Food placement positioning method, device, electronic device and storage medium

Abstract

An embodiment of the present invention provides a method for positioning food placement, and the method includes: obtaining first position information of a positioning identifier recognized by a food delivery robot at a current position, and obtaining second position information of the positioning identifier recorded by the food delivery robot at a reference position, where the positioning identifier is set on a target food tray; calculating an offset of the positioning identifier according to the first position information of the positioning identifier and the second position information of the positioning identifier; and adjusting the current position of the food delivery robot based on the offset of the positioning identifier, so that the food delivery robot places food into the target food tray according to the adjusted position. Since the offset of the target food tray is considered during the food delivery process in the present invention, the positioning adaptability of the food delivery robot during food placement is improved, enabling the food delivery robot to more accurately place food into the target food tray.

Description

Technical Field

[0001] The present invention relates to the technical field of perception positioning, and particularly to a meal placement positioning method, device, electronic device, and storage medium. Background Art

[0002] Infectious diseases refer to diseases with a certain transmission ability. For preventing and controlling the spread of infectious diseases, the most effective current method is to isolate and observe the people who have contracted or come into contact with infectious diseases, and lift the isolation observation after determining that the people are not infectious. However, during the isolation observation period, the meals of the isolated people need to be solved. Although robots can be used for delivery to avoid direct contact between the delivery personnel and the meal delivery environment. However, although robot meal delivery can reduce the risk of infection through contact, it poses a great challenge to the meal delivery experience, especially during the meal pickup and placement stages. Existing solutions generally involve the robot first scanning the map of the trajectory, recording and debugging the position coordinate information of each meal delivery room, and delivering meals along the established route during actual meal delivery, that is, placing meals at fixed points. This solution can basically meet the overall process of on-site meal delivery, but is greatly affected by interference factors. Especially after running for a long time, affected by the ground smoothness or the deviation of the meal plate placement position, it cannot accurately place the meal at the precise position. Over time, the meal box will deviate greatly from the established meal placement position, and then the meal box may fall off. Therefore, there is a problem of poor positioning adaptability in the meal placement of existing meal delivery robots. Summary of the Invention

[0003] An embodiment of the present invention provides a meal placement positioning method, aiming to solve the problem of poor positioning adaptability in the meal placement of existing meal delivery robots. During the meal delivery process, the first position information corresponding to the positioning identifier in the target meal plate is identified, and the second position information corresponding to the positioning identifier in the meal plate calibrated before meal delivery is obtained. The offset of the positioning identifier is calculated through the first position information and the second position information, and the offset of the target meal plate is determined using the offset of the positioning identifier. Thus, the position of the meal delivery robot is adjusted according to the offset of the target meal plate. Since the offset of the target meal plate is considered during the meal delivery process, the positioning adaptability during the meal placement of the meal delivery robot is improved, enabling the meal delivery robot to more accurately place the meal into the target meal plate.

[0004] In a first aspect, an embodiment of the present invention provides a meal placement positioning method, the method comprising:

[0005] Obtain the first position information of the positioning identifier recognized by the meal delivery robot at the current position, and obtain the second position information of the positioning identifier recorded by the meal delivery robot at the reference position, where the positioning identifier is set in the target meal plate;

[0006] Calculate the offset of the positioning identifier according to the first position information of the positioning identifier and the second position information of the positioning identifier;

[0007] Adjust the current position of the food delivery robot based on the offset of the positioning identifier, so that the food delivery robot places the meal on the target food tray according to the adjusted position.

[0008] Optionally, the obtaining the first position information of the positioning identifier recognized by the food delivery robot at the current position includes:

[0009] Obtain a captured image of the target food tray by the food delivery robot at the current position, and the captured height of the captured image is a preset height;

[0010] Perform visual processing on the captured image to obtain the first position information of the positioning identifier in the captured image.

[0011] Optionally, the obtaining the second position information of the positioning identifier recorded by the food delivery robot at the reference position includes:

[0012] In the debugging stage of the food delivery robot, determine the reference position when the food delivery robot places the meal on the target food tray;

[0013] Obtain a reference image of the target food tray by the food delivery robot at the reference position, and the captured height of the reference image is the preset height;

[0014] Perform visual processing on the captured image to obtain the second position information of the positioning identifier in the reference image, and record the second position information.

[0015] Optionally, before obtaining the first position information of the positioning identifier recognized by the food delivery robot at the current position, the method further includes:

[0016] For the target food tray, if the adjusted position was not the reference position during the previous meal delivery, then during the meal delivery process, randomly select a position within the preset range of the reference position to obtain a random position;

[0017] Control the food delivery robot to reach the random position and use the random position as the current position.

[0018] Optionally, the randomly selecting a position within the preset range of the reference position to obtain a random position during the meal delivery process includes:

[0019] Determine the value of the preset range of the reference position according to the set time of the target food tray corresponding to the reference position.

