dual guarantees of standardized protocol stack and distributed message bus, so that different robots can smoothly realize effective signal interaction and seamless transmission of program instructions.

[0056] like Figure 1 and Figure 3 As shown together, the environment perception module 3 includes a perception main control board 301 electrically connected to the joint controller 1 .

[0057] In this embodiment, the environmental perception module 3 always plays a vital role as a "safety protection barrier", always maintains a real-time scanning instruction state, and monitors the environment around the food delivery robot 10 in real time, providing accurate environmental information for the collaborative control system, ensuring the safety of personnel and equipment in the surrounding environment, and continuously safeguarding the safe operation of the food delivery robot 10.

[0058] When the food delivery robot 10 is performing its tasks, once the environmental perception module 3 detects an obstacle ahead, it will be triggered immediately, causing the food delivery robot 10 to stop moving quickly and emit a clear and loud voice alarm sound at the same time to remind people around to pay attention to safety.

[0059] The sensing main control board 301 is equipped with an environment detection switch 302 , an obstacle avoidance switch 303 , a proximity switch 304 and a photoelectric switch 305 .

[0060] In this embodiment, the environmental perception module 3 is integrated by the fusion of multiple sensors. By loading various signal access terminals, network interfaces, RS485, camera interfaces, radar interfaces, etc. on the perception main control board 301, signal integration control is facilitated.

[0061] In this embodiment, the environmental detection switch 302 includes six detection switches of temperature, humidity, specific sound detection, etc., which can display the ambient temperature and humidity in the catering service scene, recognize the voice of the staff, and monitor the status of the robot (such as battery power, robotic arm status, tray load, etc.).

[0062] The navigation and obstacle avoidance module 7 includes a laser radar 701, a visual camera 702, a microphone 703, an ultrasonic sensor 704 and an inertial measurement unit 705 arranged on the food delivery robot 10. The laser radar 701, the visual camera 702, the microphone 703, the ultrasonic sensor 704 and the inertial measurement unit 705 are all connected to the perception main control board 301 by wire.

[0063] In this embodiment, taking the food delivery robot 10 as an example, the laser radar 701 , the visual camera 702 , the microphone 703 , the ultrasonic sensor 704 and the inertial measurement unit 705 are all installed on the food delivery robot 10 .

[0064] In this embodiment, the food delivery robot 10, with the help of the laser radar 701 and the visual camera 702, can realize autonomous path planning in the complex environment of the restaurant, accurately identify and cleverly avoid various obstacles, and ensure the safety and efficiency of the food delivery process.

[0065] In this embodiment, the laser radar 701 can adopt the RPLIDAR series 360° laser scanning ranging radar produced by Shanghai Silan Technology Co., Ltd.

[0066] The visual camera 702 may be a DS-2DV6804JXB-R stereo vision camera produced by Hangzhou Hikvision Digital Technology Co., Ltd.

[0067] In this embodiment, advanced sensors such as the laser radar 701 and the visual camera 702 integrated on the robot body are used to perform real-time scanning of the travel path at the millisecond level and dynamically change the three-dimensional trajectory map.

[0068] It can also deeply collaborate with the environmental perception module 3 and use a multimodal fusion algorithm to comprehensively detect dynamic obstacles in the path. It can not only accurately identify the obstacle type and motion trajectory, but also measure the relative distance between the robot and the obstacle and the speed change in real time.

[0069] This effectively solves the navigation failure problem caused by traditional robots' reliance on static preset maps. Through dynamic environment modeling and real-time path planning, it achieves centimeter-level positioning accuracy and millisecond-level obstacle avoidance response, ensuring that the robot can still maintain efficient and safe operation in complex scenarios.

[0070] In this embodiment, the microphone 703 may be a Lingyun microphone array sound card produced by Beijing Jietong Huasheng Technology Co., Ltd.

[0071] In this embodiment, when the robot encounters a dynamic obstacle during the delivery process, it can actively issue a voice prompt, such as "Please make way, I am delivering food", to prompt customers to make way for the robot, thereby improving delivery efficiency.

[0072] The ultrasonic sensor 704 may be a JSN-SR04T-3.0 ultrasonic obstacle avoidance and ranging module produced by Changzhou Mainuoshi Electronics Co., Ltd.

[0073] The inertial measurement unit 705 may be an inertial measurement unit of the PA-IMU48B model produced by Xi'an Precision Measurement and Control Co., Ltd.

