Article recovery control method and device for distribution robot

Abstract

The invention provides an article recovery control method and device of a distribution robot, and the control method comprises the steps: carrying out the article recovery prompt after recognizing that a target distribution article in a storage region of the robot is taken away; according to the first monitoring result of the recycled articles in the storage area, the waiting duration of the robot is determined; and when the waiting duration is ended, generating a control strategy of the robot according to at least one of a delivery task completion condition and a second monitoring result of the recycled articles in the storage area. Thus, by adding the article recovery function to the robot executing the distribution task, the overall working efficiency of the robot can be effectively improved, the labor cost is reduced, and the application scene of the robot is expanded.

Description

Technical Field

[0001] The present application relates to the technical field of robot control, and in particular, to an article recycling control method and device for a delivery robot. Background Art

[0002] With the rapid development of service robot technology, delivery robots have been widely used in the catering industry to improve delivery efficiency, optimize service processes, and reduce labor costs. In a restaurant scenario, a delivery robot mainly performs delivery tasks, transporting food or items from the food outlet to a designated target table or destination, and then returning empty to prepare for the next delivery task. However, a significant problem with this existing solution is that the robot is in an empty state during the return journey, and its carrying capacity is not fully utilized, resulting in a waste of resources.

[0003] Moreover, in the actual operation of a restaurant, the recycling of dirty dishes or tableware is one of the key factors affecting service efficiency and user experience. Especially in scenarios with high customer traffic or a large number of used tableware (such as buffet restaurants, Korean restaurants, and Japanese restaurants), the need for recycling dirty tableware is particularly important. If the recycling task is entirely borne by service staff, not only is a high level of manpower required, but it also significantly increases the operating costs of the restaurant. In addition, the failure to promptly recycle dirty tableware can lead to a messy tabletop, affecting the dining experience of other customers.

[0004] Therefore, how to combine a delivery robot with a tableware recycling function and develop an efficient robot control method for multi-task collaboration has become an urgent problem to be solved. Summary of the Invention

[0005] In view of this, the purpose of the present application is to provide an article recycling control method and device for a delivery robot. By adding an article recycling function to the robot performing delivery tasks, the overall working efficiency of the robot can be effectively improved, labor costs can be reduced, and the application scenarios of the robot can be expanded.

[0006] The embodiment of the present application provides an article recycling control method for a delivery robot, and the control method includes:

[0007] After it is recognized that the target delivery item in the storage area of the robot has been taken away, an article recycling prompt is given;

[0008] According to the first monitoring result of the recycled items in the storage area, the waiting duration of the robot is determined;

[0009] When the waiting duration ends, a control strategy for the robot is generated based on at least one of the delivery task completion status and the second monitoring result of the recycled items in the storage area.

[0010] Optionally, determining the waiting duration of the robot according to the first monitoring result of the recycled items in the storage area includes:

[0011] Real-time monitor the original area where the target delivery item taken away in the storage area is located to determine whether there are recycled items;

[0012] If not, determine the first duration as the waiting duration of the robot;

[0013] If there are, determine the second duration as the waiting duration of the robot;

[0014] Wherein, the second duration is greater than the first duration; when the waiting duration is the second duration, when the waiting time of the robot reaches a preset time difference from the waiting duration, a start-up prompt for the robot is given.

[0015] Optionally, generating the control strategy of the robot according to at least one of the delivery task completion situation and the second monitoring result of the recycled items in the storage area includes:

[0016] Identify whether the delivery task is all completed;

[0017] If not all completed, obtain the next delivery point and control the robot to move to the next delivery point to execute the delivery task.

[0018] Optionally, when it is identified that the delivery task has been all completed, the control method further includes:

[0019] Perform full-area identification on the storage area of the robot to determine whether there are recycled items;

[0020] If there are no recycled items, determine the return path according to the current position and the target docking position of the robot; if there are recycled items, determine the return path according to the current position, the target docking position of the robot and the recycling position corresponding to the recycled items;

[0021] Control the robot to move along the return path and perform real-time monitoring on the storage area of the robot during the return journey.

