Control system, method and apparatus for robotic delivery of items

Abstract

The application discloses a kind of robot distribution article control system, method and device, the system includes main body device, secondary body device and robot.Main body device includes first main control module, first voice recognition module, first communication module and first power module;First voice recognition module is used to obtain voice instruction, identify distribution information in voice instruction, and send distribution information to first main control module;First communication module is used to communicate with robot and obtain the position information of robot;First main control module is connected with first communication module, obtains position information, when determining that robot is located at preset position, controls first communication module and sends distribution information to robot, so that robot distributes distribution product according to distribution information.Compared with manually clicking robot screen to input distribution information, effectively avoid the problem that manual input process is slow and input error, can improve the efficiency of robot distribution article.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a control system, method and device for a robot to deliver articles. BACKGROUND

[0002] Robots have been widely used in various fields. A food delivery robot has been applied to the catering industry to replace part of the work of service personnel, such as passing dishes, ordering dishes, and taking tableware. At the present stage, the food delivery robot needs to manually click the screen of the robot to input delivery information in the identification of the delivered articles (dishes, paper towels, beverages). The whole process is slow and the degree of intelligence is not high, resulting in low overall delivery efficiency.

[0003] Therefore, how to improve the efficiency of the robot to deliver articles is a problem that those skilled in the art need to solve. SUMMARY

[0004] The purpose of the present application is to provide a control system, method and device for a robot to deliver articles, for improving the efficiency of the robot to deliver articles.

[0005] To solve the above technical problems, the present application provides a main body device comprising a first main control module, a first voice recognition module, a first communication module and a first power module.

[0006] The first power module is used to supply power to the power-consuming modules in the main body device.

[0007] The first voice recognition module is connected with the first main control module, and the first voice recognition module is used to obtain a voice instruction, recognize delivery information in the voice instruction, and send the delivery information to the first main control module.

[0008] The first communication module is used to communicate with a robot and obtain position information of the robot.

[0009] The first main control module is connected with the first communication module, and is used to obtain the position information and determine whether the robot is located at a preset position according to the position information. When the robot is located at the preset position, the first communication module is controlled to send the delivery information to the robot, so that the robot delivers articles according to the delivery information.

[0010] Optionally, it further comprises a second communication module for information interaction with a secondary body device; and / or,

[0011] It further comprises a camera module connected with the first main control module, and the camera module is used to determine whether the robot is parked at the preset position; and / or,

[0012] Further comprising a storage module connected with the first master module, the storage module being used for recording the distribution information acquired by the first master module; and / or,

[0013] Further comprising a display module connected with the first master module, the display module being used for displaying the distribution information when the first master module determines that the robot is located at the preset position, and displaying a waiting prompt when the first master module determines that the preset position is not stopped by the robot.

[0014] Optionally, further comprising a first voice playing module connected with the display module, the first voice playing module being used for playing the content displayed by the display module.

[0015] The application further provides a control method of a robot for distributing articles, applied to the main body device, comprising:

[0016] acquiring a voice instruction and identifying distribution information in the voice instruction;

[0017] acquiring position information of the robot;

[0018] judging whether the robot is located at a preset position according to the position information;

[0019] if yes, sending the distribution information to the robot so that the robot distributes articles according to the distribution information;

[0020] if no, executing the step of acquiring the position information of the robot.

[0021] Optionally, further comprising:

[0022] if yes, displaying the distribution information and / or playing the distribution information;

[0023] if no, displaying a waiting prompt and / or playing a prompt information that distribution is impossible, and sending the prompt information to a secondary body device so that the secondary body device plays the prompt information.

[0024] The application further provides a robot, comprising a third communication module, a positioning module, a walking module and a second master module;

[0025] The positioning module is connected with the second master module, the second master module is connected with the third communication module, and the positioning module is used for determining position information of the robot and sending the position information to the third communication module;

[0026] The third communication module is used for connecting with a first communication module in a main body device, sending the position information to the main body device, and acquiring distribution information fed back by the main body device;

[0027] The second master module is connected with the walking module, and is configured to acquire the delivery information and control the walking module to deliver the delivery goods according to the delivery information.

[0028] The application further provides a control method of a robot for delivering goods, applied to the robot, and comprising the following steps of:

[0029] sending position information to the main device so that the main device determines whether the position information is a preset position;

[0030] receiving delivery information of delivery goods fed back by the main device when the main device determines that the position information is the preset position;

[0031] delivering the delivery goods according to the delivery information.