[0074] In this embodiment, the ultrasonic sensor 704 and the inertial measurement unit 705 are used to establish a hard-wired safety link with the obstacle avoidance switch 303 via a twisted-pair shielded cable, thereby achieving emergency braking triggering with a millimeter-level response.

[0075] When the robot encounters problems such as mirrors or reflections during movement, the collaborative control system immediately activates the four-modal collaborative decision-making architecture - lidar 701, visual camera 702, ultrasonic sensor 704 and inertial measurement unit 705.

[0076] The laser radar 701 is used to identify the spatial outline of the obstacle, the photos taken by the visual camera 702 are used to determine the material of the obstacle, the inertial measurement unit 705 is used to determine whether the obstacle is a dynamic obstacle, and the ultrasonic sensor 704 is used to continuously output ranging data.

[0077] like Figure 1 and Figure 4 As shown together, the agent collaborative scheduling module 4 includes an agent collaborative circuit board 401 connected to the joint controller 1 , and the agent collaborative circuit board 401 is equipped with a scheduling unit 402 .

[0078] In this embodiment, the scheduling unit 402 relies on the model predictive control (MPC) and distributed reinforcement learning (MARL) mechanism to realize the intelligent dynamic task allocation of the food delivery robot 10 and the food preparation robot 8. It can not only optimize the food delivery path of the food delivery robot 10 according to the implementation conditions, ensuring that the food delivery robot 10 performs tasks efficiently along the optimal path, but also accurately adjust the task priority of the food preparation robot 8 to improve the overall operating efficiency.

[0079] At the same time, the scheduling unit 402 demonstrates high flexibility and intelligence in task scheduling. When the task load of the food delivery robot 10 and the food preparation robot 8 reaches saturation or multiple robots are idle, the scheduling unit 402 can adopt efficient strategies such as the Hungarian algorithm or auction mechanism to dynamically optimize the allocation of newly received food preparation and delivery tasks, effectively avoiding task conflicts and resource competition between robots, and ensuring the smooth execution of tasks.

[0080] Moreover, the scheduling unit 402 solves the path conflict problem that may occur among multiple food delivery robots 10 by setting a "time window", further improving the stability and reliability of the collaborative control system.

[0081] In addition, the scheduling unit 402 also has a built-in interrupt priority policy insertion function, which enables the system to quickly identify and process important and urgent orders (such as VIP customer orders, special orders, etc.), thereby ensuring that these critical tasks can be handled in a timely and efficient manner through preemptive priority scheduling, thereby greatly improving customer satisfaction and the system's emergency response capabilities.

[0082] That is to say, when the food delivery robot 10 is executing ordinary instructions, if the collaborative control system issues an interrupt instruction or a priority control instruction, the food delivery robot 10 immediately stops the currently executing action and gives priority to the newly received instructions, ensuring that when an emergency or high-priority task occurs, the food delivery robot 10 can quickly adjust its working status to ensure the stable operation and efficient service of the overall system.

[0083] like Figure 5 As shown, the power energy module 5 includes a battery unit 501.

[0084] In this embodiment, the battery unit 501 can adopt lithium-ion batteries, sodium-ion batteries, solid-state batteries, fuel cells, lead-acid batteries, etc., and different power supply solutions can be customized according to the size of different restaurants, cost control and customer application requirements.

[0085] The input end of the battery unit 501 is connected to the charging unit 502 , and the output end of the battery unit 501 is connected to the environment perception power supply unit 505 , the food delivery robot power supply unit 506 and the circuit board power supply unit 507 .

[0086] In this embodiment, the power energy module 5 can adopt the popular high-voltage 800V fast charging platform on the market, which has the characteristics of high energy density, light weight and long cycle life.

[0087] The battery unit 501 can output 5V power, 12V power, 24V power, and 220V power.

[0088] The battery unit 501 outputs 5V power to the environment sensing power supply unit 505, which is used to power the environment sensing module 3; The battery unit 501 outputs 12V power to the circuit board power supply unit 507, which is used to power all the circuit boards in the present invention. The battery unit 501 outputs 24V power to the food delivery robot power supply unit 506 , which is used to connect the circuit system of the food delivery robot 10 to provide power for the movement of the food delivery robot 10 .