[0022] Optionally, the control method further includes:

[0023] Perform real-time monitoring on the storage area of the robot during the return journey to identify whether the recycled items in the storage area have changed;

[0024] If it has changed, update the return path according to the remaining recycled items after the change;

[0025] And control the robot to return along the updated return path and monitor the storage area of the robot in real time during the return journey.

[0026] Optionally, when the delivery item in the storage area of the robot is not taken away within the third time period, the control method further includes:

[0027] Control the robot to move to the timeout waiting position;

[0028] Or, when the delivery task is not completely completed, obtain the next delivery point and control the robot to move to the next delivery point to execute the delivery task.

[0029] Optionally, before giving the item recycling prompt, the control method further includes:

[0030] In response to the user's activation instruction, control the robot to activate the item recycling function; wherein, the item recycling function includes item recycling prompt and item recycling waiting.

[0031] Optionally, the control method further includes:

[0032] When the robot moves to the delivery point, control the screen of the robot to give an interface prompt, and the interface prompt includes the storage area where the target delivery item is located, a prompt for the target delivery user, and a prompt for recyclable items that can be placed;

[0033] After it is recognized that the target delivery item in the storage area of the robot has been taken away, give an item recycling prompt, including:

[0034] After it is recognized that the delivery item in the storage area of the robot has been taken away, update the prompt for recyclable items that can be placed in the interface prompt to a prompt for waiting to place items;

[0035] The determining the waiting duration of the robot according to the first monitoring result of the recycled items in the storage area includes:

[0036] Perform real-time detection on the original area where the delivered item taken away in the storage area is located to determine whether there are recycled items;

[0037] If there are, determine the second time period as the waiting duration of the robot and update the prompt for waiting to place items to a prompt for having detected recycled items.

[0038] The embodiment of the present application also provides an item recycling control device for a delivery robot, and the control device includes:

[0039] A prompt module, configured to give an item recycling prompt after it is recognized that the target delivery item in the storage area of the robot has been taken away;

[0040] A determination module, configured to determine the waiting duration of the robot according to the first monitoring result of the recycled items in the storage area;

[0041] A generation module, configured to generate a control strategy for the robot according to at least one of the delivery task completion situation and the second monitoring result of the recycled items in the storage area when the waiting duration ends.

[0042] An embodiment of the present application further provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the memory through the bus. When the machine-readable instructions are executed by the processor, the steps of the control method as described above are executed.

[0043] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, the steps of the control method as described above are executed.

[0044] An article recycling control method and device for a delivery robot provided by an embodiment of the present application. The control method includes: after identifying that the target delivery item in the storage area of the robot is taken away, giving an article recycling prompt; determining the waiting duration of the robot according to the first monitoring result of the recycled items in the storage area; when the waiting duration ends, generating a control strategy for the robot according to at least one of the delivery task completion situation and the second monitoring result of the recycled items in the storage area.

[0045] In this way, the present application gives an article recycling prompt by combining the delivery completion situation of the target delivery item, which can ensure the rationality of the prompt timing and optimize the user experience; and the present application dynamically adjusts the waiting duration according to the monitoring result of the recycled items in the storage area, avoiding the robot leaving the delivery point too early or too late, so as to ensure the reasonable utilization of resources; furthermore, the present application generates a control strategy by combining the delivery task completion situation and the monitoring result of the recycled items, enabling the robot to flexibly adjust its behavior according to the actual situation, such as returning to a specified location or continuing to execute tasks, thereby improving the intelligent level of task execution.

[0046] In summary, the present application improves the working efficiency, resource utilization rate, and user experience of the delivery robot through the generation of intelligent article delivery and article recycling control strategies, while reducing the operating cost and expanding the usage scenarios of the robot.