[0032] The application further provides a secondary device, comprising a second power module, a fourth communication module, a third master module and a second voice playing module.

[0033] The second power module is configured to supply power to power-consuming modules in the secondary device.

[0034] The fourth communication module is configured to be connected with the second communication module in the main device, to acquire prompt information that the main device sends when it is determined that no robot is parked at the preset position, and send the prompt information to the third master module.

[0035] The third master module is connected with the second voice playing module, and the third master module is configured to process the prompt information and control the second voice playing module to play the prompt information.

[0036] Optionally, the secondary device further comprises a second voice recognition module, which is connected with the fourth communication module, and is configured to send the acquired voice instruction to the main device through the fourth communication module.

[0037] The application further provides a control method of a robot for delivering goods, applied to the secondary device, and comprising the following steps of:

[0038] acquiring prompt information that the main device sends when it is determined that no robot is parked at the preset position according to the position information of the robot;

[0039] playing the prompt information.

[0040] The application further provides a control system of a robot for delivering goods, comprising the main device, the robot and the secondary device.

[0041] The main body device is connected with the robot, and is configured to acquire a voice instruction, identify delivery information in the voice instruction, acquire position information of the robot, and determine whether the robot is located at a preset position according to the position information.

[0042] The robot is configured to deliver a delivery product according to the delivery information.

[0043] The auxiliary body device is connected with the main body device, and is configured to acquire prompt information that delivery is impossible sent by the main body device when the robot is not parked at the preset position, and play the prompt information.

[0044] Optionally, the application further comprises a computer server or a mobile terminal, and the computer server or the mobile terminal is connected with the main body device.

[0045] The application further provides a control method for a robot to deliver an article, comprising the following steps:

[0046] The main body device acquires a voice instruction, and identifies delivery information in the voice instruction.

[0047] The robot sends position information to the main body device.

[0048] The main body device acquires the position information of the robot.

[0049] The main body device determines whether the robot is located at a preset position according to the position information, and if yes, sends the delivery information to the robot, so that the robot delivers a delivery product according to the delivery information, and if no, sends prompt information that delivery is impossible to an auxiliary body device, so that the auxiliary body device plays the prompt information and executes the step of acquiring the position information of the robot by the main body device.

[0050] The application provides a robot delivery article control system, method and device, which mainly comprises a main body device, a secondary body device and a robot, the main body device comprises a first main control module, a first voice recognition module, a first communication module and a first power module; the first power module is used for supplying power for the power consumption equipment in the main body device; the first voice recognition module is connected with the first main control module, the first voice recognition module is used for acquiring a voice instruction, recognizing delivery information in the voice instruction, and sending the delivery information to the first main control module; the first communication module is used for communicating with the robot and acquiring position information of the robot; the first main control module is connected with the first communication module, is used for acquiring the position information, and judges whether the robot is located at a preset position according to the position information; when the robot is located at the preset position, the first communication module is controlled to send the delivery information to the robot, so that the robot delivers the delivery article according to the delivery information. Compared with manually clicking the screen of the robot to input the delivery information, the slow manual input process and the input error problem can be effectively avoided, and the efficiency of the robot delivery article can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the application, the drawings needed in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0052] Figure 1 A structural diagram of a main body device provided by the embodiments of the application is provided.

[0053] Figure 2 A structural diagram of another main body device provided by the embodiments of the application is provided.

[0054] Figure 3 A flowchart of a robot delivery article control method provided by the embodiments of the application is provided.

[0055] Figure 4 A flowchart of another robot delivery article control method provided by the embodiments of the application is provided.

[0056] Figure 5 A structural diagram of a robot provided by the embodiments of the application is provided.

[0057] Figure 6 A structural diagram of a secondary body device provided by the embodiments of the application is provided.

[0058] Figure 7 A structural diagram of another secondary body device provided by the embodiments of the application is provided.

[0059] Figure 8A structural diagram of a control system of a robot for delivering an article is provided for an embodiment of the present application.

[0060] Figure 9 A structural diagram of another control system of a robot for delivering an article is provided for an embodiment of the present application.