[0020] Optionally, the randomly selecting a position within the preset range of the reference position to obtain a random position during the meal delivery process includes:

[0021] Determine the value of the preset range of the reference position according to the offset between the reference position and the adjusted position.

[0022] Optionally, the adjusting the current position of the food delivery robot based on the offset of the positioning identifier so that the food delivery robot places the food in the target food tray according to the adjusted position includes:

[0023] When the offset of the positioning identifier is greater than a preset offset threshold, adjust the current position of the food delivery robot;

[0024] Calculate the offset of the adjusted positioning identifier until the offset of the adjusted positioning identifier is less than or equal to the preset offset threshold, so that the food delivery robot places the food in the target food tray according to the finally adjusted position.

[0025] In a second aspect, an embodiment of the present invention provides a food placement positioning device, the device includes:

[0026] An acquisition module, configured to acquire first position information of a positioning identifier recognized by the food delivery robot at the current position, and acquire second position information of the positioning identifier recorded by the food delivery robot at the reference position, where the positioning identifier is set on the target food tray;

[0027] A calculation module, configured to calculate an offset of the positioning identifier according to the first position information and the second position information of the positioning identifier;

[0028] An adjustment module, configured to adjust the current position of the food delivery robot based on the offset of the positioning identifier, so that the food delivery robot places the food in the target food tray according to the adjusted position.

[0029] In a third aspect, an embodiment of the present invention provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps in the food placement positioning method provided by the embodiment of the present invention when executing the computer program.

[0030] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program implements the steps in the food placement positioning method provided by the embodiment of the invention when executed by a processor.

[0031] In an embodiment of the present invention, first position information of a positioning identifier recognized by a food delivery robot at a current position is obtained, and second position information of the positioning identifier recorded by the food delivery robot at a reference position is obtained, where the positioning identifier is set on a target food tray; an offset of the positioning identifier is calculated according to the first position information and the second position information of the positioning identifier; based on the offset of the positioning identifier, the current position of the food delivery robot is adjusted so that the food delivery robot places food into the target food tray according to the adjusted position. During the food delivery process, by recognizing the first position information corresponding to the positioning identifier on the target food tray and obtaining the second position information corresponding to the positioning identifier on the food tray calibrated before food delivery, the offset of the positioning identifier is calculated through the first position information and the second position information, and the offset of the target food tray is determined by using the offset of the positioning identifier, so that the position of the food delivery robot is adjusted according to the offset of the target food tray. Since the offset of the target food tray is considered during the food delivery process, the positioning adaptability of the food delivery robot when placing food is improved, and the food delivery robot can place food into the target food tray more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0033] Figure 1 is an architecture diagram of a robot food delivery system provided by an embodiment of the present invention;

[0034] Figure 2 is a flowchart of a food placement positioning method provided by an embodiment of the present invention;

[0035] Figure 3 is a schematic structural diagram of a food placement positioning device provided by an embodiment of the present invention;

[0036] Figure 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0038] See Figure 1 , Figure 1 This is an architecture diagram of a robot food delivery system provided by an embodiment of the present invention. Figure 1 As shown, the robot food delivery system includes: a robot management platform and a food delivery robot, and the robot management platform is communicatively connected to the food delivery robot.

[0039] The robot food delivery system can be used in areas with physically isolated rooms, such as quarantine hotels and hospitals. These areas may have multiple buildings, each with multiple floors, and each floor with multiple isolation rooms. Each isolation room is equipped with a separate tray, on which the robot places the corresponding meal. Guests in the room who ordered the meal can then open the door of the isolation room and remove the meal from the tray after receiving a pick-up notification at the pick-up terminal.

[0040] Specifically, the above-mentioned dinner plates may also be called meal trays, which may be fixedly mounted on the outer wall of the isolation room. A positioning mark may be provided on each dinner plate, and the positioning mark may be an electronic tag or an image mark.

[0041] When the above-mentioned positioning identifier is an electronic tag, the food delivery robot is also provided with a corresponding electronic tag receiving device. If there are multiple electronic tags, for example, 3, the distance between the food delivery robot and each electronic tag at the current position can be calculated based on the signals of multiple electronic tags and the UWB positioning principle. Thus, according to the current position of the food delivery robot, the position information of each electronic tag can be identified, and the first position information of the positioning identifier can be obtained.

[0042] During the debugging phase of the food delivery robot, the robot pre-plans a route on the floor where food delivery is required, obtains a planned food delivery route, and simulates walking on a real food delivery route. The food delivery robot records the food placement and stop points in each isolation room as the reference position of the corresponding isolation room. When the food delivery robot is in the reference position, the position of multiple electronic tags is used as the second position information, and is associated with the corresponding isolation room or food tray, and recorded in the food delivery robot's internal storage. It should be noted that the food delivery robot's internal storage can store the route map, the food placement and stop points in each isolation room, and the corresponding electronic tag positions (the second position information of the positioning identifier) for each food placement and stop point in the isolation room.

