Food delivery method, device, equipment and storage medium

Abstract

The present invention relates to the field of automatic control, and discloses a food delivery method, device, equipment and storage medium for improving cooking efficiency and reducing operating costs. The food delivery method comprises: controlling a grabbing component to connect with a food box, after the grabbing component is connected with the food box, controlling the grabbing component to rotate relative to the food box by a first preset angle, and driving the food box to flip and deliver food through the grabbing component.

Description

Technical Field

[0001] The present invention relates to the field of automatic control, and in particular to a food delivery method, device, equipment and storage medium. Background Art

[0002] With the booming development of the takeout and group catering industries, the requirements for cooking efficiency and labor costs are getting higher and higher. Automated cooking equipment has gradually been widely used in commercial kitchens. Among them, stir-frying machines are indispensable cooking equipment, and various food delivery equipment have appeared in conjunction with stir-frying machines.

[0003] When existing food delivery equipment delivers food, the food boxes may fall off during movement due to loose grip or misalignment, causing the food to scatter. The scattered food causes waste, and the fallen food boxes and scattered food need to be handled manually, which not only reduces cooking efficiency but also increases operating costs. Summary of the invention

[0004] The main purpose of the present invention is to provide a food delivery method, device, equipment and storage medium, which are used to solve the problem of loose or misplaced grasping of food boxes, improve cooking efficiency and reduce operating costs.

[0005] A first aspect of the present invention provides a method for delivering food, which is applied to a food delivering device, wherein the food delivering device includes a food box and a grabbing component, wherein the grabbing component can be selectively connected or disconnected with the food box, and after the grabbing component is connected to the food box, the grabbing component can be flipped under the drive of the grabbing component, and the food delivering method includes: controlling the grabbing component to connect with the food box; after the grabbing component is connected to the food box, controlling the grabbing component to rotate relative to the direction of the food box by a first preset angle; and driving the food box to flip and deliver the food through the grabbing component.

[0006] In a feasible embodiment, controlling the grabbing assembly to connect with the food box includes: energizing the grabbing assembly, the grabbing assembly including a magnetic attraction portion, and the magnetic attraction portion generates magnetism to grab the food box after being energized; controlling the grabbing assembly to rotate toward the food box by a second preset angle, so that the grabbing assembly is connected with the food box.

[0007] In a feasible implementation, after the grabbing component is connected to the food box, after the grabbing component is controlled to rotate relative to the food box by a first preset angle, before the grabbing component drives the food box to flip and release the food, it also includes: obtaining a first attribute of the food in the food box, the first attribute being mixed food or directly used food; when the first attribute is mixed food, the food box is driven to shake back and forth by the grabbing component.

[0008] In a feasible implementation, when the first attribute is mixed ingredients, the grabbing component drives the ingredient box to shake back and forth, including: when the first attribute is mixed ingredients, the grabbing component controls the ingredient box to flip forward and reverse a preset number of times at a third preset angle.

[0009] In a feasible implementation, the method of driving the food box to flip and release the food by the grabbing component includes: obtaining a second attribute of the food in the food box, the second attribute including strongly adhesive food and weakly adhesive food; determining a target release method based on the second attribute, the target release method being direct release or anti-adhesive release; and controlling the food box by the grabbing component to release the food according to the target release method.

[0010] In a feasible embodiment, the grabbing component is used to control the food box to release the food according to the target release method, including: when the target release method is direct release, the grabbing component is used to control the food box to flip forward to a third preset angle and then keep it for a second preset time to release the food, and the forward flipping is a flip in the direction of pouring out the food; when the target release method is anti-stick release, the grabbing component is used to control the food box to first flip forward to a third preset angle and then keep it for a second preset time, then flip reversely to a fourth preset angle, and then flip forward to the third preset angle and then keep it for the second preset time to release the food, and the reverse flipping is a reverse flip of the forward flipping.

[0011] In a feasible implementation manner, the target delivery method is determined according to the second attribute, and the target delivery method is direct delivery or anti-stick delivery, including: when the second attribute is a weakly adhesive food, the delivery method is determined to be direct delivery; when the second attribute is a strongly adhesive food, the delivery method is determined to be anti-stick delivery; and the direct delivery or the anti-stick delivery is determined as the target delivery method.

[0012] In a feasible embodiment, the food delivery device also includes a transportation component, and before controlling the grabbing component to connect with the food box, it also includes: obtaining the food delivery time point corresponding to the food box; calculating the transportation time point based on the food delivery time point by counting back a third preset time period; and transporting the food box to an area where the grabbing component can grab at the transportation time point through the transportation component.

[0013] In a feasible implementation, after the food box is flipped and the food is placed by the grabbing assembly, the method further includes: moving the food box to an initial position by the grabbing assembly, wherein the initial position is the position of the food box when the food box is connected to the grabbing assembly; disconnecting the grabbing assembly from the food box; and transporting the food box to a food preparation area by the transport assembly.

[0014] In a feasible implementation, before obtaining the ingredient delivery time point corresponding to the ingredient box, it also includes: obtaining an electronic recipe, parsing the electronic recipe, obtaining an ingredient information set and an ingredient delivery time sequence, each ingredient information in the ingredient information set including an ingredient name, a first attribute of the ingredient, and a second attribute of the ingredient; sending the ingredient set to a terminal for food preparation, and receiving an ingredient box set fed back by the terminal, the ingredient box set including at least one ingredient box information, each ingredient box information including an ingredient box number and ingredient information; generating an ingredient delivery task sequence according to the ingredient box set and the ingredient delivery time sequence; and determining the ingredient box according to the ingredient delivery task sequence.

[0015] In a feasible implementation, generating an ingredient delivery task sequence based on the ingredient box set and the ingredient delivery time sequence includes: matching the ingredients in the ingredient delivery time sequence with the ingredient box information in the ingredient box set to obtain the ingredient box delivery time sequence; generating an ingredient delivery task sequence based on the ingredient box delivery time sequence, the ingredient delivery task sequence including at least one ingredient delivery task, each ingredient delivery task including an ingredient box number, a first attribute of the ingredient, a second attribute of the ingredient, and an ingredient delivery time point.

