Self-adaptive interactive service robot and service system thereof

Abstract

The invention discloses a self-adaptive interactive service robot and a service system thereof, and relates to the technical field of service robots, the self-adaptive interactive service robot comprises an intelligent mobile machine body and a meal component, the meal component is arranged on the top surface of the intelligent mobile machine body, and partition plates are arranged in a meal storage box at equal intervals; the outer wall of the rotating outer cover is connected with an arc-shaped pressing plate through a torsional spring, the bottom of the transmission box is connected with a conveying pipe, and a sliding rod is arranged on the surface of the partition plate. According to the self-adaptive interactive service robot and the service system thereof, the food storage box is closed through rotation of the rotary outer cover so as to prevent food from being exposed and falling into impurities, and when the food delivery position is reached, the appointed tray can be controlled to leave the interior of the food storage box through rotation of the rotary outer cover and the pushing and pressing effect of the arc-shaped pressing plate; and based on the flexibility of the first folding mechanical arm, the food on the surface of the tray machine can be accurately conveyed to a table top, so that the customer does not need to bend down to take the food, and the customer can be prevented from being scalded due to contact with the dinner plate.

Description

Technical Field

[0001] The present invention relates to the technical field of service robots, and in particular to an adaptive interactive service robot and a service system thereof. Background Art

[0002] Service robots are a type of autonomous or semi-autonomous robot specially designed to perform specific tasks and provide services. They usually interact with users through cameras and voice systems and provide corresponding services to users.

[0003] Existing service robots are often used in dining scenes to deliver the necessary meals to diners at each table. However, when the service robots deliver meals, most of the meals are directly exposed and due to the height difference between the service robots and the dining table, it is difficult for the service robots to deliver the meals to the table by themselves. Customers often need to bend down to pick up the meals and are easily burned by the meals.

[0004] Therefore, in view of this, the existing structure and deficiencies are studied and improved, and an adaptive interactive service robot and its service system are proposed. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an adaptive interactive service robot and a service system thereof, which solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an adaptive interactive service robot, comprising an intelligent mobile body and a food component, the top surface of the intelligent mobile body is provided with a food component, the food component comprises a servo motor, a rotating outer cover, a food storage box, a partition, a torsion spring, an arc pressure plate, an electromagnet, an adsorption magnet, a transmission box, a piston block, a conveying pipe, a solenoid valve, a branch pipe, a bellows, a sliding rod, a first folding mechanical arm and a tray, the bottom of the servo motor is connected to a rotating outer cover, and a food storage box is provided inside the rotating outer cover, and the inside of the food storage box is equidistantly provided with Partition, the outer wall of the rotating outer cover is connected to an arc pressure plate through a torsion spring, and an adsorption magnet is fixed to the inner side of the arc pressure plate, the outer surface of the rotating outer cover is also provided with an electromagnet, a transmission box is embedded in the interior of the intelligent mobile body, and a piston block is pierced through the side of the transmission box, the bottom of the transmission box is connected to a delivery pipe, and the end of the delivery pipe is connected to an electromagnetic valve, the surface of the electromagnetic valve is connected to a branch pipe, and the end of the branch pipe is connected to a bellows, the end of the bellows is connected to a first folding mechanical arm, and a tray is magnetically attracted to the top of the first folding mechanical arm, and a sliding rod is provided on the surface of the partition.

[0007] Furthermore, the bottom of the lunch storage box is fixedly connected to the intelligent mobile body, and the lunch storage box and the rotating outer cover are both semi-cylindrical structures.

[0008] Furthermore, the transmission box is connected to the bellows through a delivery pipe, a solenoid valve, a branch pipe, and the bellows is arranged one-to-one with the branch pipe and the first folding mechanical arm.

[0009] Furthermore, sliding rods are provided at both ends of the first folding mechanical arm, and the first folding mechanical arm is slidably connected to the partition through the sliding rods.

[0010] Furthermore, the outer opening structural dimensions of the partition are compatible with the inner opening structural dimensions of the rotating outer cover and the lunch storage box, and the outer diameter of the tray is smaller than the inner diameter of the lunch storage box of the partition.

[0011] Furthermore, a second folding mechanical arm is arranged on the top of the intelligent mobile body at one side of the servo motor, and the top end of the second folding mechanical arm is connected to an interactive display screen.