[0047] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows. Description of the Drawings

[0048] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0049] Figure 1 It is a flowchart of an article recycling control method for a delivery robot provided by an embodiment of the present application;

[0050] Figure 2 It is an example one of a prompt interface displayed through a robot screen provided by the present application;

[0051] Figure 3 It is an example two of a prompt interface displayed through a robot screen provided by the present application;

[0052] Figure 4 It is an example three of a prompt interface displayed through a robot screen provided by the present application;

[0053] Figure 5 It is a schematic diagram of the process of a delivery robot performing a delivery task and a recycling task provided by the present application;

[0054] Figure 6 It is one of the structural schematic diagrams of an article recycling control device for a delivery robot provided by an embodiment of the present application;

[0055] Figure 7 It is two of the structural schematic diagrams of an article recycling control device for a delivery robot provided by an embodiment of the present application;

[0056] Figure 8 It is a structural schematic diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Usually, the components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application to be protected, but only represents the selected embodiments of the present application. Based on the embodiments of the present application, every other embodiment obtained by those of ordinary skill in the art without creative efforts belongs to the scope of protection of the present application.

[0058] First, the applicable application scenarios of this application are introduced. This application can be applied in the field of robots. Specifically, the delivery robot in the embodiments of this application is a kind of goods delivery robot that is used to transport delivery items to the delivery point when performing a delivery task. As an intelligent device that replaces manual goods delivery services, while bringing novel experiences to customers, it can also reduce the labor intensity of workers and improve work efficiency, and has been increasingly applied in places such as canteens, restaurants, and hotels.

[0059] Through research, it is found that in restaurant scenarios or hotels, existing delivery robots mainly perform delivery tasks, transporting meals or items from the dish outlet / retrieval location to the designated target table or guest room, and then returning empty to prepare for the next delivery task. However, a significant problem with this existing solution is that the robot is in an empty state during the return journey, and its carrying capacity is not fully utilized, resulting in a waste of resources.

[0060] Taking a restaurant as an example, in the actual operation of a restaurant, the recycling of dirty plates or tableware is one of the key factors affecting service efficiency and user experience. Especially in scenarios with high customer flow or a large number of plates and tableware used (such as buffet restaurants, Korean restaurants, and Japanese restaurants), the need for recycling dirty plates and tableware is particularly important. If the recycling task is entirely borne by service staff, not only is a high level of human input required, but it will also significantly increase the operating costs of the restaurant. In addition, failure to recycle in a timely manner will lead to a messy tabletop, affecting the dining experience of customers.

[0061] Based on this, the embodiments of this application provide an item recycling control method and device for a delivery robot. By adding an item recycling function to the robot that performs delivery tasks, the overall work efficiency of the robot can be effectively improved, labor costs can be reduced, and the application scenarios of the robot can be expanded.

[0062] Please refer to Figure 1 , Figure 1 which is a flowchart of an item recycling control method for a delivery robot provided by the embodiments of this application. As shown in Figure 1 , the control method provided by the embodiments of this application includes:

[0063] S101. After it is recognized that the target delivery item in the placement area of the robot has been taken away, an item recycling prompt is made.

[0064] Exemplarily, it is possible to identify whether the target delivery item in the robot's storage area has been taken away through methods such as image recognition and gravity sensing. Taking image recognition as an example, each storage area of the robot can be provided with a corresponding image acquisition device, such as a camera. Image recognition can be performed through a trained model to determine whether the target delivery item has been taken away. Exemplarily, the following method can be used to train the student model for image recognition: The first sample and the second sample are respectively input into the teacher model and the student model for training to obtain the knowledge representation of the teacher model and the learning representation of the student model; the first sample is obtained by scaling the second sample; the total loss is calculated based on the knowledge representation and the learning representation; the student model is optimized and iterated based on the total loss. The teacher model has a larger architecture and more parameters, and thus has stronger performance and feature extraction capabilities. To give full play to its advantages, this knowledge distillation method maximizes its feature extraction ability by scaling the second sample to construct the first sample for training the teacher model. The first sample is input into the teacher model, and the second sample is input into the student model with a smaller architecture and fewer parameters. Through the knowledge distillation technology, the student model can effectively learn the knowledge of the teacher model. By comparing the knowledge representation of the teacher model for the first sample with the learning representation of the student model for the second sample, the total loss function is calculated and the student model is iteratively optimized to gradually approximate the complex knowledge expression of the teacher model. Finally, through this knowledge distillation method, a student model with performance close to that of the teacher model but more lightweight and lower resource occupancy can be obtained, providing an efficient solution for model deployment in resource-constrained environments, especially in scenarios such as mobile devices and embedded systems. Through this student model, it is possible to identify the presence or absence of items and also the types of items, such as the types of dishes, dirty plates, receipts, etc. This model can be used for pick-up recognition and also for subsequent monitoring and recognition of recycled items.