[0061] Figure 10 A flowchart of a control method of a robot for delivering an article is provided for another embodiment of the present application. DETAILED DESCRIPTION

[0062] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0063] The core of the present application is to provide a control system, method and device of a robot for delivering an article.

[0064] In order to enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0065] Figure 1 A structural diagram of a main device is provided for an embodiment of the present application. As shown in the figure, Figure 1 the main device comprises a first main control module 1, a first voice recognition module 2, a first communication module 3 and a first power module 4; the first power module 4 is used to supply power to the power-consuming modules in the main device; the first voice recognition module 2 is connected with the first main control module 1, the first voice recognition module 2 is used to obtain a voice instruction, recognize delivery information in the voice instruction, and send the delivery information to the first main control module 1; the first communication module 3 is used to communicate with a robot and obtain position information of the robot; the first main control module 1 is connected with the first communication module 3, and is used to obtain the position information and determine whether the robot is located at a preset position according to the position information; when the robot is located at the preset position, the first communication module 3 is controlled to send the delivery information to the robot, so that the robot delivers the delivery article according to the delivery information.

[0066] The first master module 1 in the embodiment of the application includes a chip and peripheral passive devices, and is mainly responsible for processing data of communication signals. The first voice recognition module 2 is responsible for detecting personnel voice instructions, and includes a microphone array, a voice recognition chip, a power supply circuit and a communication circuit. The first communication module 3 can include a wired communication module and a wireless communication module. The wired communication module can be one of USB, Ethernet and UART, and is used for accessing a computer end and a robot end. The wireless communication module includes a wireless communication chip, peripheral passive devices and an antenna, and is responsible for information interaction with the computer end and the robot end through wireless electromagnetic waves. The wireless communication chip includes but is not limited to a wifi chip, a Bluetooth chip and a zigbee chip. The first power module 4 includes a battery or a power conversion circuit, and is responsible for providing power input for the chip and active devices, and can also provide charging for the battery.

[0067] The main body device provided in the embodiment of the application includes a first master module, a first voice recognition module, a first communication module and a first power module. The first voice recognition module is connected with the first master module, and is used for acquiring voice instructions, recognizing distribution information in the voice instructions and sending the distribution information to the first master module. The first communication module is used for communicating with a robot and acquiring position information of the robot. The first master module is connected with the first communication module, and is used for acquiring the position information and judging whether the robot is located at a preset position according to the position information. When the robot is located at the preset position, the first communication module is controlled to send the distribution information to the robot, so that the robot distributes a distribution product according to the distribution information. The distribution information of the distribution product is acquired in a voice recognition manner, which effectively avoids the problems of slow manual input process and input error compared with manual clicking of a robot screen to input the distribution information, and can improve the efficiency of the robot in distributing the product.

[0068] Figure 2 Another structure diagram of a main body device is provided in the embodiment of the application. As shown in Figure 2 The main body device includes a first master module 1, a first voice recognition module 2, a first communication module 3, a first power module 4, a second communication module 5, a camera module 6, a storage module 7, a display module 8 and a first voice playing module 9.

[0069] The first power module 4 is used for supplying power for the first master module 1, the first voice recognition module 2, the first communication module 3, the second communication module 5, the camera module 6, the storage module 7, the display module 8 and the first voice playing module 9 in the main body device.

[0070] Those skilled in the art can understand that Figure 2 The structure shown in the above embodiment does not constitute a limitation on the main body device, and can include more or fewer components than those shown in the figure.

[0071] The first master module 1, the first voice recognition module 2, the first communication module 3 and the first power module 4 have been described in the above embodiment, and will not be described in detail here.

[0072] Based on the above embodiment, the main device can further include a second communication module 5 for information interaction with the secondary device. As an option, the second communication module 5 can be a wireless communication module, including a wireless communication chip, peripheral passive devices and an antenna, responsible for information interaction with the secondary device through wireless electromagnetic waves. The wireless communication chip includes but is not limited to a wifi chip, a Bluetooth chip and a zigbee chip.

[0073] The main device can further include a camera module 6 connected to the first master module 1, which is used to determine whether a robot is parked at a preset position. The camera module 6 includes a camera unit, a power supply circuit and a communication circuit.

[0074] The main device can further include a storage module 7 connected to the first master module 1, which is mainly responsible for providing storage space for system software and data of the first master module 1. Specifically, the storage module 7 can record the delivery information obtained by the first master module 1.