[0012] A service system is applied to the above-mentioned adaptive interactive service robot, the service system includes a food identification probe, the food identification probe is arranged above the partition, and the food identification probe is used to take pictures of the food on each tray, the food identification probe is wirelessly connected to a processing background, and the processing background is connected to an ordering system, the processing background first identifies the name of the food based on the food image, and then determines the table number that ordered the food through the ordering system, and determines the table number to which the tray on this layer belongs based on all the food on each tray.

[0013] Furthermore, the service system also includes a path planning module, which is installed inside the intelligent mobile body and is wirelessly connected to the processing background. The processing background determines the table number based on all the food on the trays on each layer, thereby locating the position of each table number. The path planning module plans the moving path based on the table number to which the food needs to be delivered.

[0014] Furthermore, the path planning module is also connected to an obstacle avoidance module, and the obstacle avoidance module is used to automatically avoid obstacles encountered when the intelligent mobile body moves along the planned path.

[0015] Furthermore, the service system also includes an interactive module, which includes an external camera and a voice acquisition module. The external camera adopts a high-definition camera that can adjust its angle by itself. The voice acquisition is used to record voice and recognize the voice commands therein, and then feed the voice commands back to the processing background. The processing background controls the adaptive interactive service robot to perform corresponding operations based on the voice commands.

[0016] The present invention provides an adaptive interactive service robot and a service system thereof, which have the following beneficial effects:

[0017] 1. The adaptive interactive service robot and its service system utilize the rotation of a rotating cover to close a food storage box to prevent food from being exposed and falling into impurities. When the food reaches the food delivery position, the rotation of the rotating cover and the pushing action of the arc-shaped pressure plate can control the designated tray to leave the food storage box. Based on the flexibility of the first folding mechanical arm, the food on the surface of the tray machine can be accurately delivered to the table, thereby eliminating the need for customers to bend over to pick up food, and preventing customers from coming into contact with the food tray and getting burned.

[0018] 2. The adaptive interactive service robot and its service system can not only deliver meals to customers but also recognize voice content and sound location, and identify customers who need service with the feedback of real-time images. When additional dishes are needed, the robot can control the second folding robotic arm to hover the interactive display screen in front of the customer based on the customer's position, and can intuitively display images of dishes without the need for the customer to move. At the same time, the robot can also directly hover the interactive display screen in front of customers in the inner seats, making it convenient to provide interactive services to multiple customers at the same table. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the front structure of an intelligent mobile body of an adaptive interactive service robot according to the present invention;

[0020] Figure 2 This is a schematic diagram of the back structure of an intelligent mobile body of an adaptive interactive service robot according to the present invention;

[0021] Figure 3 This is a schematic diagram of the structure of a self-adaptive interactive service robot after the rotating cover and the food storage box are disassembled;

[0022] Figure 4 A schematic diagram of a tray structure of an adaptive interactive service robot according to the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of a partition from a back view of an adaptive interactive service robot according to the present invention;

[0024] Figure 6 A schematic diagram of a food delivery service process of a service system of the present invention;

[0025] Figure 7 The present invention is a schematic diagram of a dish adding service process of a service system.

[0026] In the figure: 1. Intelligent mobile body; 2. Food component; 201. Servo motor; 202. Rotating outer cover; 203. Food storage box; 204. Partition; 205. Torsion spring; 206. Arc pressure plate; 207. Electromagnet; 208. Adsorption magnet; 209. Transmission box; 210. Piston block; 211. Delivery pipe; 212. Solenoid valve; 213. Branch pipe; 214. Bellows; 215. Sliding rod; 216. First folding robot arm; 217. Tray; 3. Second folding robot arm; 4. Interactive display screen. DETAILED DESCRIPTION