[0089] An overheat protection unit 503 and a fast charge driving unit 504 are connected between the input end of the battery unit 501 and the charging unit 502 .

[0090] In this embodiment, the fast charging drive unit 504 is configured to charge the battery unit 501 at high speed. After charging for 30 seconds, the battery life can reach 3 hours, thus providing energy and logistical support for the food delivery robot 10.

[0091] In this embodiment, the setting of the overheating protection unit 503 realizes efficient heat dissipation protection assistance for the battery cell 501. When the temperature of the battery cell 501 is too high, the overheating protection unit 503 can immediately cut off the charging circuit of the battery cell 501, avoiding damage to the battery cell 501 due to overheating.

[0092] like Figure 6 As shown, the human-computer interaction module 6 includes a display 601 , which is connected to the joint controller 1 .

[0093] In this embodiment, the display 601 can be an LCD touch display, which is installed on the chest of the food delivery robot 10.

[0094] The display 601 is configured to enable intelligent dialogue between the person taking the order and the food delivery robot 10, and can also display advertisements, food and beverage product recommendations, entertainment displays, etc.

[0095] like Figure 5 As shown, the display 601 is provided with a display screen 602, a selection key 603, an order confirmation key 604, a payment process key 605, a warm reminder key 606 and other service keys 607.

[0096] In this embodiment, the display screen 602 may display the table number, meal information, ordering instructions, and recommended meal packages.

[0097] When the person taking the order clicks on the "Order Guidance", the food delivery robot 10 uses "Natural Language Processing (NLP) technology" to interact intelligently with the person taking the order, accurately responding to dish information, recommending meal packages, and carefully reminding the person of possible allergens in the food, bringing a caring and safe ordering experience to the person taking the order.

[0098] When ordering, the person taking the order can click on his or her corresponding table number and select his or her favorite dishes or recommended meal sets. After completing the selection, the person taking the order can press the order confirmation key 604 to confirm the order.

[0099] In addition, the person taking the order can also browse the menu and select his / her favorite dishes by sliding the display screen 602, and can input special requirements according to his / her needs (such as needing takeout, less spicy, etc.).

[0100] In this embodiment, the other service keys 607 include multiple service keys with different functions, such as a game entertainment key, a dance performance key, an advertising display key, an experience survey key, etc. If the person taking the order presses the dance performance key, the food delivery robot 10 can complete preset actions (such as waving the robotic arm, light show, etc.) in coordination with the music; if the experience survey key is pressed, a questionnaire pop-up window can be displayed on the display screen 602 to collect the satisfaction evaluation of the person taking the order.

[0101] Example 2 like Figure 7 As shown in the figure, a control method for a multi-type catering robot collaborative control system based on multi-protocol fusion is shown in the figure. The detailed steps are as follows: S1. Control the above-mentioned collaborative control system to start and keep it running.

[0102] In this embodiment, the power energy module 5 accurately and stably supplies the required 24V power, 12V power and 5V power to the joint controller 1, ensuring the reliability and adaptability of the energy supply of the entire system.

[0103] Restaurant staff or system maintenance workers will start the food delivery robot 10, the food preparation robot 8 and the above-mentioned collaborative control system in sequence according to their own needs and in accordance with correct, standardized and safe operating procedures. After startup, these devices and systems will always maintain an efficient operating state, providing solid protection for the daily operation of the restaurant.

[0104] When the collaborative control system is successfully started, with the collaborative assistance of the heterogeneous protocol interconnection module 2 and the environmental perception module 3, the human-computer interaction module 6 converts and transmits information between different devices and systems. Through this efficient "communication language translation" function, the human-computer interaction module 6 becomes the key hub for the joint controller 1 to receive and send information instructions, ensuring that the entire system can run smoothly and accurately.

[0105] At this time, an efficient and smooth dialogue communication mode can be started between the person taking the order and the food delivery robot 10. With the help of the clear and intuitive display 601 and clear and accurate broadcast instructions, the person taking the order can easily convey the operations he or she expects to perform, such as confirming the order, replenishing the food and other service needs.

[0106] S2. Determine whether the person who ordered the meal has reserved the set meal in advance.

[0107] In this embodiment, the joint controller 1 uses the display 601 to conduct friendly and convenient human-computer communication with the person who orders the meal, and confirms whether the person who orders the meal has reserved the meal in advance.