[0075] The main device can further include a display module 8 connected to the first master module 1, which is used to display delivery information when the first master module 1 determines that the robot is located at the preset position, and to display a waiting prompt when the first master module 1 determines that the preset position is not parked with a robot. The display module 8 can include a display screen unit, a touch sensor, a power supply circuit and a communication circuit.

[0076] The main device can further include a first voice playback module 9 connected to the display module 8, which is used to play the content displayed by the display module 8. The first voice playback module 9 is responsible for playing or reporting the delivery information, mainly including a power amplifier circuit, a speaker system, a power supply circuit and a communication circuit.

[0077] Based on the above embodiment of the main device, Figure 3 A flowchart of a control method for a robot to deliver an article according to an embodiment of the present application is shown in Figure 3 The control method for a robot to deliver an article includes:

[0078] S10: Obtain a voice instruction and identify delivery information in the voice instruction.

[0079] S11: Obtain position information of the robot.

[0080] S12: Determine whether the robot is located at a preset position according to the position information; if yes, execute step S13; if no, execute step S11.

[0081] S13: send the delivery information to the robot, so that the robot delivers the delivery product according to the delivery information.

[0082] It should be noted that the robot delivery product control method provided in the embodiments of the present application is applied to the main body device of the above embodiments.

[0083] For the convenience of understanding, a specific application scenario is introduced, for example, when a beverage needs to be delivered, the service personnel can wake up the main body device through keyword voice, such as "Xiaodu, Xiaodu, three bottles of cola, to A1 dining table", the main body device receives the voice instruction, identifies the key delivery information "three bottles of cola, to A1 dining table", and records the delivery information after identifying the delivery information. The main body device obtains the position information of the robot, and when it is determined that the robot is at the preset position, the delivery information "three bottles of cola, to A1 dining table" is sent to the robot, and the robot can deliver three bottles of cola to A1 dining table. If there is no robot at the preset position, the position information of the robot can be continuously obtained until the robot is at the preset position, and then the delivery information is sent to the robot. The preset position can be a position close to the serving port, and the present application does not limit the preset position.

[0084] The robot delivery product control method provided in the embodiments of the present application obtains the delivery information of the delivery product through voice recognition, which effectively avoids the problems of slow manual input process and input error compared with manually clicking the robot screen to input the delivery information, and can improve the efficiency of the robot delivery product.

[0085] Based on the above embodiments, Figure 4 The flowchart of another robot delivery product control method provided in the embodiments of the present application is shown in FIG. 6. Figure 4 As shown in FIG. 6, the robot delivery product control method comprises the following steps:

[0086] S20: obtain a voice instruction, and identify the delivery information in the voice instruction.

[0087] S21: obtain the position information of the robot.

[0088] S22: determine whether the robot is at the preset position according to the position information; if yes, execute step S23; if no, execute step S24.

[0089] S23: send the delivery information to the robot, so that the robot delivers the delivery product according to the delivery information; and display the delivery information, and / or play the delivery information.

[0090] S24: display a waiting prompt, and / or play a prompt information that delivery is not possible, send the prompt information to the secondary body device, so that the secondary body device plays the prompt information; and execute step S21.

[0091] When it is determined that the robot is parked at the preset position, the main body device can further display the delivery information and / or play the delivery information; when it is determined that the robot is not parked at the preset position, the main body device can further display a waiting prompt and / or play a prompt information that the delivery cannot be made, and send the prompt information to the auxiliary body device so that the auxiliary body device plays the prompt information. The auxiliary body device in the embodiment of the application can be a wearable device. When the staff is far away from the main body device, the staff cannot see the delivery information displayed by the main body device, and cannot hear the delivery information and the prompt information that the delivery cannot be made played by the main body device. By wearing the auxiliary body device, the auxiliary body device acquires and plays the prompt information, and the staff can know the state of the robot delivering the articles.

[0092] Based on the above embodiment, Figure 5 A structural diagram of a robot is provided in the embodiment of the application. As shown in Figure 5 The robot includes a second main control module 10, a third communication module 11, a positioning module 12 and a walking module 13. The positioning module 12 is connected with the second main control module 10, the second main control module 10 is connected with the third communication module 11, the positioning module 12 is configured to determine the position information of the robot and send the position information to the third communication module 11, the third communication module 11 is configured to be connected with the first communication module 3 in the main body device to send the position information to the main body device and acquire the delivery information fed back by the main body device, and the second main control module 10 is connected with the walking module 13, and the second main control module 10 is configured to acquire the delivery information and control the walking module 13 to deliver the delivery articles according to the delivery information.