[0016] In a feasible implementation, determining the food box according to the food delivery task sequence includes: acquiring a target food delivery task that has not been executed and is located at the front in the food delivery task sequence; and identifying the food box corresponding to the target food delivery task.

[0017] The second aspect of the present invention provides a food delivery device, comprising: a connection module, used to control the connection between the grabbing assembly and the food box; a rotation module, used to control the grabbing assembly to rotate relative to the food box by a first preset angle after the grabbing assembly is connected to the food box; and a delivery module, used to drive the food box to flip and deliver food through the grabbing assembly.

[0018] In a feasible embodiment, the connection module is specifically used to: energize the grabbing assembly, the grabbing assembly includes a magnetic attraction portion, and the magnetic attraction portion generates a magnetic grabbable food box after being energized; control the grabbing assembly to rotate toward the food box by a second preset angle, so that the grabbing assembly is connected to the food box.

[0019] In a feasible embodiment, a shaking module is further included after the rotation module and before the delivery module, and the shaking module includes: a first acquisition unit, used to acquire a first attribute of the ingredients in the ingredient box, wherein the first attribute is mixed ingredients or directly used ingredients; and a shaking unit, used to drive the ingredient box to shake back and forth through the grabbing component when the first attribute is mixed ingredients.

[0020] In a feasible implementation manner, the shaking unit is specifically used for: when the first attribute is mixed ingredients, controlling the ingredient box to flip forward and reverse a preset number of times at a third preset angle through the grabbing component.

[0021] In a feasible embodiment, the delivery module includes: a second acquisition unit, used to acquire a second attribute of the ingredients in the ingredient box, the second attribute including strongly adhesive ingredients and weakly adhesive ingredients; a first determination unit, used to determine a target delivery method according to the second attribute, the target delivery method being direct delivery or anti-stick delivery; a delivery unit, used to control the ingredient box to deliver the ingredients according to the target delivery method through the grabbing component.

[0022] In a feasible embodiment, the delivery unit is specifically used for: when the target delivery method is direct delivery, the grabbing component is used to control the food box to flip forward to a third preset angle and then keep it for a second preset time to deliver the food, and the forward flip is a flip in the direction of pouring out the food; when the target delivery method is anti-stick delivery, the grabbing component is used to control the food box to flip forward to a third preset angle and then keep it for a second preset time, and then flip reversely to a fourth preset angle, and then flip forward to the third preset angle and then keep it for the second preset time to deliver the food, and the reverse flip is the reverse flip of the forward flip.

[0023] In a feasible implementation manner, the first determination unit is specifically used to: when the second attribute is a weakly adhesive ingredient, determine the delivery method as direct delivery; when the second attribute is a strongly adhesive ingredient, determine the delivery method as anti-adhesive delivery; determine the direct delivery or the anti-adhesive delivery as the target delivery method.

[0024] In a feasible embodiment, a first transport module is also included before the connection module, and the first transport module includes: a third acquisition unit, used to obtain the food delivery time point corresponding to the food box; a calculation unit, used to calculate the transportation time point based on the food delivery time point by counting back a third preset time period; and a transport unit, used to transport the food box to the area that can be grasped by the grabbing component through the transport component at the transportation time point.

[0025] In a feasible embodiment, a second transport module is also included after the delivery module, and the second transport module is specifically used to: move the food box to an initial position through the grabbing component, and the initial position is the position of the food box when it is connected to the grabbing component; disconnect the grabbing component from the food box; and transport the food box to a preparation area through the transport component.

[0026] In a feasible implementation, a generation module is also included before the first transport module, and the generation module includes: a fourth acquisition unit, used to acquire an electronic recipe, parse the electronic recipe, and obtain a set of ingredient information and a time sequence of ingredient delivery, each ingredient information in the ingredient information set including an ingredient name, a first attribute of the ingredient, and a second attribute of the ingredient; a sending and receiving unit, used to send the ingredient set to a terminal for food preparation, and receive an ingredient box set fed back by the terminal, the ingredient box set including at least one ingredient box information, and each ingredient box information including an ingredient box number and ingredient information; a generation unit, used to generate an ingredient delivery task sequence according to the ingredient box set and the time sequence of ingredient delivery; a second determination unit, used to determine the ingredient box according to the ingredient delivery task sequence.

[0027] In a feasible implementation, the generation unit is specifically used to: match the ingredients in the ingredient delivery time sequence with the ingredient box information in the ingredient box set to obtain the ingredient box delivery time sequence; generate an ingredient delivery task sequence according to the ingredient box delivery time sequence, the ingredient delivery task sequence including at least one ingredient delivery task, each ingredient delivery task including an ingredient box number, a first attribute of the ingredient, a second attribute of the ingredient and an ingredient delivery time point.

[0028] In a feasible implementation manner, the second determining unit is specifically used to: obtain a target food delivery task that has not been executed and is located at the front in the food delivery task sequence; and identify the food box corresponding to the target food delivery task.

[0029] The third aspect of the present invention provides a food delivery device, comprising: a food box, a transport component, a grabbing component, a memory and at least one processor, wherein the memory stores instructions; the at least one processor calls the instructions in the memory so that the food delivery device executes the above-mentioned food delivery method.

[0030] A fourth aspect of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, which, when executed on a computer, enable the computer to execute the above-mentioned food delivery method.