[0043] During the actual meal delivery process of the meal delivery robot, the meal delivery robot plans the route according to the floors where meals need to be delivered and walks along the meal delivery route. When staying at the meal placement stop point corresponding to each isolation room to place meals, based on the current position of the meal delivery robot, the position information of each electronic tag is recognized, that is, the first position information of the positioning identifier is obtained. At the same time, the second position information of the positioning identifier corresponding to this meal placement stop point is read from the internal storage of the meal delivery robot, and the offset between the first position information and the second position information is calculated, so as to obtain the offset of the positioning identifier. According to the offset of the positioning identifier, the offset between the meal delivery robot and the dinner plate can be obtained. Since the dinner plate is fixedly set, the meal delivery robot can be controlled to move and adjust to eliminate the offset of the positioning identifier between the current position and the reference position, so that the meal delivery robot can align with the dinner plate to place meals.

[0044] When the above positioning identifier is an image identifier, an image acquisition device can be fixedly set on the meal delivery robot. For example, an image acquisition device can be set on the arm of the meal delivery robot, and the arm of the meal delivery robot is used for picking up and placing meals. When the meal delivery robot places meals through the arm, the image acquisition device will capture the target dinner plate to obtain a captured image of the target dinner plate, and perform visual processing on the captured image of the target dinner plate according to the visual processing method to obtain the position of the image identifier in the captured image as the first position information of the positioning identifier.

[0045] During the debugging stage of the meal delivery robot, the meal delivery robot pre-plans the route on the floors where meals need to be delivered to obtain the planned meal delivery route, and simulates walking along the real meal delivery route. Each meal placement stop point in the room is used as the reference position for the corresponding isolation room, and the dinner plate image captured by the meal delivery robot at the reference position is used as the reference image for the corresponding dinner plate. After associating the reference image with the corresponding dinner plate or isolation room, it is recorded in the internal storage of the robot. It should be noted that the internal storage of the meal delivery robot can store the route map, each meal placement stop point (reference position) in the isolation room, and the reference image corresponding to each meal placement stop point in the isolation room.

[0046] During the actual food delivery process of the food delivery robot, the food delivery robot plans the route according to the floors where food needs to be delivered and walks along the delivery route. When staying and delivering food at the food placement and stop points corresponding to each isolation room, based on the current position of the food delivery robot, the position information of the image identifier is recognized, that is, the first position information of the positioning identifier is obtained. At the same time, the second position information of the positioning identifier corresponding to this food placement and stop point is read from the internal storage of the food delivery robot, and the offset between the first position information and the second position information is calculated, thereby obtaining the offset of the positioning identifier. According to the offset of the positioning identifier, the offset between the food delivery robot and the food tray can be obtained. Since the food tray is fixedly installed, the food delivery robot can be controlled to move and adjust to eliminate the offset of the positioning identifier between the current position and the reference position, so that the food delivery robot can align with the food tray to deliver food.

[0047] The above robot food delivery system may further include an ordering terminal and a food pickup terminal. One ordering terminal and one food pickup terminal are set in each isolation room, and the residents in the isolation room can be prompted to order food through the ordering terminal during the unified food supply period. When the resident in the isolation room orders food through the ordering terminal, the isolation room where the resident is located can be determined as the ordered room.

[0048] Specifically, the above ordering terminal and food pickup terminal can be fixed terminals set in the isolation room or the mobile terminals of users.

[0049] When the ordering terminal and the food pickup terminal are fixed terminals set in the isolation room, the residents in the isolation room can be prompted to order food through the ordering terminal during the unified food supply period, and the residents can be notified to pick up the food through the food pickup terminal. The above food pickup terminal can be a landline phone set in the isolation room. When the resident orders food through the ordering terminal, the switch of the landline phone is automatically activated, so that the landline phone can receive the food pickup notice from the robot management platform.

[0050] When the ordering terminal and the food pickup terminal are mobile terminals, the ordering interface can be entered through application programs such as APPs or mini-programs in the mobile terminals, and food can be ordered during the unified food supply period. After the ordering is completed, the pickup interface can be entered or hung in the background to wait for the food pickup notice. An independent food pickup cabinet is set outside each isolation room. The resident can open the door of the isolation room and take out the food from the food pickup cabinet after receiving the food pickup notice through the food pickup terminal.

[0051] After the resident completes ordering food through the ordering terminal, the ordering terminal generates an order containing ordering data according to the ordering content and uploads the order to the robot management platform. The above robot management platform can process the order. Specifically, the ordering data can be obtained from the order as the food delivery information, and a food delivery task can be generated according to the obtained food delivery information and sent to the food delivery robot on the corresponding floor, so that the food delivery robot can execute the food delivery task.