[0093] The robot provided in the embodiment of the application is connected with the main body device, can acquire the delivery information in the voice instruction recognized by the main body device, and can deliver the delivery articles according to the delivery information. Compared with manually clicking the screen of the robot to input the delivery information, the robot can effectively avoid the problems of slow manual input process and input error, and can improve the efficiency of the robot delivering the articles.

[0094] Based on the robot provided in the above embodiment, the embodiment of the application provides a control method for the robot delivering articles, which includes: sending position information to a main body device so that the main body device determines whether the position information is a preset position; receiving delivery information of delivery articles fed back by the main body device when the main body device determines that the position information is the preset position; and delivering the delivery articles according to the delivery information.

[0095] Since the control method for the robot delivering articles applied to the robot and the control method for the robot delivering articles applied to the main body device in the previous embodiment correspond to each other, details are not described herein.

[0096] The control method for the robot to distribute the article provided in the embodiment of the application obtains the distribution information in the voice instruction recognized by the main body device, and distributes the distribution article according to the distribution information, which effectively avoids the problems of slow manual input process and input error compared with manually clicking the robot screen to input the distribution information, and can improve the efficiency of the robot to distribute the article.

[0097] Figure 6 A structure diagram of a secondary body device is provided in the embodiment of the application. Figure 6 As shown in the figure, the secondary body device includes a third master control module 14, a fourth communication module 15, a second voice playing module 16 and a second power supply module 17; the second power supply module 17 is used to supply power to the power-consuming modules in the secondary body device; the fourth communication module 15 is used to connect with the second communication module 5 in the main body device to obtain the prompt information that the main body device sends when it is determined that there is no robot stopped at the preset position, and sends the prompt information to the third master control module 14, the third master control module 14 is connected with the second voice playing module 16, and the third master control module 14 is used to process the prompt information and control the second voice playing module 16 to play the prompt information.

[0098] The third master control module 14 in the embodiment of the application includes a chip and peripheral passive devices, and is mainly responsible for processing the communication signals. The fourth communication module 15 can be a wireless communication module, including a wireless communication chip, peripheral passive devices and an antenna, and is responsible for information interaction with the main body device in the form of wireless electromagnetic waves, and the wireless communication chip includes but is not limited to a wifi chip, a Bluetooth chip and a zigbee chip. The second power supply module 17 includes a battery or a power conversion circuit, and is responsible for power input of the chip and active devices, and can also charge the battery. The secondary body device in the embodiment of the application can be worn on the body of the staff.

[0099] The secondary body device provided in the embodiment of the application is connected with the main body device, and when the main body device determines that there is no robot stopped at the preset position, sends the prompt information that the distribution cannot be performed to the secondary body device, and the secondary body device is used to play the prompt information, which can prompt the staff about the state of the robot to distribute the article. Since the secondary body device can be worn on the body of the staff, when the staff is far away from the main body device, the staff can also know the distribution state of the robot to the distribution article.

[0100] Figure 7 Another structure diagram of a secondary body device is provided in the embodiment of the application. Figure 7As shown, the sub-body device comprises the second power module 17, the fourth communication module 15, the third master control module 14 and the second voice playing module 16 mentioned in the above embodiments, and further comprises a second voice recognition module 18 and a storage module 19. The second voice recognition module 18 is connected with the fourth communication module 15, and is used for sending the acquired voice instruction to the main body device through the fourth communication module 15. The second voice recognition module 18 is similar to the first voice recognition module 2 in the main body device, and is used for detecting the voice instruction of the staff. The module also comprises a single microphone or a microphone array (selected according to the structure size), a voice recognition chip, a power supply circuit and a communication circuit. The storage module 19 of the sub-body device is similar to the storage module 7 in the main body device, and is used for providing a storage space for the system software and the data exchanged by the third master control module 14.

[0101] The second power module 17 is used for supplying power for the third master control module 14, the fourth communication module 15, the second voice playing module 16, the second voice recognition module 18 and the storage module 19 in the sub-body device.