[0108] If a meal set has been booked in advance, the joint controller 1 will respond quickly and issue corresponding instructions accurately and efficiently based on the reservation information provided by the person taking the order, ensuring the smooth progress of subsequent processes.

[0109] S3. If the set meal is not booked in advance, the person taking the order will place the order on site in real time.

[0110] In this embodiment, if no meal set is reserved in advance, the display screen 602 will jump to the on-site real-time ordering interface to guide the person taking the order to complete the ordering operation step by step.

[0111] At the same time, the person taking the order only needs to select the corresponding command button on the interface according to personal preferences to complete operations such as meal selection and taste preference setting.

[0112] At this time, the heterogeneous protocol interconnection module 2 can quickly and accurately convert the data entered by the ordering person into task instructions that can be recognized by the food delivery robot 10 and the food preparation robot 8, ensuring the smooth connection of subsequent food preparation and delivery work.

[0113] S4. The joint controller 1 issues corresponding instructions and controls the food delivery robot 10 to complete the corresponding action requirements.

[0114] Once the data information conveyed by the human-computer interaction module 6 is received, such as "advertising display" to create a restaurant atmosphere, "game entertainment" to increase the fun of dining, "experience survey" to collect customer feedback, "dance performance" to liven up the atmosphere, and "payment process" and "order confirmation" involving transaction processes, as well as "service call" to optimize service efficiency, "meal information" to convey meal information, "order guide", "recommended set meal", and "table delivery tasks" and "delivery completion return instructions" directly related to the delivery service, the joint controller 1 will quickly and accurately convey these instructions to the corresponding motion control unit of the delivery robot 10.

[0115] After receiving the instruction, the motion control unit of the food delivery robot 10 immediately starts the corresponding action execution program and completes various tasks in strict accordance with the instruction requirements to ensure the smooth progress of the food delivery service.

[0116] S5. The food delivery robot 10 delivers the food to the designated location number, and then returns to the standby origin position by default.

[0117] In this embodiment, the charging pile position is generally set to zero point.

[0118] In this embodiment, the food delivery robot 10 can also wait at the dining table. The person taking the order sends other instruction information through the human-computer interaction module 6. If the robot does not receive any other signal, it enters the waiting state.

[0119] Furthermore, the food delivery robot 10 possesses powerful self-learning and data feedback capabilities. Driven by the collaborative efforts of the environmental perception module 3 and the self-learning control mechanism, the collaborative control system continuously conducts in-depth analysis of various data during operation.

[0120] During the execution of the above steps S1-S5, the collaborative control system will capture the rich information collected by the environmental perception module 3 in real time. This information covers various dynamic data such as the flow of people in the restaurant, changes in the layout of tables and chairs, and the location of obstacles. Based on this data, the collaborative control system accurately generates compensation data and promptly feeds it back to the joint controller 1.

[0121] The joint controller 1 optimizes and adjusts the collaborative control system based on the feedback data information. Through this continuous self-learning and data feedback mechanism, the collaborative control system can continuously adapt to changes in the restaurant environment, improve the accuracy, efficiency and safety of food delivery, and bring customers a better quality and smart dining service experience.

[0122] Leveraging a heterogeneous interconnected architecture and a comprehensive environmental perception system, this invention successfully achieves efficient communication and precise command control between diners, food delivery robots 10, and food preparation robots 8. The entire collaborative control system operates smoothly, with each link working in close coordination, bringing a new intelligent and efficient experience to restaurant service.

[0123] The specific steps of the food delivery control method of the food delivery robot 10 in step S5 are as follows: S501. The joint controller 1 issues corresponding production instructions based on the meal information, and sends an instruction to the meal delivery robot 10 that "the meal delivery robot 10 returns to take over the meal seat."

[0124] First, the person taking the order selects the food (e.g., coffee, cola, etc.) and the quantity of the corresponding food on the display screen 602 on the chest of the food delivery robot 10, and selects his or her table number (e.g., 1, 2, 3, 4...), and then presses the order confirmation button 604 to complete the ordering process.

[0125] S502. The food delivery robot 10 receives the instruction and returns to the food receiving position, and sends a signal to the joint controller 1 that "the food delivery robot 10 is now available to receive food."

[0126] S503: The joint controller 1 cooperates with the meal preparation robot 8 to complete the meal placing process.

[0127] S504. The joint controller 1 sends a command to the food delivery robot 10, "The food has been placed, you can go." It also sends the table number corresponding to the person who ordered the food.