[0052] The robot management platform can first input the layouts of buildings, floors, and isolation rooms, record the corresponding coordinates of the isolation rooms by the actual operation of the food delivery robot, set the positions of the isolation room points and the positions of food boxes in each isolation room. The food delivery information corresponding to the ordered rooms is sent to the robot management platform in the form of import or push. The content of the food delivery information includes: ordered rooms, the number of meals, meal types, etc. The robot management platform extracts the information of the ordered rooms according to the food delivery information, plans the route according to the information of the ordered rooms and the floor layout to obtain the food delivery route, generates the corresponding food delivery task according to the food delivery route, and issues the food delivery task to the food delivery robot responsible for that floor. The robot will deliver food according to the food delivery route. At the same time, the robot management platform sets the pick-up interval time between each ordered room according to the preset setting strategy according to the information of the ordered rooms, so that there is an interval time for the pick-up times of each ordered room, so as to realize notifying the residents of the ordered rooms to pick up food at intervals, which can prevent the residents from picking up food at the same time. After the food delivery robot delivers the food to the corresponding ordered room, the food delivery robot returns the task execution information to the robot management platform. After receiving the task execution information returned by the robot, the robot management platform sends a pick-up notice to the ordered room that has received the food. Specifically, it can remind the resident of the ordered room that the food has been delivered through the pick-up terminal. The above pick-up terminal can be a landline phone, and a pick-up audio file is built into the landline phone, and the audio file will be automatically played after the resident answers. The above landline phone is configured with a switch. When the switch is turned on, the built-in file will be automatically played after answering. When the switch is turned off, the built-in file will not be automatically played after answering. The switch of the above landline phone can be turned on after the resident orders food and turned off after the resident picks up the food.

[0053] Please refer to Figure 2 , Figure 2 which is a flowchart of a method for placing food and positioning provided by an embodiment of the present invention. As Figure 2 shown, the method for placing food and positioning includes the following steps:

[0054] 201. Obtain the first position information of the positioning identifier recognized by the food delivery robot at the current position, and obtain the second position information of the positioning identifier recorded by the food delivery robot at the reference position.

[0055] In an embodiment of the present invention, the positioning identifier is set on the target food tray, and the above target food tray is the food tray outside the isolation room corresponding to the current position of the food delivery robot.

[0056] Specifically, the above food tray can also be called a food placement tray, which can be fixedly arranged on the outer wall of the isolation room. Each food tray is provided with a positioning identifier, and the above positioning identifier can be an electronic tag or an image identifier.

[0057] When the above-mentioned positioning identifier is an electronic tag, the food delivery robot is also provided with a corresponding electronic tag receiving device. If there are multiple electronic tags, for example, 3, the distance between the food delivery robot and each electronic tag at the current position can be calculated based on the signals of multiple electronic tags and the UWB positioning principle. Thus, according to the current position of the food delivery robot, the position information of each electronic tag can be identified, and the first position information of the positioning identifier can be obtained.

[0058] During the debugging phase of the food delivery robot, the robot pre-plans a route on the floor where food delivery is required, obtains a planned food delivery route, and simulates walking on a real food delivery route. The food delivery robot records the food placement and stop points in each isolation room as the reference position of the corresponding isolation room. When the food delivery robot is in the reference position, the position of multiple electronic tags is used as the second position information, and is associated with the corresponding isolation room or food tray, and recorded in the food delivery robot's internal storage. It should be noted that the food delivery robot's internal storage can store the route map, the food placement and stop points in each isolation room, and the corresponding electronic tag positions (the second position information of the positioning identifier) for each food placement and stop point in the isolation room.

[0059] When the positioning marker is an image marker, an image acquisition device may be fixedly mounted on the food delivery robot. For example, the image acquisition device may be mounted on the robot's arm, which is used to pick up and place food. When the robot places food using its arm, the image acquisition device captures a snapshot of the target plate, obtaining a captured image of the target plate. The captured image of the target plate is then visually processed using a visual processing method to obtain the position of the image marker in the captured image, which serves as the first position information of the positioning marker.

[0060] During the debugging phase of the food delivery robot, the food delivery robot pre-plans a route on the floor where food delivery is required, obtains the planned food delivery route, and simulates walking on the actual food delivery route, using the food placement stop point in each room as the reference position of the corresponding isolation room, and using the image of the food tray captured by the food delivery robot at the reference position as the reference image of the corresponding food tray. The reference image of the target food tray is visually processed according to the visual processing method, and the position of the image identifier in the reference image is obtained as the second position information of the positioning identifier. The reference image or the second position information of the positioning identifier corresponding to the reference image is associated with the corresponding food tray or isolation room, and then recorded in the robot's internal storage. It should be noted that the food delivery robot's internal storage can store the route map, the food placement stop point (reference position) in each isolation room, and the reference image corresponding to the food placement stop point in each isolation room or the second position information of the positioning identifier corresponding to the reference image.

[0061] 202. Calculate an offset of the positioning marker according to the first position information of the positioning marker and the second position information of the positioning marker.

[0062] In an embodiment of the present invention, the first position information of the positioning identifier can be subtracted from the second position information of the positioning identifier to obtain the offset of the positioning identifier. For example, if the first position information of the positioning identifier is (x1, y1) and the second position information of the positioning identifier is (x2, y2), then the first offset △x of the positioning identifier = x1 - x2, and the second offset △y of the positioning identifier = x1 - x2.