[0102] Those skilled in the art can understand that, Figure 7 The structure shown in the figure does not constitute a limitation on the sub-body device, and can comprise more or fewer components than those shown in the figure.

[0103] The second voice recognition module 18 in the sub-body device in the embodiment of the application can also accept the voice instruction, so that the staff can also transmit the voice instruction to the main body device or the robot through the sub-body device when being far away from the main body device.

[0104] Based on the above embodiment, the embodiment of the application provides a control method of a robot for distributing articles, which is applied to a sub-body device and comprises the following steps: when a main body device determines that a robot is not parked at a preset position according to position information of the robot, acquiring prompt information that the main body device cannot distribute, and playing the prompt information. The sub-body device can also acquire a voice instruction and send the voice instruction to the main body device. When the main body device determines that the robot is located at the preset position, the main body device sends distribution information in the voice instruction to the robot, so that the robot distributes the distribution articles according to the distribution information.

[0105] The sub-body device provided in the embodiment of the application is convenient for the staff to send the voice instruction to the main body device and receive the feedback of the robot for distributing articles from the main body device when being far away from the main body device.

[0106] Based on the above embodiment, Figure 8 A structural diagram of a control system of a robot for distributing articles provided in the embodiment of the application is as shown in Figure 8As shown, the control system for the robot to deliver the article includes a main device 20, a secondary device 21 and a robot 22. The main device 20 is connected with the robot 22, and the main device 20 is configured to acquire a voice instruction and identify delivery information in the voice instruction, and acquire position information of the robot 22, and determine whether the robot 22 is located at a preset position according to the position information; the robot 22 is configured to deliver the delivery article according to the delivery information; the secondary device 21 is connected with the main device 20, and is configured to acquire prompt information that the delivery cannot be performed sent by the main device 20 when the robot is not parked at the preset position, and play the prompt information.

[0107] The main device 20 and the robot 21 are connected in the embodiment of the application, and the connection mode can be wired connection or wireless connection, which is not limited in the embodiment of the application; the main device 20 and the secondary device 21 are connected, and the connection mode can be wired connection or wireless connection, and optionally wireless connection.

[0108] The control system for the robot to deliver the article provided in the embodiment of the application includes a main device, a secondary device and a robot, the main device acquires a voice instruction and position information of the robot, when the robot is located at a preset position, the main device sends delivery information in the voice instruction to the robot, and the robot delivers the delivery article according to the delivery information, which effectively avoids the slow manual input process and input errors compared with manually clicking the screen of the robot to input the delivery information, and can improve the efficiency of the robot to deliver the article; when the main device determines that the robot is not parked at the preset position, the main device sends prompt information that the delivery cannot be performed to the secondary device, so that the secondary device plays the prompt information, and the secondary device is beneficial to the staff to understand the delivery situation of the robot when the staff is far away from the main device.

[0109] Based on the above embodiment, Figure 9 The structural diagram of another control system for the robot to deliver the article provided in the embodiment of the application, the control system includes a main device 20, a secondary device 21 and a robot 22, and further includes a computer server end or a mobile terminal 23, the computer server end or the mobile terminal 23 is connected with the main device 20, and the connection mode can be wired connection or wireless connection. The computer server end or the mobile terminal 23 can acquire delivery information of the main device 20, and position information and state information fed back by the robot 22 to the main device 20, so as to monitor the state of the robot 22.

[0110] Based on the above embodiment, Figure 10 The flow chart of still another control method for the robot to deliver the article provided in the embodiment of the application, the control method for the robot to deliver the article includes:

[0111] S30: The main device acquires a voice instruction, and identifies delivery information in the voice instruction.

[0112] S31: The robot sends position information to the main body device.

[0113] S32: The main body device acquires the position information of the robot.

[0114] S33: The main body device determines whether the robot is at a preset position according to the position information; if yes, step S34 is performed; if no, step S35 is performed.

[0115] S34: The main body device sends delivery information to the robot, so that the robot delivers the delivery product according to the delivery information.

[0116] S35: The main body device sends prompt information that delivery is impossible to the auxiliary body device, so that the auxiliary body device plays the prompt information, and step S32 is performed.

[0117] To better understand the present application, further description is made in combination with specific application scenarios.