[0031] In the technical solution provided by the present invention, the grabbing assembly is controlled to be connected to the food box. After the grabbing assembly is connected to the food box, the grabbing assembly is controlled to rotate relative to the food box by a first preset angle, and the food box is driven to flip and put the food through the grabbing assembly. In the embodiment of the present invention, after the grabbing assembly is connected to the food box, the grabbing assembly is controlled to rotate in the direction of the food box. During the rotation process, the misalignment or slight offset of the grabbing position can be adjusted under the action of the food box's own gravity. At the same time, the connection position between the food box and the grabbing assembly can also be adjusted by the peripheral mechanism in contact with the food box, so that the connection between the grabbing assembly and the food box is more firmly connected, reducing cooking delays and labor processing costs caused by the food box falling off, improving cooking efficiency, and reducing operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of an embodiment of a method for delivering food in an embodiment of the present invention;

[0033] Figure 2 It is a schematic diagram of a food delivery device according to an embodiment of the present invention;

[0034] Figure 3 It is a schematic diagram of another embodiment of the method for delivering food in an embodiment of the present invention;

[0035] Figure 4 It is a schematic diagram of another embodiment of the method for delivering food in an embodiment of the present invention;

[0036] Figure 5 It is a schematic diagram of another embodiment of the method for delivering food in an embodiment of the present invention;

[0037] Figure 6 It is a schematic diagram of an embodiment of a food delivery device in an embodiment of the present invention;

[0038] Figure 7 It is a schematic diagram of another embodiment of the food delivery device in the embodiment of the present invention;

[0039] Figure 8 It is a schematic diagram of an embodiment of a food delivery device in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The embodiments of the present invention provide a method, device, equipment and storage medium for placing food, which solve the problem of loose or misplaced grasping of food boxes, improve cooking efficiency and reduce operating costs.

[0041] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0042] For ease of understanding, the specific process of the embodiment of the present invention is described below. It can be understood that the execution subject of the present invention can be a food delivery device, or a mobile terminal that communicates with the food delivery device or a central control system server of the food delivery device. The food delivery device can be an integrated device or a separate device, which is not limited here. The embodiment of the present invention is described by taking the central control system server (referred to as server) of the food delivery device as an example of the execution subject.

[0043] See also Figure 1 , an embodiment of the method for delivering food in the embodiment of the present invention includes:

[0044] 101. Control the grabbing component to connect with the food box;

[0045] like Figure 2 As shown, the food delivery device includes a food box and a grabbing assembly. The grabbing assembly can rotate around a fixed axis. In order to facilitate the connection of the grabbing assembly with food boxes of different sizes, the connection method is preferably a magnetic connection. A magnetic portion is provided at the end of the grabbing assembly, and a magnetic area is provided on the food box. When the grabbing assembly is powered on, the magnetic portion generates magnetism, and the server controls the grabbing assembly to rotate close to the food box, and the connection between the grabbing assembly and the food box is achieved through the attraction of the magnetic portion and the magnetic area.

[0046] 102. After the grabbing assembly is connected to the food box, control the grabbing assembly to rotate relative to the food box by a first preset angle;

[0047] After the grabbing assembly is connected to the food box, the server controls the grabbing assembly to rotate around the fixed axis toward the food box at a first preset angle, and the range of the first preset angle is (0°, 45°). Since there are structural devices such as a food box tray around the food box to limit the position of the food box, when the grabbing assembly is connected to the food box and rotates toward the food box, the misalignment or slight offset of the grabbing position during the rotation process can be adjusted under the action of the food box's own gravity. At the same time, the food box moves relative to the grabbing assembly under the action of external forces from the surrounding structural devices, and the suction position is adjusted to achieve alignment and suction between the magnetic suction part and the center of the magnetic suction area, thereby avoiding unstable center of gravity of the food box caused by offset of the suction position, thereby causing the food box to fall off during the movement of the food box driven by the grabbing assembly.

[0048] 103. Use the grabbing component to drive the food box to flip over and put the food in.

[0049] The server controls the grabbing assembly to drive the food box to flip in a direction away from the surrounding structural device of the food box, and the flipping angle range is (135°, 180°), and the food in the food box is released.

[0050] In the embodiment of the present invention, after the grabbing assembly is connected to the food box, the grabbing assembly is controlled to rotate toward the food box. During the rotation, the misalignment or slight deviation of the grabbing position can be adjusted under the action of the food box's own gravity. At the same time, the connection position between the food box and the grabbing assembly can be adjusted by relying on the peripheral device in contact with the food box, so that the connection between the grabbing assembly and the food box is more firmly connected, reducing cooking delays and manual handling costs caused by the food box falling off, improving cooking efficiency, and reducing operating costs.

[0051] See also Figure 3 Another embodiment of the method for delivering food in the embodiment of the present invention includes:

[0052] 301. Control the grabbing component to connect with the food box;

[0053] like Figure 2As shown, the food delivery device includes a food box and a grabbing component, and the grabbing component can rotate around a fixed axis. In order to facilitate the connection of the grabbing component with food boxes of different sizes, the connection method is preferably a magnetic connection. The grabbing component includes a magnetic suction part, and a magnetic suction area is provided on the food box. When the grabbing component is powered on, the magnetic suction part generates magnetism to grab the food box. The server controls the grabbing component to rotate a second preset angle in the direction of the food box. The size of the second preset angle is related to the distance between the grabbing component and the food box. The larger the distance, the larger the second preset angle. Even if the distance between the grabbing component and the food box is far, the grabbing component can be connected to the food box. It should be noted that the distance between the grabbing component and the food box is less than the radius of the arc formed by the rotation of the grabbing component. Usually, the range of the second preset angle is (0°, 45°). Optionally, since it takes a certain amount of time for the magnetic suction part to generate magnetism, in order to make the grabbing component firmly grasp, when the power-on time of the grabbing component exceeds the first preset duration, the server controls the grabbing component to rotate a second preset angle in the direction of the food box so that the grabbing component is connected to the food box.

[0054] Furthermore, in order to prevent the circuit that supplies power to the grabbing component from being abnormal and unable to supply power in time, at least two parallel circuits are used to simultaneously supply power to the grabbing component to ensure that the magnetic attraction portion of the grabbing component is energized to generate magnetism.

[0055] 302. After the grabbing assembly is connected to the food box, control the grabbing assembly to rotate relative to the food box by a first preset angle;

[0056] After the grabbing assembly is connected to the food box, the server controls the grabbing assembly to rotate around the fixed axis toward the food box at a first preset angle, and the range of the first preset angle is (0°, 45°). Since there are structural devices such as a food box tray around the food box to limit the position of the food box, when the grabbing assembly is connected to the food box and rotates toward the food box, the misalignment or slight offset of the grabbing position during the rotation process can be adjusted under the action of the food box's own gravity. At the same time, the food box moves relative to the grabbing assembly under the action of external forces from the surrounding structural devices, and the suction position is adjusted to achieve alignment and suction between the magnetic suction part and the center of the magnetic suction area, thereby avoiding unstable center of gravity of the food box caused by offset of the suction position, thereby causing the food box to fall off during the movement of the food box driven by the grabbing assembly.