[0063] 203. Based on the offset of the positioning identifier, adjust the current position of the food delivery robot so that the food delivery robot places the food in the target food tray according to the adjusted position.

[0064] In an embodiment of the present invention, the offset of the positioning identifier indicates the error that will occur when the food delivery robot controls the food delivery robot to place the food according to the established arm control parameters. When the positioning identifier corresponding to the food delivery robot at the current position coincides with the positioning identifier corresponding to the food delivery robot at the reference position, the food delivery robot is controlled to place the food using the established arm control parameters in order to accurately place the food in the target food tray.

[0065] After obtaining the offset of the positioning identifier, adjust the current position of the food delivery robot so that the positioning identifier corresponding to the food delivery robot at the adjusted position coincides with the positioning identifier corresponding to the reference position. The adjustment amount of the food delivery robot is positively correlated with the offset of the positioning identifier. The larger the offset of the positioning identifier, the larger the adjustment amount of the food delivery robot.

[0066] In an embodiment of the present invention, obtain the first position information of the positioning identifier recognized by the food delivery robot at the current position, and obtain the second position information of the positioning identifier recorded by the food delivery robot at the reference position, where the positioning identifier is set on the target food tray; calculate the offset of the positioning identifier according to the first position information of the positioning identifier and the second position information of the positioning identifier; based on the offset of the positioning identifier, adjust the current position of the food delivery robot so that the food delivery robot places the food in the target food tray according to the adjusted position. By recognizing the first position information corresponding to the positioning identifier on the target food tray during the food delivery process, and obtaining the second position information corresponding to the positioning identifier on the food tray calibrated before the food delivery, calculating the offset of the positioning identifier through the first position information and the second position information, and using the offset of the positioning identifier to determine the offset of the target food tray, thereby adjusting the position of the food delivery robot according to the offset of the target food tray. Since the offset of the target food tray is considered during the food delivery process, the positioning adaptability when the food delivery robot places the food is improved, enabling the food delivery robot to more accurately place the food in the target food tray.

[0067] Optionally, in the step of obtaining the first position information of the positioning identifier recognized by the food delivery robot at the current position, a captured image of the target food tray can be obtained by the food delivery robot at the current position, and the capture height of the captured image is a preset height; the captured image is visually processed to obtain the first position information of the positioning identifier in the captured image.

[0068] In the embodiment of the present invention, when the above positioning identifier is an image identifier, an image acquisition device can be fixedly arranged on the food delivery robot. For example, an image acquisition device can be arranged on the arm of the food delivery robot, and the arm of the food delivery robot is used for picking up and placing food. When the food delivery robot stays at the food placement stop point and places the food through the arm, the image acquisition device will capture the target food tray at a preset height to obtain a captured image of the target food tray, and the captured image of the target food tray is visually processed according to the visual processing method to obtain the position of the image identifier in the captured image as the first position information of the positioning identifier.

[0069] The above visual processing can be a processing method based on openCV. openCV is a cross-platform computer vision open source framework and machine learning software library, and the position (x1, y1) of the image identifier in the captured image is calculated through openCV.

[0070] Further, the above image identifier can be a dot identifier, and the number of the dot identifiers can be multiple, for example, it can be 4. The multiple dot identifiers are distributed in a preset shape. For example, 3 dot identifiers can be distributed in the shape of a right triangle, and 4 dot identifiers can be distributed in the shape of a square. The color of the dot identifier can be the contrast color of the food tray color, so as to facilitate identification.

[0071] Optionally, in the step of obtaining the second position information of the positioning identifier recorded by the food delivery robot at the reference position, during the debugging stage of the food delivery robot, the reference position when the food delivery robot places the food in the target food tray can be determined; a reference image of the target food tray is obtained by the food delivery robot at the reference position, and the capture height of the reference image is a preset height; the captured image is visually processed to obtain the second position information of the positioning identifier in the reference image, and the second position information is recorded.

[0072] In an embodiment of the present invention, during the debugging stage of the food delivery robot, the food delivery robot pre-plans a route on the floors where food needs to be delivered to obtain a planned food delivery route, and simulates walking along the real food delivery route. Each room's food placement and stop point is used as the reference position for the corresponding isolated room, and the plate image captured by the food delivery robot at the reference position is used as the reference image for the corresponding plate. The reference image of the target plate is visually processed according to a visual processing method to obtain the position of the image identifier in the reference image as the second position information of the positioning identifier. After associating the reference image or the second position information of the positioning identifier corresponding to the reference image with the corresponding plate or isolated room, it is recorded in the internal storage of the robot.

[0073] The visual processing method for the reference image is the same as that for the captured image. It should be noted that the size of the captured image of the target plate is the same as that of the reference image of the target plate, and they have the same image resolution.