[0118] The main body device is placed near the kitchen delivery port, the first voice recognition module and the first voice broadcast module in the main body device are close to the position of the delivery port service personnel, the main body device connects the robot and the auxiliary body device through a wireless network, and real-time robot position information is acquired, the auxiliary body device is worn by the service personnel in the kitchen, and is worn on the body, such as the arm, the collar, or the ear, etc. The position of the service personnel is not fixed.

[0119] When the event starts, the robot stops at the delivery port, if the delivery product is a beverage, when the service personnel places the beverage on the robot tray, the main body device is awakened through a keyword voice, such as "Xiaodu, Xiaodu, three bottles of cola, to A1 dining table", the first voice recognition module of the main body device is awakened, the key information "three bottles of cola" is recognized, and is recorded on the storage module, then the information "three bottles of cola-A1" is displayed through the display module, and the voice plays "three bottles of cola to A1 dining table" once, the service personnel who gives the order can confirm the accuracy of the task through observing the information on the display screen, or listening to the broadcast information of the main body device, at this time, the robot starts to go to the destination.

[0120] Before the robot returns, the kitchen delivery port has dishes, which need to be identified and recorded, and the kitchen staff issues a voice command, such as "Xiaodu, Xiaodu, one plate of green pepper shredded pork, to A2 table". The first voice recognition module of the main device is awakened, the key information "one plate of green pepper shredded pork" is recognized, and the information is recorded in the storage module. However, the main device obtains the robot position information through the wireless network and finds that all robots have not returned to the delivery port, and the delivery port has no robot to provide delivery service. Therefore, the main device displays the information "waiting" on the display screen and broadcasts "waiting for delivery" through the voice. Then, the main device transmits the information to the secondary device through the wireless network, and the secondary device reminds the staff wearing the secondary device through the voice broadcast.

[0121] After the robot returns to the delivery port, the main device confirms that the delivery port has a robot on standby through the robot shared position information and the camera module captured picture. Therefore, the main device displays the information "one plate of green pepper shredded pork - A2" on the display screen and broadcasts "one plate of green pepper shredded pork to A2 table" through the voice. Since the staff wearing the secondary device moves to the kitchen, the main device transmits the information to the secondary device through the wireless network, and the secondary device broadcasts the information to the staff wearing the secondary device through the voice.

[0122] Due to the large noise or frying sound in the kitchen, the voice command recognition of the main device at the delivery port may not be accurate. The staff wearing the secondary device uses the second voice recognition module of the secondary device to report the dish name and seat number close to the mouth. The secondary device recognizes the delivery information through the second voice recognition module, transmits the information to the main device through the wireless network, and displays the information on the display screen and broadcasts the information through the voice. The staff wearing the secondary device confirms the accuracy of the information through the display screen and arranges the robot delivery.

[0123] The above describes in detail the control system, method and device for robot delivery of the present application. The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts of each embodiment can be referred to each other. It should be noted that those skilled in the art can make some improvements and modifications to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

[0124] It also needs to be explained that in the present specification, the relational terms such as first and second and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

Claims

1. A host device, characterized by, It includes a first main control module, a first voice recognition module, a first communication module, and a first power supply module; The first power module is used to supply power to the power-consuming modules in the main device; The first voice recognition module is connected to the first main control module. The first voice recognition module is used to acquire voice commands, recognize delivery information in the voice commands, and send the delivery information to the first main control module. The first communication module is used to communicate with the robot and obtain the robot's position information; The first main control module is connected to the first communication module and is used to acquire the location information and determine whether the robot is located at a preset position based on the location information. When the robot is at the preset position, the first communication module is controlled to send the delivery information to the robot so that the robot can deliver the goods according to the delivery information; It also includes a second communication module for information exchange with the sub-body device; The auxiliary device includes a second power module, a fourth communication module, a third main control module, and a second voice playback module; the fourth communication module is used to connect with the second communication module in the main device; the third main control module is connected with the second voice playback module; the main device transmits information to the auxiliary device, and the auxiliary device broadcasts information to the wearer via voice. The auxiliary device further includes a second voice recognition module, which is connected to the fourth communication module. The second voice recognition module is used to send the acquired voice commands to the main device through the fourth communication module. And / or, it also includes a camera module connected to the first main control module, the camera module being used to determine whether the robot is parked at the preset position; the main device confirms that there is a robot at the food dispensing port by using the location information shared by the robot and the images taken by the camera module; And / or, it also includes a storage module connected to the first main control module, the storage module being used to record the delivery information obtained by the first main control module; And / or, it also includes a display module connected to the first main control module, the display module being used to display the delivery information when the first main control module determines that the robot is located at the preset position, and to display a waiting prompt when the first main control module determines that the robot is not parked at the preset position.