[0128] S505. The food delivery robot 10 delivers food in sequence according to the received seat information, and returns to the food receiving area after completion.

[0129] S506. Before returning to the meal receiving area, the meal delivery robot 10 sends a signal to the joint controller 1 that “the meal delivery robot 10 requests to enter the meal receiving area”. After the joint controller 1 determines that there is no interference, it sends an instruction to the meal delivery robot 10 that “the meal delivery robot 10 is allowed to enter the meal receiving area”.

[0130] S507: After the food delivery robot 10 returns to the food receiving area, it sends a signal to the joint controller 1 indicating that the food delivery robot 10 is now available to receive food, and the cycle continues.

[0131] In this embodiment, taking a restaurant with four dining tables as an example, the connection relationship between the joint controller 1 and the first wireless controller 901, and the controller of the food delivery robot 10 and the second wireless controller 902 is as follows: like Figure 8As shown, the input terminals X0-X3 of the joint controller 1 are connected to the output terminals O1-O4 of the first wireless controller 901 respectively, and each terminal represents a signal in sequence: the food delivery robot 10 is now available to receive food; the food delivery robot 10 requests to enter the food receiving area; the food delivery robot 10 stops suddenly / faults; the food delivery robot 10 is in the food delivery area; At the same time, the output terminals Y01-Y04 of the controller of the food delivery robot 10 are respectively connected to the input terminals I1-I4 of the second wireless controller 902, and each port represents a signal in turn: the food delivery robot 10 is now available to receive food; the food delivery robot 10 requests to enter the food receiving area; the food delivery robot 10 stops suddenly / faults; the food delivery robot 10 is in the food delivery area.

[0132] like Figure 9 As shown, the output terminals Y0-Y6 of the joint controller 1 are respectively connected to the input terminals I0-I6 of the first wireless controller 901, and each port represents a signal in sequence: the meal is placed and you can set off; table No. 1 stops; table No. 2 stops; table No. 3 stops; table No. 4 stops; the meal delivery robot 10 is allowed to enter the meal receiving area; the meal delivery robot 10 returns to the meal receiving position.

[0133] At the same time, the input terminals X1-X7 of the controller of the food delivery robot 10 are respectively connected to the output terminals 01-07 of the second wireless controller 902, and each port represents a signal in turn - the food is placed and can depart; table No. 1 stops; table No. 2 stops; table No. 3 stops; table No. 4 stops; the food delivery robot 10 is allowed to enter the food receiving area; the food delivery robot 10 returns to the food receiving position.

[0134] In order to achieve the meal delivery task of the meal delivery robot 10, the meal delivery robot 10 has the following interlocking signals: (1) Input signal: 1. The meal is finished and you can leave (from the "joint controller"); 2. Table No. 1 stops (from "Joint Controller"); 3. Table No. 2 stops (from "Joint Controller"); 4. Table No. 3 stops (from "Joint Controller"); 5. Table No. 4 stops (from "Joint Controller"); 6. Allow the food delivery robot 10 to enter the food receiving area (from the "joint controller"); 7. The food delivery robot 10 returns to the food receiving location (from the "joint controller") (start signal).

[0135] (2) Output signal: 1. The food delivery robot 10 can now receive food (to the "joint controller"); 2. The food delivery robot 10 requests to enter the food receiving area (to the "joint controller"); 3. Emergency stop / failure of the food delivery robot 10 (to the "joint controller"); 4. The food delivery robot 10 is in the food delivery area (to the "joint controller") (always gives in the food delivery area).

[0136] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A multi-type catering robot collaborative control system based on multi-protocol fusion, characterized in that: It includes a joint controller (1), a heterogeneous protocol interconnection module (2), an environment perception module (3), an intelligent body collaborative scheduling module (4), a power energy module (5), a human-computer interaction module (6) and a navigation and obstacle avoidance module (7); The combined controller (1) is connected to the meal preparation robot (8) by wire, and is wirelessly connected to the controller of the meal delivery robot (10) via the wireless remote control module (9); The heterogeneous protocol interconnection module (2) comprises a multi-protocol fusion multi-layer PCB control function board (201) electrically connected to the joint controller (1); a WIFI communication interface (202), a Bluetooth communication interface (203), a Zigbee communication interface (204), a 5G communication interface (205), a ROS 2 communication interface (206), and an MQTT communication interface (207) are installed on the multi-protocol fusion multi-layer PCB control function board (201).