[0074] Optionally, before the step of obtaining the first position information of the positioning identifier recognized by the food delivery robot at the current position, for the target plate, if the adjusted position during the previous food delivery was not the reference position, during the food delivery process, a random position can also be selected within the preset range of the reference position to obtain a random position; control the food delivery robot to reach the random position and use the random position as the current position.

[0075] In an embodiment of the present invention, before the food delivery robot stops at the food placement and stop point, the corresponding isolated room can be determined according to the food placement and stop point. According to the historical food delivery record of the corresponding isolated room, it is judged whether the adjusted position during the previous food delivery was the reference position. If the adjusted position was the corresponding reference position, it means that the position of the plate has not shifted. If the adjusted position was not the corresponding reference position during the previous food delivery, it means that the position of the plate has shifted.

[0076] The reason for the shift in the position of the plate may be that the fixing parts of the plate are loose or the fixed wall has deformed, etc. In the case where the fixing parts of the plate are loose, the position of the plate can change at any time. If the adjusted position during the previous food delivery is used as the food placement and stop point for this food delivery, there will still be errors. Therefore, when the food delivery robot stops at the food placement and stop point for this food delivery, the position of the food delivery robot still needs to be adjusted. Therefore, a random position can be selected within the preset range of the reference position, so that the food delivery robot does not stop at the food placement and stop point, but selects other points within the preset range to stop, thereby adapting to the situation where the position of the plate can change at any time and having the opportunity to directly hit the appropriate point, and then enabling the food delivery robot to directly place the food.

[0077] Optionally, during the meal delivery process, a random position is selected within a preset range of the reference position. In the step of obtaining the random position, the value of the preset range of the reference position can be determined based on the setting time of the target plate corresponding to the reference position.

[0078] In this embodiment of the present invention, considering that the longer a dish is set, the greater its range of movement and the greater the probability that the dish's position will change at any time, the preset range of the reference position can be determined based on the target dish's set time. Specifically, the longer the target dish is set, the larger the preset range of the reference position, while the shorter the target dish is set, the smaller the preset range of the reference position. This can accommodate situations where the dish's position may change at any time, allowing the robot to directly locate the appropriate location, allowing the food delivery robot to place the dish directly.

[0079] Optionally, during the food delivery process, a random position is selected within a preset range of the reference position. In the step of obtaining the random position, the value of the preset range of the reference position can be determined based on the offset between the reference position and the adjusted position.

[0080] In an embodiment of the present invention, the position of the plate may shift due to factors such as loosening of the plate's fixings or deformation of the wall on which it is fixed. If the fixings are loose, the position of the plate may change at any time. If the position adjusted during the previous delivery is used as the placement point for this delivery, there will also be errors. The greater the offset between the position adjusted during the previous delivery and the reference position, the greater the degree of plate shift. Therefore, the preset range of the reference position can be set to a larger value to accommodate a larger degree of plate shift, thereby increasing the probability of hitting the appropriate point. The above-mentioned appropriate point is the final adjusted position.

[0081] Optionally, in the step of adjusting the current position of the food delivery robot based on the offset of the positioning marker so that the food delivery robot places the food in the target plate according to the adjusted position, the current position of the food delivery robot can be adjusted when the offset of the positioning marker is greater than a preset offset threshold; and the offset of the adjusted positioning marker is calculated until the offset of the adjusted positioning marker is less than or equal to the preset offset threshold, so that the food delivery robot places the food in the target plate according to the final adjusted position.

[0082] In an embodiment of the present invention, when the offset of the positioning marker is greater than a preset offset threshold, it indicates that the plate is significantly offset, which may affect the accuracy of the food delivery robot in placing the food. When the offset of the positioning marker is less than the preset offset threshold, it indicates that the plate is slightly offset, which may not affect the accuracy of the food delivery robot in placing the food.

[0083] After adjusting the current position of the food delivery robot, a new current position is obtained, and the recognition of the positioning identifier is continued for the new current position to obtain the offset of the new positioning identifier.

[0084] Repeatedly calculate the offset of the adjusted positioning identifier until the offset of the adjusted positioning identifier is less than or equal to a preset offset threshold, indicating that the food placement accuracy of the food delivery robot meets the requirements at this time, and use the position at this time as the finally adjusted position.

[0085] The embodiment of the present invention can greatly reduce the probability of food placement deviation or food box dropping during the food delivery process of the robot, and can ensure the stability of the robot's continuous long-term food delivery.

[0086] It should be noted that the food placement positioning method provided by the embodiment of the present invention can be applied to devices such as intelligent cameras, smart phones, computers, and servers that can perform food placement positioning.