2. The body device of claim 1, wherein, It also includes a first voice playback module connected to the display module, the first voice playback module being used to play the content displayed by the display module.

3. A control method for robot delivery of goods, characterized in that, Applied to the main device as described in claim 1 or 2, comprising: Acquire voice commands and identify delivery information within those voice commands; Obtain the robot's location information; Determine whether the robot is located at a preset position based on the location information; If so, the delivery information is sent to the robot so that the robot can deliver the goods according to the delivery information; If not, proceed with the step of obtaining the robot's location information; Also includes: If so, display the delivery information and / or play the delivery information; If not, display a waiting prompt and / or play a message indicating that delivery is not possible, and send the message to the secondary device so that the secondary device can play the message.

4. A robot, characterized in that, It includes a third communication module, a positioning module, a walking module, and a second main control module; The positioning module is connected to the second main control module, and the second main control module is connected to the third communication module. The positioning module is used to determine the robot's position information and send the position information to the third communication module. The third communication module is used to connect with the first communication module in the main device to send the location information to the main device and obtain the delivery information fed back by the main device, wherein the main device is the main device as described in claim 1 or 2; The second main control module is connected to the walking module. The second main control module is used to acquire the delivery information and control the walking module to deliver the goods according to the delivery information.

5. A control method for robot delivery of goods, characterized in that, Applied to the robot of claim 4, comprising: The location information is sent to the main device so that the main device can determine whether the location information is a preset location; When the main device determines that the location information is the preset location, it receives the delivery information of the delivered goods fed back by the main device; The goods are delivered according to the delivery information.

6. A secondary body device, characterized in that, It includes a second power supply module, a fourth communication module, a third main control module, and a second voice playback module; The second power module is used to supply power to the power modules in the sub-body device; The fourth communication module is used to connect with the second communication module in the main device to obtain a prompt message that delivery is not possible when the main device determines that no robot is parked at the preset position, and to send the prompt message to the third main control module, wherein the main device is the main device as described in claim 1 or 2; The third main control module is connected to the second voice playback module, and the third main control module is used to process the prompt information and control the second voice playback module to play the prompt information; It also includes a second voice recognition module, which is connected to the fourth communication module. The second voice recognition module is used to send the acquired voice commands to the main device through the fourth communication module.

7. A control method for robot delivery of goods, characterized in that, The auxiliary body device according to claim 6 includes: When the main device determines that no robot is parked at the preset location based on the robot's location information, it receives a prompt message from the main device indicating that delivery is not possible. Play the aforementioned prompt message; It also includes sending the acquired voice commands to the main device via the fourth communication module.

8. A control system for robot delivery of goods, characterized in that, Includes the main body device as described in claim 1 or 2, the robot as described in claim 4, and the auxiliary body device as described in claim 6; The main device is connected to the robot. The main device is used to acquire voice commands and recognize delivery information in the voice commands, acquire the robot's location information, and determine whether the robot is located at a preset location based on the location information. The robot is used to deliver the goods according to the delivery information; The auxiliary device is connected to the main device and is used to obtain a prompt message indicating that delivery is not possible from the main device when the robot is not parked at the preset position, and to play the prompt message, as well as to send the obtained voice command to the main device through the fourth communication module.

9. The control system for robot delivery of goods according to claim 8, characterized in that, It also includes a computer server or a mobile terminal, which is connected to the main device.

10. A control method for robot delivery of goods, applied to the control system for robot delivery of goods as described in claim 8, characterized in that, include: The main device acquires voice commands and identifies delivery information in the voice commands; The robot sends its position information to the main unit; The main device acquires the position information of the robot; The main device determines whether the robot is located at a preset position based on the location information; if so, it sends the delivery information to the robot so that the robot can deliver the goods according to the delivery information; if not, it sends a prompt message indicating that delivery is not possible to the auxiliary device so that the auxiliary device can play the prompt message and execute the step of the main device obtaining the robot's location information. The auxiliary device receives the delivery failure notification sent by the main device and plays the notification. The auxiliary device sends the acquired voice commands to the main device through the fourth communication module.

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