[0057] 303. Determine whether the ingredients in the food box need to be mixed, and if so, control the food box to shake;

[0058] The server obtains the first attribute of the food in the food box, and the first attribute is mixed food or directly used food. When the first attribute is mixed food, the food box is driven to shake back and forth by the grabbing component. Specifically, when the first attribute is mixed food, the food box is controlled by the grabbing component to flip forward and reverse a preset number of times at a third preset angle, and the range of the third preset angle is (0°, 45°).

[0059] For example, when the food in the food box is egg liquid, since the first property of egg liquid is a mixed food, the server controls the food box through the grabbing component to flip 30° in the direction away from the surrounding structural device of the food box, and then flips 30° in the direction close to the surrounding structural device of the food box, and repeats this 5 times to complete the shaking operation of the food box.

[0060] 304. The food box is turned over and the food is placed in the box through the grabbing component.

[0061] The server controls the grabbing assembly to drive the food box to flip in a direction away from the surrounding structural device of the food box, and the flipping angle range is (135°, 180°), and the food in the food box is released.

[0062] In the embodiment of the present invention, after the grabbing assembly is connected to the food box, the grabbing assembly is controlled to rotate toward the food box. During the rotation, the misalignment or slight deviation of the grabbing position can be adjusted under the action of the food box's own gravity. At the same time, the connection position of the food box and the grabbing assembly can be adjusted by relying on the peripheral device in contact with the food box, so that the connection between the grabbing assembly and the food box is more firmly connected, reducing cooking delays and manpower processing costs caused by the food box falling off. When the food in the food box needs to be mixed, the food box is shaken before the food in the food box is put in to avoid the food from settling and adhering to the inner wall of the food box, thereby improving cooking efficiency and reducing operating costs.

[0063] See also Figure 4 Another embodiment of the method for delivering food in the embodiment of the present invention includes:

[0064] 401. Control the grabbing component to connect with the food box;

[0065] like Figure 2As shown, the food delivery device includes a food box and a grabbing component, and the grabbing component can rotate around a fixed axis. In order to facilitate the connection of the grabbing component with food boxes of different sizes, the connection method is preferably a magnetic connection. The grabbing component includes a magnetic suction part, and a magnetic suction area is provided on the food box. When the grabbing component is powered on, the magnetic suction part generates magnetism to grab the food box. The server controls the grabbing component to rotate a second preset angle in the direction of the food box. The size of the second preset angle is related to the distance between the grabbing component and the food box. The larger the distance, the larger the second preset angle. Even if the distance between the grabbing component and the food box is far, the grabbing component can be connected to the food box. It should be noted that the distance between the grabbing component and the food box is less than the radius of the arc formed by the rotation of the grabbing component. Usually, the range of the second preset angle is (0°, 45°). Optionally, since it takes a certain amount of time for the magnetic suction part to generate magnetism, in order to make the grabbing component firmly grasp, when the power-on time of the grabbing component exceeds the first preset duration, the server controls the grabbing component to rotate a second preset angle in the direction of the food box so that the grabbing component is connected to the food box.

[0066] Furthermore, in order to prevent the circuit that supplies power to the grabbing component from being abnormal and unable to supply power in time, at least two parallel circuits are used to simultaneously supply power to the grabbing component to ensure that the magnetic attraction portion of the grabbing component is energized to generate magnetism.

[0067] 402. After the grabbing assembly is connected to the food box, control the grabbing assembly to rotate relative to the food box by a first preset angle;

[0068] After the grabbing assembly is connected to the food box, the server controls the grabbing assembly to rotate around the fixed axis toward the food box at a first preset angle, and the range of the first preset angle is (0°, 45°). Since there are structural devices such as a food box tray around the food box to limit the position of the food box, when the grabbing assembly is connected to the food box and rotates toward the food box, the misalignment or slight offset of the grabbing position during the rotation can be adjusted under the action of the food box's own gravity. In addition, the food box moves relative to the grabbing assembly under the action of external forces from the surrounding structural devices, and the suction position is adjusted to achieve alignment and suction between the magnetic suction part and the center of the magnetic suction area, thereby avoiding unstable center of gravity of the food box caused by offset of the suction position, thereby causing the food box to fall off during the movement of the food box driven by the grabbing assembly.

[0069] 403. Determine whether the ingredients in the food box need to be mixed. If so, control the food box to shake;

[0070] The server obtains the first attribute of the food in the food box, and the first attribute is mixed food or directly used food. When the first attribute is mixed food, the food box is driven to shake back and forth by the grabbing component. Specifically, when the first attribute is mixed food, the food box is controlled by the grabbing component to flip forward and reverse a preset number of times at a third preset angle, and the range of the third preset angle is (0°, 45°).

[0071] For example, when the food in the food box is egg liquid, since the first property of egg liquid is a mixed food, the server controls the food box through the grabbing component to flip 30° in the direction away from the surrounding structural device of the food box, and then flips 30° in the direction close to the surrounding structural device of the food box, and repeats this 5 times to complete the shaking operation of the food box.

[0072] 404. Obtaining a target delivery method according to food attributes;

[0073] The server obtains the second attribute of the ingredients in the food box, the second attribute includes strongly adhesive ingredients and weakly adhesive ingredients, determines the target delivery method according to the second attribute, the target delivery method is direct delivery or anti-adhesion delivery, and controls the food box to deliver the ingredients according to the target delivery method through the grabbing component.

[0074] Among them, when the second attribute is a weakly adhesive food, the delivery method is determined to be direct delivery; when the second attribute is a strongly adhesive food, the delivery method is determined to be anti-sticky delivery, and direct delivery or anti-sticky delivery is determined as the target delivery method.

[0075] For example, when the ingredients in the food box are green vegetables, the second attribute of the green vegetables is weak adhesion ingredients. At this time, the corresponding delivery method of the food box is direct delivery; when the ingredients in the food box are pork, the second attribute of pork is strong adhesion ingredients. At this time, the corresponding delivery method of the food box is anti-stick delivery.