[0065] Preferably, in some embodiments, both the teacher model and the student model perform feature extraction in at least two stages; a scaling module is provided after each stage of the student model; the scaling module is used to align the scale of the feature map of the current stage of the student model with the scale of the feature map of the corresponding stage of the teacher model. The first sample and the second sample can also be preprocessed through specified enhancement operations to introduce self-supervised learning for the teacher model and the student model respectively based on the specified enhancement operations; both the teacher model and the student model perform aggregation task detection.

[0066] S102. Determine the waiting duration of the robot according to the first monitoring result of the recycled items in the storage area.

[0067] Recycled items can be all items other than delivery items, or can be specific types of items, such as dirty plates, empty plates, dirty tableware, waste paper towels, dirty cups, etc., which need to be cleaned and recycled or disposed of as garbage.

[0068] S103. When the waiting duration ends, generate a control strategy for the robot based on at least one of the completion status of the delivery task and the second monitoring result of the recycled items in the storage area.

[0069] An item recycling control method for a delivery robot provided by an embodiment of the present application. By identifying the target delivery item in the storage area of the robot performing the delivery task, when it is recognized that the target delivery item has been taken away, the target delivery item is the item to be retrieved corresponding to the current delivery destination, triggering the item recycling logic, that is, starting the item recycling prompt; the prompt can be a text prompt and / or a voice prompt; after the prompt is triggered, continue to monitor the storage area to identify whether there are recycled items, and dynamically determine the waiting duration of the robot according to the monitoring result of the recycled items; the monitoring can use a camera, radar, gravity sensor, etc.; then, according to the determined waiting duration, control the robot to stay; if the waiting duration ends, the present application generates a control strategy that conforms to the current state of the robot by combining the completion status of the delivery task and the monitoring result of the recycled items, and controls the robot's actions based on this.

[0070] In this way, the present application performs an item recycling prompt by combining the completion status of the target delivery item, which can ensure the rationality of the prompt timing and optimize the user experience; and the present application dynamically adjusts the waiting duration according to the monitoring result of the recycled items in the storage area, avoiding the robot leaving the delivery point too early or too late, so as to ensure the reasonable utilization of resources; furthermore, the present application generates a control strategy by combining the completion status of the delivery task and the monitoring result of the recycled items, enabling the robot to flexibly adjust its behavior according to the actual situation, such as returning to a designated location or continuing to perform the task, thereby enhancing the intelligent level of task execution. Therefore, the present application improves the working efficiency, resource utilization rate, and user experience of the delivery robot through the generation of an intelligent item delivery and item recycling control strategy, while reducing the operating cost and expanding the usage scenarios of the robot.

[0071] The following describes the exemplary steps of the embodiment of the present application:

[0072] S101. After it is recognized that the target delivery item in the storage area of the robot has been taken away, perform an item recycling prompt.

[0073] In step S101, the target delivery item is the item to be delivered to the delivery point in the delivery task. The robot in this step is a robot that can perform the delivery task. One storage area or multiple storage areas can be set in the robot.

[0074] In an alternative embodiment, step S101 includes: identifying the travel trajectory of the robot to determine whether it has reached the delivery point; after reaching the delivery point, determining the target delivery item corresponding to the current delivery point and the storage area where the target delivery item is located; identifying the target delivery item in the target storage area; and when the target delivery item is recognized as being taken away, giving an item recovery prompt. Exemplarily, for a robot using a tray for delivery, the target storage area may be the tray layer where the target delivery item is located; for a cabin-type robot, the target storage area may be the cabin where the target delivery item is located.