[0087] Optionally, please refer to Figure 3 , Figure 3 is a schematic structural diagram of a food placement positioning device provided by an embodiment of the present invention. As Figure 3 shown, the device includes:

[0088] An acquisition module 301, configured to acquire first position information of a positioning identifier recognized by the food delivery robot at the current position, and acquire second position information of the positioning identifier recorded by the food delivery robot at a reference position, where the positioning identifier is set on a target food tray;

[0089] A calculation module 302, configured to calculate an offset of the positioning identifier according to the first position information and the second position information of the positioning identifier;

[0090] An adjustment module 303, configured to adjust the current position of the food delivery robot based on the offset of the positioning identifier, so that the food delivery robot places food in the target food tray according to the adjusted position.

[0091] Optionally, the acquisition module 301 is further configured to acquire a captured image of the target food tray by the food delivery robot at the current position, where the capture height of the captured image is a preset height; perform visual processing on the captured image to obtain first position information of the positioning identifier in the captured image.

[0092] Optionally, the obtaining module 301 is further configured to, during the debugging phase of the food delivery robot, determine a reference position when the food delivery robot places food on the target food tray; obtain a reference image of the target food tray at the reference position, where the capture height of the reference image is the preset height; perform visual processing on the captured image to obtain second position information of the positioning identifier in the reference image, and record the second position information.

[0093] Optionally, the apparatus further includes:

[0094] A position selection module, configured to, for the target food tray, if the adjusted position during the previous food delivery is not the reference position, randomly select a position within a preset range of the reference position during the food delivery process to obtain a random position;

[0095] A control module, configured to control the food delivery robot to reach the random position and use the random position as the current position.

[0096] Optionally, the position selection module is further configured to determine a value of the preset range of the reference position according to the set time of the target food tray corresponding to the reference position.

[0097] Optionally, the position selection module is further configured to determine a value of the preset range of the reference position according to an offset between the reference position and the adjusted position.

[0098] Optionally, the adjustment module 303 is further configured to, when the offset of the positioning identifier is greater than a preset offset threshold, adjust the current position of the food delivery robot; calculate the offset of the adjusted positioning identifier until the offset of the adjusted positioning identifier is less than or equal to the preset offset threshold, so that the food delivery robot places food on the target food tray according to the finally adjusted position.

[0099] It should be noted that the food placement positioning device provided in the embodiments of the present invention can be applied to devices such as intelligent cameras, smartphones, computers, and servers that can perform food placement positioning.

[0100] The food placement positioning device provided in the embodiments of the present invention can implement each process implemented by the food placement positioning method in the above method embodiments and can achieve the same beneficial effects. To avoid repetition, it will not be elaborated here.

[0101] See Figure 4 , Figure 4 is a schematic structural diagram of an electronic device provided in an embodiment of the present invention. As Figure 4As shown, it includes: a memory 402, a processor 401, and a computer program of a meal placement positioning method stored on the memory 402 and executable on the processor 401, where:

[0102] The processor 401 is configured to call the computer program stored in the memory 402 and execute the following steps:

[0103] Obtain first position information of a positioning identifier recognized by the food delivery robot at the current position, and obtain second position information of the positioning identifier recorded by the food delivery robot at a reference position, where the positioning identifier is set on a target food tray;

[0104] Calculate an offset of the positioning identifier based on the first position information and the second position information of the positioning identifier;

[0105] Adjust the current position of the food delivery robot based on the offset of the positioning identifier, so that the food delivery robot places the meal on the target food tray according to the adjusted position.

[0106] Optionally, the obtaining of the first position information of the positioning identifier recognized by the food delivery robot at the current position executed by the processor 401 includes:

[0107] Obtain a captured image of the target food tray by the food delivery robot at the current position, where the capture height of the captured image is a preset height;

[0108] Perform visual processing on the captured image to obtain the first position information of the positioning identifier in the captured image.

[0109] Optionally, the obtaining of the second position information of the positioning identifier recorded by the food delivery robot at the reference position executed by the processor 401 includes:

[0110] During the debugging phase of the food delivery robot, determine the reference position when the food delivery robot places the meal on the target food tray;

[0111] Obtain a reference image of the target food tray by the food delivery robot at the reference position, where the capture height of the reference image is the preset height;

[0112] Perform visual processing on the captured image to obtain the second position information of the positioning identifier in the reference image, and record the second position information.

[0113] Optionally, before obtaining the first position information of the positioning identifier recognized by the food delivery robot at the current position, the method executed by the processor 401 further includes:

[0114] For the target dinner plate, if the adjusted position during the previous meal delivery was not the reference position, then during the meal delivery process, a random position is selected within the preset range of the reference position to obtain a random position;

[0115] Control the meal delivery robot to reach the random position and use the random position as the current position.

[0116] Optionally, the process of selecting a random position within the preset range of the reference position during the meal delivery process to obtain a random position, which is executed by the processor 401, includes:

[0117] Determine the value of the preset range of the reference position according to the setting time of the target dinner plate corresponding to the reference position.

[0118] Optionally, the process of selecting a random position within the preset range of the reference position during the meal delivery process to obtain a random position, which is executed by the processor 401, includes:

[0119] Determine the value of the preset range of the reference position according to the offset between the reference position and the adjusted position.