[0076] 405. Control the food box to deliver food according to the target delivery method.

[0077] When the target delivery method is direct delivery, the server controls the food box through the grabbing component to flip forward to the third preset angle and then keep it for the second preset time to release the food. The forward flip is a flip in the direction of pouring out the food. When the target delivery method is anti-stick delivery, the server controls the food box through the grabbing component to first flip forward to the third preset angle and then keep it for the second preset time, then flip reversely to the fourth preset angle, then flip forward to the third preset angle and then keep it for the second preset time to release the food. The reverse flip is the reverse flip of the forward flip, and the range of the third preset angle is (135°, 180°).

[0078] In the embodiment of the present invention, after the grabbing assembly is connected to the food box, the grabbing assembly is controlled to rotate toward the food box. During the rotation, the misalignment or slight deviation of the grabbing position can be adjusted under the action of the food box's own gravity. At the same time, the connection position of the food box and the grabbing assembly can be adjusted by relying on the peripheral device in contact with the food box, so that the connection between the grabbing assembly and the food box is more firmly connected, reducing cooking delays and manpower processing costs caused by the food box falling off. In addition, according to the properties of the food in the food box, it is determined whether to shake the food box and the way to put the food in the food box, so as to reduce the situation where the food adheres or sticks to the inner wall of the food box, reduce the cleaning workload caused by food residues, improve cooking efficiency, and reduce operating costs.

[0079] See also Figure 5 Another embodiment of the method for delivering food in the embodiment of the present invention includes:

[0080] 501. Obtain an electronic recipe, and generate a task sequence for placing ingredients according to the electronic recipe;

[0081] The server obtains the electronic recipe, parses the electronic recipe, obtains the ingredient information set and the time sequence of ingredient delivery, each ingredient information in the ingredient information set includes the ingredient name, the first attribute of the ingredient and the second attribute of the ingredient, sends the ingredient set to the terminal for preparation, and receives the ingredient box set fed back by the terminal, the ingredient box set includes at least one ingredient box information, each ingredient box information includes the ingredient box number and ingredient information, and generates an ingredient delivery task sequence according to the ingredient box set and the time sequence of ingredient delivery.

[0082] Specifically, the server matches the ingredients in the ingredient delivery time sequence with the ingredient box information in the ingredient box set to obtain the ingredient box delivery time sequence, and generates an ingredient delivery task sequence based on the ingredient box delivery time sequence. The ingredient delivery task sequence includes at least one ingredient delivery task, and each ingredient delivery task includes the ingredient box number, the first attribute of the ingredient, the second attribute of the ingredient, and the ingredient delivery time point.

[0083] 502. Obtaining a food box and a corresponding food delivery time point according to the food delivery task sequence, and transporting the food box to an area where the grabbing component can grab before the food delivery time point;

[0084] The server obtains the target food delivery task that has not been executed in the food delivery task sequence, identifies the food box corresponding to the target food delivery task, obtains the food delivery time point corresponding to the food box, and the server reverses the third preset time period based on the food delivery time point to calculate the transportation time point, and transports the food box to the area that can be grasped by the grasping component through the transportation component at the transportation time point.

[0085] Next, the method of transporting food boxes by the transport component is described:

[0086] The food delivery device includes a slide and a table. The table is provided with at least one sensor, and the slide is provided with at least one trigger. The slide is used to carry food boxes and peripheral structural devices such as food box trays, and the transport component transmits the food boxes through the slide. The server obtains the target position of the food box on the slide, identifies the trigger closest to the target position, determines the trigger closest to the target position as the target trigger, queries a preset positioning table, selects a sensor that can position the food box in an area that can be grasped by the grasping component according to the target position and the target trigger, and determines the selected sensor as the target sensor. The server controls the movement of the slide carrying the food box through the transport component. When the target sensor senses the target trigger, it determines that the food box is transmitted to the area that can be grasped by the grasping component.

[0087] 503. Control the grabbing component to connect with the food box;

[0088] like Figure 2 As shown, the food delivery device includes a food box and a grabbing component, and the grabbing component can rotate around a fixed axis. In order to facilitate the connection of the grabbing component with food boxes of different sizes, the connection method is preferably a magnetic connection. The grabbing component includes a magnetic suction part, and a magnetic suction area is provided on the food box. When the grabbing component is powered on, the magnetic suction part generates magnetism to grab the food box. The server controls the grabbing component to rotate a second preset angle in the direction of the food box. The size of the second preset angle is related to the distance between the grabbing component and the food box. The larger the distance, the larger the second preset angle. Even if the distance between the grabbing component and the food box is far, the grabbing component can be connected to the food box. It should be noted that the distance between the grabbing component and the food box is less than the radius of the arc formed by the rotation of the grabbing component. Usually, the range of the second preset angle is (0°, 45°). Optionally, since it takes a certain amount of time for the magnetic suction part to generate magnetism, in order to make the grabbing component firmly grasp, when the power-on time of the grabbing component exceeds the first preset duration, the server controls the grabbing component to rotate a second preset angle in the direction of the food box so that the grabbing component is connected to the food box.

[0089] Furthermore, in order to prevent the circuit that supplies power to the grabbing component from being abnormal and unable to supply power in time, at least two parallel circuits are used to simultaneously supply power to the grabbing component to ensure that the magnetic attraction portion of the grabbing component is energized to generate magnetism.

[0090] 504. After the grabbing assembly is connected to the food box, the grabbing assembly is controlled to rotate relative to the food box by a first preset angle;

[0091] After the grabbing assembly is connected to the food box, the server controls the grabbing assembly to rotate around the fixed axis toward the food box at a first preset angle, and the range of the first preset angle is (0°, 45°). Since there are structural devices such as a food box tray around the food box to limit the position of the food box, when the grabbing assembly is connected to the food box and rotates toward the food box, the misalignment or slight offset of the grabbing position during the rotation can be adjusted under the action of the food box's own gravity. In addition, the food box moves relative to the grabbing assembly under the action of external forces from the surrounding structural devices, and the suction position is adjusted to achieve alignment and suction between the magnetic suction part and the center of the magnetic suction area, thereby avoiding unstable center of gravity of the food box caused by offset of the suction position, thereby causing the food box to fall off during the movement of the food box driven by the grabbing assembly.