2. The multi-type catering robot collaborative control system based on multi-protocol fusion according to claim 1 is characterized in that: The wireless remote control module (9) includes a first wireless controller (901) and a second wireless controller (902), wherein the first wireless controller (901) is connected to the joint controller (1) via a wired communication method, and the second wireless controller (902) is connected to the controller of the food delivery robot (10) via a wired communication method, and the first wireless controller (901) is connected to the second wireless controller (902) via a wireless communication method.

3. The multi-type catering robot collaborative control system based on multi-protocol fusion according to claim 1 is characterized in that: The environment perception module (3) comprises a perception main control board (301) electrically connected to the joint controller (1), and the perception main control board (301) is equipped with an environment detection switch (302), an obstacle avoidance switch (303), a proximity switch (304) and a photoelectric switch (305).

4. The multi-type catering robot collaborative control system based on multi-protocol fusion according to claim 3 is characterized in that: The navigation obstacle avoidance module (7) includes a laser radar (701), a visual camera (702), a microphone (703), an ultrasonic sensor (704), and an inertial measurement unit (705) arranged on the food delivery robot. The laser radar (701), the visual camera (702), the microphone (703), the ultrasonic sensor (704), and the inertial measurement unit (705) are all connected to the perception main control board (301) by wire.

5. The multi-type catering robot collaborative control system based on multi-protocol fusion according to claim 1 is characterized in that: The intelligent agent collaborative scheduling module (4) includes an intelligent agent collaborative circuit board (401) connected to the joint controller (1), and the intelligent agent collaborative circuit board (401) is equipped with a scheduling unit (402).

6. The multi-type catering robot collaborative control system based on multi-protocol fusion according to claim 1 is characterized in that: The power energy module (5) comprises a battery unit (501), an input end of the battery unit (501) is connected to a charging unit (502), and an output end of the battery unit (501) is connected to an environment sensing power supply unit (505), a food delivery robot power supply unit (506), and a circuit board power supply unit (507).

7. The multi-type catering robot collaborative control system based on multi-protocol fusion according to claim 1 is characterized in that: The human-computer interaction module (6) includes a display (601), and the display (601) is connected to the joint controller (1).

8. The multi-type catering robot collaborative control system based on multi-protocol fusion according to claim 7 is characterized in that: The display (601) is provided with a display screen (602), a selection key (603), an order confirmation key (604), a payment process key (605), a warm reminder key (606) and other service keys (607).

9. A control method for a multi-type catering robot collaborative control system based on multi-protocol fusion, characterized in that: The detailed steps are as follows: S1. Control the collaborative control system described in claims 1-8 to start and keep it in operation; S2. Determine whether the person ordering the meal has reserved a set meal in advance; S3. If the set meal is not booked in advance, the order taker can place the order directly on site; S4, the joint controller (1) issues corresponding instructions and controls the food delivery robot to complete the corresponding action requirements; S5. The food delivery robot delivers the food to the designated location number and then returns to the standby origin position by default.

10. The control method of the multi-type catering robot collaborative control system based on multi-protocol fusion according to claim 9 is characterized in that: The specific steps of the food delivery robot control method in step S5 are as follows: S501, the joint controller (1) issues corresponding production instructions based on the meal information, and issues a "meal delivery robot returns to the table" instruction to the meal delivery robot; S502, the food delivery robot receives the instruction and returns to the food receiving position, and sends a signal to the joint controller (1) that "the food delivery robot is now available to receive food"; S503, the joint controller (1) cooperates with the meal preparation robot to complete the meal placement process; S504, the joint controller (1) sends a command to the food delivery robot, "The food has been delivered, and you can go," and sends the corresponding table number of the person who ordered the food; S505: The food delivery robot delivers food in sequence according to the received table information and returns to the food receiving area after completion; S506: Before returning to the meal receiving area, the meal delivery robot sends a signal to the joint controller (1) indicating that the meal delivery robot requests to enter the meal receiving area. After the joint controller (1) determines that there is no interference, it sends a command to the meal delivery robot indicating that the meal delivery robot is allowed to enter the meal receiving area. S507: After the food delivery robot receives the food receiving area, it sends a signal to the joint controller (1) that the food delivery robot can now receive food, and then the cycle is repeated.

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