[0120] Optionally, the process of adjusting the current position of the meal delivery robot based on the offset of the positioning identifier so that the meal delivery robot places the meal into the target dinner plate according to the adjusted position, which is executed by the processor 401, includes:

[0121] When the offset of the positioning identifier is greater than the preset offset threshold, adjust the current position of the meal delivery robot;

[0122] Calculate the adjusted offset of the positioning identifier until the adjusted offset of the positioning identifier is less than or equal to the preset offset threshold, so that the meal delivery robot places the meal into the target dinner plate according to the finally adjusted position.

[0123] The electronic device provided by the embodiments of the present invention can implement each process realized by the meal placement positioning method in the above method embodiments and can achieve the same beneficial effects. To avoid repetition, it will not be elaborated here.

[0124] The embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements each process of the meal placement positioning method or the meal placement positioning method of the application end provided by the embodiments of the present invention and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0125] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above various methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc.

[0126] The above-disclosed are only the preferred embodiments of the present invention. Of course, the scope of the rights of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A method for positioning a meal placement, characterized in that, Including the following steps: For the target dinner plate, if the adjusted position during the previous meal delivery was not the reference position, then during meal delivery, a random position is selected within a preset range of the reference position to obtain a random position; control the meal delivery robot to reach the random position and use the random position as the current position; Obtain the first position information of the positioning identifier recognized by the meal delivery robot at the current position, and obtain the second position information of the positioning identifier recorded by the meal delivery robot at the reference position, where the positioning identifier is set on the target dinner plate; specifically, obtain a captured image of the target dinner plate by the meal delivery robot at the current position, and the capture height of the captured image is a preset height; Perform visual processing on the captured image to obtain the first position information of the positioning identifier in the captured image; and during the debugging stage of the meal delivery robot, determine the reference position when the meal delivery robot places the meal into the target dinner plate; Obtain a reference image of the target dinner plate by the meal delivery robot at the reference position, and the capture height of the reference image is the preset height; Perform visual processing on the captured image to obtain the second position information of the positioning identifier in the reference image and record the second position information; Calculate the offset of the positioning identifier based on the first position information of the positioning identifier and the second position information of the positioning identifier; Adjust the current position of the meal delivery robot based on the offset of the positioning identifier so that the meal delivery robot places the meal into the target dinner plate according to the adjusted position.

2. The meal placement positioning method according to claim 1, characterized in that, The step of, during meal delivery, selecting a random position within a preset range of the reference position to obtain a random position includes: Determine the value of the preset range of the reference position according to the setting time of the target dinner plate corresponding to the reference position.

3. The meal placement positioning method according to claim 2, wherein The step of, during meal delivery, selecting a random position within a preset range of the reference position to obtain a random position includes: Determine the value of the preset range of the reference position according to the offset between the reference position and the adjusted position.

4. The meal placement positioning method according to any one of claims 1 to 3, characterized in that, The step of adjusting the current position of the meal delivery robot based on the offset of the positioning identifier so that the meal delivery robot places the meal into the target dinner plate according to the adjusted position includes: When the offset of the positioning identifier is greater than a preset offset threshold, adjust the current position of the meal delivery robot; Calculate the offset of the adjusted positioning identifier until the offset of the adjusted positioning identifier is less than or equal to the preset offset threshold, so that the meal delivery robot places the meal into the target dinner plate according to the finally adjusted position.

5. A meal placement positioning device, characterized in that, The device includes: A position selection module, which is used for the target dinner plate. If the adjusted position during the previous meal delivery was not the reference position, then during meal delivery, a random position is selected within a preset range of the reference position to obtain a random position; control the meal delivery robot to reach the random position and use the random position as the current position; An acquisition module, configured to acquire first position information of a positioning identifier recognized by a food delivery robot at a current position, and acquire second position information of the positioning identifier recorded by the food delivery robot at a reference position, where the positioning identifier is set on a target food tray; specifically, acquire a captured image of the target food tray by the food delivery robot at the current position, where a capture height of the captured image is a preset height; perform visual processing on the captured image to obtain the first position information of the positioning identifier in the captured image; and during a debugging phase of the food delivery robot, determine the reference position when the food delivery robot places food into the target food tray; acquire a reference image of the target food tray by the food delivery robot at the reference position, where a capture height of the reference image is the preset height; perform visual processing on the captured image to obtain the second position information of the positioning identifier in the reference image, and record the second position information; A calculation module, configured to calculate an offset of the positioning identifier according to the first position information of the positioning identifier and the second position information of the positioning identifier; An adjustment module, configured to adjust a current position of the food delivery robot based on the offset of the positioning identifier, so that the food delivery robot places food into the target food tray according to the adjusted position.

6. An electronic device, characterized in that, including: A memory, a processor, and a computer program stored on the memory and executable on the processor, where when the processor executes the computer program, steps in the food placement positioning method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, steps in the food placement positioning method according to any one of claims 1 to 4 are implemented.

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