[0092] 505. Determine whether the ingredients in the food box need to be mixed. If so, control the food box to shake;

[0093] The server obtains the first attribute of the food in the food box, and the first attribute is mixed food or directly used food. When the first attribute is mixed food, the food box is driven to shake back and forth by the grabbing component. Specifically, when the first attribute is mixed food, the food box is controlled by the grabbing component to flip forward and reverse a preset number of times at a third preset angle, and the range of the third preset angle is (0°, 45°).

[0094] For example, when the food in the food box is egg liquid, since the first property of egg liquid is a mixed food, the server controls the food box through the grabbing component to flip 30° in the direction away from the surrounding structural device of the food box, and then flips 30° in the direction close to the surrounding structural device of the food box, and repeats this 5 times to complete the shaking operation of the food box.

[0095] 506. Obtaining a target delivery method according to food attributes;

[0096] The server obtains the second attribute of the ingredients in the food box, the second attribute includes strongly adhesive ingredients and weakly adhesive ingredients, determines the target delivery method according to the second attribute, the target delivery method is direct delivery or anti-adhesion delivery, and controls the food box to deliver the ingredients according to the target delivery method through the grabbing component.

[0097] Among them, when the second attribute is a weakly adhesive food, the delivery method is determined to be direct delivery; when the second attribute is a strongly adhesive food, the delivery method is determined to be anti-sticky delivery, and direct delivery or anti-sticky delivery is determined as the target delivery method.

[0098] For example, when the ingredients in the food box are green vegetables, the second attribute of the green vegetables is weak adhesion ingredients. At this time, the corresponding delivery method of the food box is direct delivery; when the ingredients in the food box are pork, the second attribute of pork is strong adhesion ingredients. At this time, the corresponding delivery method of the food box is anti-stick delivery.

[0099] 507. Control the food box to deliver food according to the target delivery method.

[0100] When the target delivery method is direct delivery, the server controls the food box through the grabbing component to flip forward to the third preset angle and then keep it for the second preset time to release the food. The forward flip is a flip in the direction of pouring out the food. When the target delivery method is anti-stick delivery, the server controls the food box through the grabbing component to first flip forward to the third preset angle and then keep it for the second preset time, then flip reversely to the fourth preset angle, then flip forward to the third preset angle and then keep it for the second preset time to release the food. The reverse flip is the reverse flip of the forward flip, and the range of the third preset angle is (135°, 180°).

[0101] After the ingredients are put in, the server moves the ingredient box to the initial position through the grabbing component. The initial position is the position when the ingredient box is connected to the grabbing component. The grabbing component is powered off, the connection between the grabbing component and the ingredient box is disconnected, and the ingredient box is transported to the preparation area through the transport component.

[0102] In the embodiment of the present invention, an ingredient delivery task sequence is generated in advance according to the electronic recipe, the next ingredient box to be delivered is determined, and the ingredient box is transported to the delivery area in advance, thereby saving cooking time. After the grabbing component is connected to the ingredient box, the grabbing component is controlled to rotate toward the ingredient box. During the rotation, the misalignment or slight offset of the grabbing position can be adjusted under the action of the ingredient box's own gravity. At the same time, the connection position of the ingredient box and the grabbing component can also be adjusted by relying on the peripheral device in contact with the ingredient box, so that the connection between the grabbing component and the ingredient box is more firmly connected, reducing cooking delays and manpower processing costs caused by the falling of the ingredient box. In addition, whether to shake the ingredient box and the delivery method of the ingredients in the ingredient box are determined according to the properties of the ingredients in the ingredient box, thereby reducing the situation where the ingredients stick to the inner wall of the ingredient box, reducing the cleaning workload caused by food residues, improving cooking efficiency, and reducing operating costs.

[0103] The above is a description of the food delivery method in the embodiment of the present invention. The following is a description of the food delivery device in the embodiment of the present invention. Figure 6 , an embodiment of the food delivery device in the embodiment of the present invention includes:

[0104] A connection module 601 is used to control the connection between the grabbing component and the food box;

[0105] The rotation module 602 is used to control the grabbing assembly to rotate relative to the food box by a first preset angle after the grabbing assembly is connected to the food box;

[0106] The delivery module 603 is used to drive the food box to flip and deliver food through the grabbing component.

[0107] In the embodiment of the present invention, after the grabbing assembly is connected to the food box, the grabbing assembly is controlled to rotate toward the food box, and the connection position of the food box and the grabbing assembly is adjusted by means of the peripheral device in contact with the food box, so that the connection between the grabbing assembly and the food box is more firmly connected, reducing cooking delays and manual handling costs caused by the food box falling off, improving cooking efficiency, and reducing operating costs.

[0108] See also Figure 7 Another embodiment of the food delivery device in the embodiment of the present invention includes:

[0109] A connection module 601 is used to control the connection between the grabbing component and the food box;

[0110] The rotation module 602 is used to control the grabbing assembly to rotate relative to the food box by a first preset angle after the grabbing assembly is connected to the food box;

[0111] The delivery module 603 is used to drive the food box to flip and deliver food through the grabbing component.

[0112] Optionally, the connection module 601 is specifically used for:

[0113] The grabbing assembly is energized, and the grabbing assembly includes a magnetic attraction portion, which generates magnetism to grab the food box after being energized; the grabbing assembly is controlled to rotate toward the food box by a second preset angle, so that the grabbing assembly is connected to the food box.

[0114] Optionally, the food delivery device further includes a shaking module 604, and the shaking module 604 includes:

[0115] A first acquisition unit 6041 is used to acquire a first attribute of the ingredients in the ingredient box, where the first attribute is the ingredients to be mixed or directly used;

[0116] The shaking unit 6042 is used to drive the food box to shake back and forth through the grabbing component when the first attribute is the food to be mixed.