[0027] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0028] like Figure 1-Figure 5As shown, the present invention provides a technical solution: an adaptive interactive service robot, comprising an intelligent mobile body 1 and a food component 2, the top surface of the intelligent mobile body 1 is provided with the food component 2, the food component 2 comprises a servo motor 201, a rotating cover 202, a food storage box 203, a partition 204, a torsion spring 205, an arc pressure plate 206, an electromagnet 207, an adsorption magnet 208, a transmission box 209, a piston block 210, a delivery pipe 211, a solenoid valve 212, a branch pipe 213, a bellows 214, a slide rod 215, a first folding mechanical arm 216 and a tray 217, the servo motor 20 The bottom of the intelligent mobile body 1 is connected to a rotating outer cover 202, and a food storage box 203 is arranged inside the rotating outer cover 202, and partitions 204 are arranged equidistantly inside the food storage box 203. The outer wall of the rotating outer cover 202 is connected to an arc pressure plate 206 through a torsion spring 205, and an adsorption magnet 208 is fixed to the inner side of the arc pressure plate 206. The outer surface of the rotating outer cover 202 is also provided with an electromagnet 207. A transmission box 209 is embedded in the interior of the intelligent mobile body 1, and a piston block 210 is penetrated on the side of the transmission box 209. The bottom of the transmission box 209 is connected to a delivery pipe 211, and the end of the delivery pipe 211 is connected to the delivery pipe 211. The part is connected to a solenoid valve 212, the surface of the solenoid valve 212 is connected to a branch pipe 213, and the end of the branch pipe 213 is connected to a bellows 214, the end of the bellows 214 is connected to a first folding mechanical arm 216, and the top of the first folding mechanical arm 216 is magnetically attracted with a tray 217, a sliding rod 215 is provided on the surface of the partition 204, the bottom of the lunch box 203 is fixedly connected to the intelligent mobile body 1, and the lunch box 203 and the rotating outer cover 202 are both semi-cylindrical structures, the transmission box 209 is connected to the bellows 214 through the delivery pipe 211, the solenoid valve 212, and the branch pipe 213, and the bellows The tube 214 is arranged one-to-one with the branch tube 213 and the first folding mechanical arm 216. Slide rods 215 are provided at both ends of the first folding mechanical arm 216, and the first folding mechanical arm 216 is slidably connected with the partition 204 through the slide rod 215. The outer opening structure size of the partition 204 is adapted to the inner opening structure size of the rotating outer cover 202 and the lunch box 203, and the outer diameter of the tray 217 is smaller than the inner diameter of the lunch box 203 of the partition 204. A second folding mechanical arm 3 is arranged on the top of the intelligent mobile body 1 on one side of the servo motor 201, and the top of the second folding mechanical arm 3 is connected with an interactive display screen 4;

[0029] The specific operation is as follows: each layer of tray 217 is used to place food for users at the same table number. After food is placed on all trays 217, the servo motor 201 drives the rotating cover 202 to rotate so that it wraps the opening of the food storage box 203. The rotating cover 202 and the food storage box 203 completely wrap the food to prevent it from being exposed, thereby preventing accidental dropping of debris onto the food. The rotating cover 202 and the food storage box 203 can be made of transparent glass material to display the food.

[0030] When the intelligent mobile body 1 reaches the designated table number along the path, the servo motor 201 drives the rotating cover 202 to rotate so that the opening of the lunch box 203 is exposed at a 180-degree angle. At the same time, the electromagnet 207 is energized and directly repel each other with the adsorption magnet 208, so that the arc pressure plate 206 is forced to rotate. At this time, the torsion spring 205 enters the power storage state, and the arc pressure plate 206 is forced to rotate outward to push the piston block 210. The piston block 210 is pressed into the transmission box 209 to transmit the transmission medium inside it along the conveying pipe 211. Based on the tray 217 corresponding to the table number , the electromagnetic valve 212 opens the corresponding branch pipe 213, allowing the transmission medium to enter the corresponding bellows 214, and the bellows 214 is stretched to push the first folding mechanical arm 216 to carry the tray 217 to slide along the outer wall of the slide bar 215, so that the tray 217 and the food leave the food storage box 203, and then the joints of the first folding mechanical arm 216 cooperate with each other to rotate and retract, and the combination and real-time image capture of the external camera are used to directly deliver the tray 217 and the food on its surface to the dining table, and then the customer can directly take the tray 217 and place it on the dining table;

[0031] After the tray 217 is removed, the first folding mechanical arm 216 resumes folding, and the electromagnet 207 is powered off. At this time, the torsion spring 205 releases kinetic energy to make the arc-shaped pressure plate 206 fit to the outer wall of the rotating outer cover 202, so that the piston block 210 extends and the transmission medium flows back, thereby making the first folding mechanical arm 216 carry the tray 217 and slide back along the outer wall of the slide rod 215 to the inside of the lunch box 203, and then the rotating outer cover 202 rotates and resets to rewrap the opening of the lunch box 203, and then the intelligent mobile body 1 arrives at the next designated table number along the path and repeats the above operation;