[0117] Optionally, the jitter unit 6042 is specifically used for:

[0118] When the first attribute is mixed ingredients, the grabbing component controls the ingredient box to flip forward and reverse a preset number of times at a third preset angle.

[0119] Optionally, the delivery module 603 includes:

[0120] A second acquisition unit 6031 is used to acquire a second attribute of the food in the food box, where the second attribute includes a strongly adhesive food and a weakly adhesive food;

[0121] A first determining unit 6032 is used to determine a target delivery method according to the second attribute, where the target delivery method is direct delivery or anti-sticking delivery;

[0122] The delivery unit 6033 is used to control the food box to deliver food according to the target delivery method through the grabbing component.

[0123] Optionally, the delivery unit 6033 is specifically used for:

[0124] When the target delivery method is direct delivery, the grabbing component is used to control the food box to flip forward to the third preset angle and then keep it for the second preset time to release the food. The forward flip is a flip in the direction of pouring out the food. When the target delivery method is anti-stick delivery, the grabbing component is used to control the food box to flip forward to the third preset angle and then keep it for the second preset time, then flip reversely to the fourth preset angle, then flip forward to the third preset angle and then keep it for the second preset time to release the food. The reverse flip is the reverse flip of the forward flip.

[0125] Optionally, the first determining unit 6032 is specifically configured to:

[0126] When the second attribute is a weakly adhesive ingredient, the delivery method is determined to be direct delivery; when the second attribute is a strongly adhesive ingredient, the delivery method is determined to be anti-adhesive delivery; direct delivery or anti-adhesive delivery is determined as the target delivery method.

[0127] Optionally, the food delivery device further includes a first transport module 605, and the first transport module 605 includes:

[0128] The third acquisition unit 6051 is used to acquire the food delivery time point corresponding to the food box;

[0129] The calculation unit 6052 is used to calculate the transportation time point based on the food delivery time point by calculating the third preset time period backwards;

[0130] The transport unit 6053 is used to transport the food box to an area where the grabbing component can grab it through the transport component at the transport time point.

[0131] Optionally, the food delivery device further includes a second transport module 606, and the second transport module 606 is specifically used for:

[0132] The food box is moved to an initial position by the grabbing component, which is the position of the food box when it is connected to the grabbing component; the connection between the grabbing component and the food box is disconnected; and the food box is transported to the food preparation area by the transporting component.

[0133] Optionally, the food delivery device further includes a generating module 607, and the generating module 607 includes:

[0134] The fourth acquisition unit 6071 is used to acquire the electronic recipe, parse the electronic recipe, obtain the ingredient information set and the time sequence of the ingredient delivery, each ingredient information in the ingredient information set includes the ingredient name, the first attribute of the ingredient and the second attribute of the ingredient;

[0135] The sending and receiving unit 6072 is used to send the food set to the terminal for food preparation, and receive the food box set fed back by the terminal, the food box set includes at least one food box information, each food box information includes the food box number and food information;

[0136] A generating unit 6073, configured to generate an ingredient delivery task sequence according to an ingredient box set and an ingredient delivery time sequence;

[0137] The second determining unit 6074 is used to determine the food box according to the food delivery task sequence.

[0138] Optionally, the generating unit 6073 is specifically used for:

[0139] Match the ingredients in the ingredient delivery time sequence with the ingredient box information in the ingredient box set to obtain the ingredient box delivery time sequence; generate an ingredient delivery task sequence according to the ingredient box delivery time sequence, the ingredient delivery task sequence includes at least one ingredient delivery task, and each ingredient delivery task includes an ingredient box number, a first attribute of the ingredient, a second attribute of the ingredient, and an ingredient delivery time point.

[0140] Optionally, the second determining unit 6074 is specifically configured to:

[0141] Obtain a target food delivery task that has not been executed and is at the front in the food delivery task sequence; and identify a food box corresponding to the target food delivery task.

[0142] In the embodiment of the present invention, an ingredient delivery task sequence is generated in advance according to the electronic recipe, the next ingredient box to be delivered is determined, and the ingredient box is transported to the delivery area in advance, thereby saving cooking time. After the grabbing component is connected to the ingredient box, the grabbing component is controlled to rotate toward the ingredient box, and the connection position of the ingredient box and the grabbing component is adjusted by means of the peripheral mechanism in contact with the ingredient box, so that the connection between the grabbing component and the ingredient box is more firmly connected, thereby reducing cooking delays and manpower processing costs caused by the ingredient box falling off. In addition, whether to shake the ingredient box and the delivery method of the ingredients in the ingredient box are determined according to the properties of the ingredients in the ingredient box, thereby reducing the situation where the ingredients stick to the inner wall of the ingredient box, reducing the cleaning workload caused by food residues, improving cooking efficiency, and reducing operating costs.

[0143] above Figure 6 and Figure 7 The food delivery device in the embodiment of the present invention is described in detail from the perspective of modular functional entities, and the food delivery device in the embodiment of the present invention is described in detail from the perspective of hardware processing.

[0144] Figure 8 : is a structural schematic diagram of a food delivery device provided by an embodiment of the present invention. The food delivery device 800 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 810 (for example, one or more processors) and a memory 820, and one or more storage media 830 (for example, one or more massive storage devices) storing application programs 833 or data 832. Among them, the memory 820 and the storage medium 830 may be short-term storage or permanent storage. The program stored in the storage medium 830 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the food delivery device 800. Furthermore, the processor 810 may be configured to communicate with the storage medium 830 to execute a series of instruction operations in the storage medium 830 on the food delivery device 800.

[0145] The food delivery device 800 may also include one or more power supplies 840, one or more wired or wireless network interfaces 850, one or more input and output interfaces 860, and / or one or more operating systems 831, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. It will be appreciated by those skilled in the art that Figure 8 The structure of the food delivery device shown does not constitute a limitation on the food delivery device, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0146] The present invention also provides a food delivery device, the computer device includes a food box, a transport component, a grabbing component, a memory and a processor, the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor executes the steps of the food delivery method in the above-mentioned embodiments.

[0147] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the food delivery method.