[0032] Based on the above description, the present invention utilizes the rotation of the rotating outer cover 202 to close the food storage box 203 to prevent the food from being exposed and falling into impurities, and when reaching the food delivery position, the rotation of the rotating outer cover 202 and the pushing action of the arc-shaped pressure plate 206 can control the designated tray 217 to leave the food storage box 203, and then based on the flexibility of the first folding mechanical arm 216, the food on the surface of the tray 217 can be accurately delivered to the table, thereby eliminating the need for customers to bend over to take the food, and at the same time preventing customers from coming into contact with the food plate and getting burned.

[0033] like Figure 1-Figure 7As shown, a service system is applied to the above-mentioned adaptive interactive service robot, the service system includes a meal recognition probe, the meal recognition probe is arranged above the partition 204, and the meal recognition probe is used to take the meal image on each tray 217, the meal recognition probe is wirelessly connected to the processing background, and the processing background is connected to the ordering system, the processing background first recognizes the name of the meal based on the meal image, and then determines the table number of the meal ordered through the ordering system, and determines the table number of the tray 217 on this layer based on all the meals on each tray 217. The service system also includes a path planning module, the path planning module is mounted inside the intelligent mobile body 1, and the path planning module is wirelessly connected to the processing background, and the processing The processing backend determines the table number based on all the food on each layer of the tray 217, thereby locating the position of each table number. The path planning module plans the moving path based on the table number of the food to be delivered. The path planning module is also connected to an obstacle avoidance module, which is used to automatically avoid obstacles encountered when the intelligent mobile body 1 moves along the planned path. The service system also includes an interactive module, which includes an external camera and a voice acquisition module. The external camera uses a high-definition camera that can adjust the angle by itself. The voice acquisition is used to record the voice and recognize the voice command therein, and then the voice command is fed back to the processing backend, and the processing backend controls the adaptive interactive service robot to perform corresponding operations based on the voice command;

[0034] The specific operation is as follows: the kitchen staff places the food of the same table number on the tray 217, and magnetically attracts the tray 217 to the top of any first folding mechanical arm 216. After the tray 217 enters the food storage box 203, the food recognition probe takes the food image on each tray 217, and the processing background first recognizes the name of each food based on the food image, and then determines the table number of the food based on the ordering system, and determines the table number of the tray 217 on this layer based on all the food on each tray 217. At the same time, the position of each table number is located, and the path planning module plans the moving path based on the table number of the food to be delivered. When the intelligent mobile body 1 moves along the planned path, the obstacle avoidance module automatically avoids the obstacles encountered;

[0035] When the intelligent mobile body 1 is moving, if a customer calls a waiter, the voice collection module recognizes the instruction to call the waiter and stops moving, and distinguishes the direction of the sound. Then, the second folding mechanical arm 3 drives the interactive display screen 4 to adjust the position and angle under the picture feedback of the external camera, so that the interactive display screen 4 is directly suspended in front of the customer without the need for the customer to adjust the posture. Moreover, the various joints of the second folding mechanical arm 3 cooperate with each other to rotate and retract, so that the interactive display screen 4 can be directly suspended in front of the customer who is sitting on the inner side, so that it is convenient for the customer to display pictures related to each other's content on the interactive display screen 4 during the interaction.

[0036] For example, if a customer needs to add a dish, first the voice collection module recognizes the command content and the direction of the sound, and displays it in the direction of the sound through the interactive display screen 4, and asks the customer what he needs through picture and voice feedback. At the same time, the high-definition camera captures the real-time picture of the direction to further identify the customer in the subsequent feedback. When the customer is identified, the table number of the customer can be determined at the same time. Then, based on the customer's next command, such as adding a dish, if the name of the dish is directly reported, the order is placed directly through the ordering system based on the table number. If the dish needs to be selected, the interactive display screen 4 is hovered in front of the customer and the menu and pictures of the dish are displayed. After the customer has made his choice, the order is placed through the ordering system based on the table number.

[0037] Based on the above description, the present invention can recognize voice content and sound position while providing meal delivery service to customers, and identify customers who need service with the feedback of real-time images. When additional dishes are needed, the second folding robotic arm 3 can be controlled based on the customer's position to hover the interactive display screen 4 in front of the customer. The image of the dish can be displayed intuitively without the need for the customer to move. At the same time, the interactive display screen 4 can be directly hovered in front of the customer in the inner seat, thereby facilitating interactive services with multiple customers at the same table.

[0038] In summary, when the adaptive interactive service robot and its service system are used, first, the kitchen staff places the food of the same table number on the tray 217, and magnetically attracts the tray 217 to the top of any first folding mechanical arm 216. After the tray 217 enters the food storage box 203, the food recognition probe takes the food image on each tray 217, and the processing background first recognizes the name of each food based on the food image, and then determines the table number of the food based on the ordering system, and determines the table number of the tray 217 on this layer based on all the food on each tray 217. At the same time, the position of each table number is located, and the path planning module plans the moving path based on the table number of the food to be delivered, and the obstacle avoidance module automatically avoids the obstacles encountered when the intelligent mobile body 1 moves along the planned path;

[0039] Each tray 217 is used to place food for users at the same table. After food is placed on all trays 217, the servo motor 201 drives the rotating cover 202 to rotate so that it wraps the opening of the food storage box 203. The rotating cover 202 and the food storage box 203 completely wrap the food to prevent it from being exposed, thereby preventing debris from accidentally falling onto the food. The rotating cover 202 and the food storage box 203 can be made of transparent glass material to display the food.

[0040] When the intelligent mobile body 1 reaches the designated table number along the path, the servo motor 201 drives the rotating cover 202 to rotate so that the opening of the lunch box 203 is exposed at a 180-degree angle. At the same time, the electromagnet 207 is energized and directly repel each other with the adsorption magnet 208, so that the arc pressure plate 206 is forced to rotate. At this time, the torsion spring 205 enters the power storage state, and the arc pressure plate 206 is forced to rotate outward to push the piston block 210. The piston block 210 is pressed into the transmission box 209 to transmit the transmission medium inside it along the conveying pipe 211. Based on the tray 217 corresponding to the table number , the electromagnetic valve 212 opens the corresponding branch pipe 213, allowing the transmission medium to enter the corresponding bellows 214, and the bellows 214 is stretched to push the first folding mechanical arm 216 to carry the tray 217 to slide along the outer wall of the slide bar 215, so that the tray 217 and the food leave the food storage box 203, and then the joints of the first folding mechanical arm 216 cooperate with each other to rotate and retract, and the combination and real-time image capture of the external camera are used to directly deliver the tray 217 and the food on its surface to the dining table, and then the customer can directly take the tray 217 and place it on the dining table;

[0041] After the tray 217 is removed, the first folding mechanical arm 216 resumes folding, and the electromagnet 207 is powered off. At this time, the torsion spring 205 releases kinetic energy to make the arc-shaped pressure plate 206 fit to the outer wall of the rotating outer cover 202, so that the piston block 210 extends and the transmission medium flows back, thereby making the first folding mechanical arm 216 carry the tray 217 and slide back along the outer wall of the slide rod 215 to the inside of the lunch box 203, and then the rotating outer cover 202 rotates and resets to rewrap the opening of the lunch box 203, and then the intelligent mobile body 1 arrives at the next designated table number along the path and repeats the above operation;

[0042] When the intelligent mobile body 1 is moving, if a customer calls a waiter, the voice collection module recognizes the instruction to call the waiter and pauses the movement, while distinguishing the direction of the sound, and then drives the interactive display screen 4 to adjust the position and angle under the picture feedback of the external camera through the second folding robotic arm 3, thereby directly hovering the interactive display screen 4 in front of the customer without the need for the customer to adjust his or her posture, and the joints of the second folding robotic arm 3 cooperate with each other to rotate and extend, so that the interactive display screen 4 can be directly hovered in front of the customer sitting on the inner side, thereby facilitating the interactive display screen 4 to display pictures related to each other's content when the customers interact.