[0148] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0149] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0150] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A food delivery method, applied to a food delivery device, the food delivery device comprising a food box and a grabbing component, the grabbing component can be selectively connected or disconnected with the food box, and the grabbing component can be turned over under the drive of the grabbing component after being connected to the food box, characterized in that: The food delivery method comprises: Controlling the grabbing assembly to connect with the food box; After the grabbing assembly is connected to the food box, the grabbing assembly is controlled to rotate relatively to the food box by a first preset angle, wherein the grabbing assembly rotates around a fixed axis, and the range of the first preset angle is (0°, 45°); The grabbing assembly drives the food box to flip over and place the food.

2. The method for delivering food according to claim 1, characterized in that: The controlling the grabbing assembly to connect with the food box comprises: The grabbing assembly is energized, and the grabbing assembly includes a magnetic attraction portion, and the magnetic attraction portion generates magnetism to grab the food box after being energized; The grabbing assembly is controlled to rotate toward the food box at a second preset angle so that the grabbing assembly is connected to the food box.

3. The method for delivering food according to claim 1, characterized in that: After the grabbing assembly is connected to the food box, after the grabbing assembly is controlled to rotate relative to the food box by a first preset angle, and before the food box is driven to flip and put food by the grabbing assembly, the method further includes: Acquire a first attribute of the food in the food box, the first attribute being a mixed food or a directly used food; When the first attribute is mixed ingredients, the food box is driven to shake back and forth by the grabbing component.

4. The method for delivering food according to claim 3, characterized in that: When the first attribute is the food to be used mixed, the grabbing component drives the food box to shake back and forth, including: When the first attribute is mixed ingredients, the grabbing component controls the ingredient box to flip forward and reverse a preset number of times at a third preset angle.

5. The food delivery method according to claim 1, characterized in that: The method of driving the food box to flip and place food by the grabbing component comprises: Acquire a second attribute of the food in the food box, where the second attribute includes strongly adhesive food and weakly adhesive food; Determine a target delivery method according to the second attribute, wherein the target delivery method is direct delivery or anti-sticking delivery; The grabbing component controls the food box to deliver food according to the target delivery method.

6. The food delivery method according to claim 5, characterized in that: The method of controlling the food box to place food in the target placing method by using the grabbing component includes: When the target delivery method is direct delivery, the grabbing component controls the food box to flip forward by a third preset angle and then keep it for a second preset time to deliver the food, wherein the forward flip is a flip in the direction of pouring out the food; When the target delivery method is anti-stick delivery, the grabbing component controls the food box to first flip forward to a third preset angle and then keep it for a second preset time, then flip reversely to a fourth preset angle, then flip forward to the third preset angle and keep it for the second preset time to deliver the food, and the reverse flip is the reverse flip of the forward flip.

7. The food delivery method according to claim 5, characterized in that: The step of determining a target delivery method according to the second attribute, wherein the target delivery method is direct delivery or anti-sticking delivery, includes: When the second attribute is weakly adhesive food, determining the delivery method to be direct delivery; When the second attribute is a strongly adhesive food, determining the delivery method to be an anti-adhesive delivery method; The direct delivery or the anti-sticking delivery is determined as the target delivery method.

8. The food delivery method according to any one of claims 1 to 7, wherein the food delivery device further comprises a transport component, characterized in that: Before controlling the grabbing assembly to connect with the food box, the method further includes: Obtaining the food delivery time point corresponding to the food box; Based on the food delivery time point, a third preset time period is calculated backward to obtain a transportation time point; At the transport time point, the food box is transported to an area where the grabbing component can grab the food box by the transport component.

9. The food delivery method according to claim 8, characterized in that: After the grabbing component drives the food box to flip and place the food, the method further includes: Move the food box to an initial position by the grabbing assembly, wherein the initial position is the position of the food box when connected to the grabbing assembly; Disconnecting the grabbing assembly from the food box; The food box is transported to a food preparation area by the transport component.

10. The food delivery method according to claim 8, characterized in that: Before obtaining the food delivery time point corresponding to the food box, the method further includes: Obtaining an electronic recipe, parsing the electronic recipe, obtaining an ingredient information set and an ingredient delivery time sequence, wherein each ingredient information in the ingredient information set includes an ingredient name, a first attribute of the ingredient, and a second attribute of the ingredient; Send the ingredient set to the terminal for food preparation, and receive an ingredient box set fed back by the terminal, wherein the ingredient box set includes at least one ingredient box information, and each ingredient box information includes an ingredient box number and ingredient information; Generate an ingredient delivery task sequence according to the ingredient box set and the ingredient delivery time sequence; The food box is determined according to the food delivery task sequence.

11. The food delivery method according to claim 10, characterized in that: The step of generating an ingredient delivery task sequence according to the ingredient box set and the ingredient delivery time sequence comprises: Matching the ingredients in the ingredient delivery time sequence with the ingredient box information in the ingredient box set to obtain the ingredient box delivery time sequence; A food delivery task sequence is generated according to the time sequence of the food box delivery, wherein the food delivery task sequence includes at least one food delivery task, and each food delivery task includes an food box number, a first attribute of the food, a second attribute of the food, and a food delivery time point.

12. The food material delivery method according to claim 10, characterized in that: The step of determining the food box according to the food delivery task sequence includes: Acquire the target food delivery task which has not been executed and is at the front in the food delivery task sequence; Identify the food box corresponding to the target food delivery task.

13. A food material delivery device, characterized in that: The food delivery device comprises: A connection module, used to control the connection between the grabbing component and the food box; A rotation module, used for controlling the grabbing assembly to rotate relative to the food box by a first preset angle after the grabbing assembly is connected to the food box, wherein the grabbing assembly rotates around a fixed axis, and the range of the first preset angle is (0°, 45°); The delivery module is used to drive the food box to flip and deliver food through the grabbing component.

14. A food delivery device, characterized in that: The food delivery device comprises: a food box, a transport component, a grabbing component, a memory and at least one processor, wherein instructions are stored in the memory; The at least one processor calls the instructions in the memory to enable the food delivery device to execute the food delivery method as described in any one of claims 1-12.

15. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by the processor, the food delivery method as described in any one of claims 1 to 12 is implemented.

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