[0043] The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. An adaptive interactive service robot, comprising an intelligent mobile body (1) and a food component (2), characterized in that: The top surface of the intelligent mobile body (1) is provided with a food component (2), and the food component (2) comprises a servo motor (201), a rotating outer cover (202), a food storage box (203), a partition (204), a torsion spring (205), an arc pressure plate (206), an electromagnet (207), an adsorption magnet (208), a transmission box (209), a piston block (210), a delivery pipe (211), an electromagnetic valve (212), a branch pipe (213), a bellows (214), a sliding rod (215), a first folding mechanical arm (216) and a tray (217). The bottom of the servo motor (201) is connected to the rotating outer cover (202), and the food storage box (203) is provided inside the rotating outer cover (202). The food storage box (203) is equidistantly provided with partitions (204). The outer wall of the rotating outer cover (202) is connected to the rotating outer cover (202) by the torsion spring (205). ) is connected to an arc-shaped pressing plate (206), and an adsorption magnet (208) is fixed to the inner side of the arc-shaped pressing plate (206); an electromagnet (207) is also arranged on the outer surface of the rotating outer cover (202); a transmission box (209) is embedded in the interior of the intelligent mobile body (1), and a piston block (210) is penetrated through the side of the transmission box (209); a delivery pipe (211) is connected to the bottom of the transmission box (209), and an electromagnetic valve (212) is connected to the end of the delivery pipe (211); a branch pipe (213) is connected to the surface of the electromagnetic valve (212), and a bellows (214) is connected to the end of the branch pipe (213); a first folding mechanical arm (216) is connected to the end of the bellows (214), and a tray (217) is magnetically attracted to the top of the first folding mechanical arm (216); a sliding rod (215) is arranged on the surface of the partition (204).

2. The adaptive interactive service robot according to claim 1, characterized in that: The bottom of the lunch storage box (203) is fixedly connected to the intelligent mobile body (1), and the lunch storage box (203) and the rotating outer cover (202) are both semi-cylindrical structures.

3. The adaptive interactive service robot according to claim 1, characterized in that: The transmission box (209) is connected to the bellows (214) through the delivery pipe (211), the electromagnetic valve (212), and the branch pipe (213), and the bellows (214), the branch pipe (213), and the first folding mechanical arm (216) are arranged one to one.

4. The adaptive interactive service robot according to claim 1, characterized in that: Sliding rods (215) are provided at both ends of the first folding mechanical arm (216), and the first folding mechanical arm (216) is slidably connected to the partition plate (204) via the sliding rods (215).

5. The adaptive interactive service robot according to claim 1, characterized in that: The outer opening structural dimensions of the partition (204) are compatible with the inner opening structural dimensions of the rotating outer cover (202) and the lunch storage box (203), and the outer diameter of the tray (217) is smaller than the inner diameter of the lunch storage box (203) of the partition (204).

6. The adaptive interactive service robot according to claim 1, characterized in that: A second folding mechanical arm (3) is arranged on the top of the intelligent mobile body (1) on one side of the servo motor (201), and the top end of the second folding mechanical arm (3) is connected to an interactive display screen (4).

7. A service system, applied to an adaptive interactive service robot according to any one of claims 1 to 6, characterized in that: The service system includes a meal identification probe, which is arranged above the partition (204) and is used to capture images of meals on each of the trays (217). The meal identification probe is wirelessly connected to a processing background, and the processing background is connected to an ordering system. The processing background first identifies the name of the meal based on the meal image, and then determines the table number that ordered the meal through the ordering system, and determines the table number to which the trays (217) on that layer belong based on all the meals on each of the trays (217).

8. A service system according to claim 7, characterized in that: The service system also includes a path planning module, which is mounted inside the intelligent mobile body (1) and is wirelessly connected to a processing background. The processing background determines the table number based on all the food on the trays (217) at each layer, thereby locating the position of each table number. The path planning module plans the moving path based on the table number to which the food needs to be delivered.

9. A service system according to claim 8, characterized in that: The path planning module is also connected to an obstacle avoidance module, and the obstacle avoidance module is used to automatically avoid obstacles encountered when the intelligent mobile body (1) moves along the planned path.

10. A service system according to claim 7, characterized in that: The service system also includes an interactive module, which includes an external camera and a voice acquisition module. The external camera uses a high-definition camera that can adjust its angle by itself. The voice acquisition is used to record voice and recognize the voice commands therein, and then feed the voice commands back to the processing background. The processing background controls the adaptive interactive service robot to perform corresponding operations based on the voice commands.

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