[0075] In another alternative embodiment, step S101 includes: monitoring the robot delivery task to determine whether there is an unfinished delivery task; if there is an unfinished delivery task, determining the target delivery item that needs to be delivered first currently and the storage area where the target delivery item is located; identifying the target delivery item in the target storage area; and when the target delivery item is recognized as being taken away, giving an item recovery prompt.

[0076] In the above embodiments, the robot can perform a single delivery task (there is only one delivery point, and all the delivery items in the storage area are delivered to this delivery point), or can perform multiple delivery tasks (there are multiple delivery points, and each delivery point corresponds to a target delivery item to be delivered).

[0077] In the above embodiments, the delivery task can be formulated by other devices and then sent to the robot, or can be generated by the user operating the interaction interface on the robot screen. Among them, when the delivery task is generated by the user operating the interaction interface on the robot, the specific operation process may include: after the user places the delivery item in the storage area of the robot, selecting the control corresponding to the storage area where the item is placed and the control corresponding to the delivery point of the delivery item in the interaction interface. After all selections are completed, clicking the complete control or the immediately start control, and the robot then starts to execute the delivery task.

[0078] Among them, when the robot performs multiple delivery tasks (such as delivering items to multiple delivery points), the user can sequentially select the control corresponding to the storage area where the delivery item of each delivery task is placed and the control corresponding to the delivery point of this delivery task in the interaction interface. After all selections are completed, clicking the complete control or the immediately start control, and the robot then starts to execute the delivery task.

[0079] In the above embodiments, when the robot moves to the delivery point, it can give an item pickup prompt. In one embodiment, the prompt method is to control the screen of the robot to give an interface prompt. The content of the interface prompt includes the storage area where the target delivery item is located, a prompt for the target delivery user; and a prompt for the recyclable items that can be placed. In addition, the prompt method can also be a voice prompt. For example, "Please pick up the food Z on the Yth layer at Table X", where Z can be the name of the dish. Another example is "The empty plates that need to be recycled can be placed on the tray on the Yth layer". When giving the prompt, the interface prompt can also be carried out simultaneously through the display screen on the robot's head and the front display screen. The robot can also turn its head to give a meal pickup prompt and a recycling prompt.

[0080] Exemplarily, taking the food delivery robot as an example, please refer to Figure 2 , Figure 2 which is Example 1 of the prompt interface displayed through the robot screen provided by this application. As Figure 2 shown, the storage areas where the target delivery items are located are prompted at positions A and C, the target user corresponding to the target delivery item is prompted at B, the recyclable items that can be placed are prompted at D, and the "Finish picking up the meal" control is provided at E for the user to operate. Here, the content displayed at D can be shown after the robot arrives at the delivery point. For example, it shows "If there are empty plates, they can also be placed on the robot~"; the content displayed at D can also be shown or adjusted after the user clicks "Finish picking up the meal".

[0081] In the above embodiments, in order to avoid mispicking the delivery items, in addition to identifying the target delivery items in the target storage area, all the storage areas on the robot can also be identified to give a prompt in time when the items are mispicked. The prompt method can be a voice prompt and / or a text or image prompt through the display screen of the robot, etc. Exemplarily, please continue to refer to Figure 2 , Figure 2 where the method for prompting mispicked meals is a voice prompt method.

[0082] In a scenario where the deliverable destinations are relatively dense, such as in an open and narrow restaurant, there may be multiple dining tables near the delivery stop point of the robot. At this time, the risk of mispicking meals is relatively high. The display screen of the robot is on the front side, but it is often more convenient for users to pick up meals from the back side or the side. Therefore, when the robot docks, it can be set to face the target dining table from the back side. In order to balance the convenience of picking up meals and improve the correct item pickup rate, a voice prompt can be given, and an auxiliary prompt can be given on the interface. Refer to the text in Figure 2 for prompting, informing the users on the front side that the meal to be picked up is for the users on the back side of the robot, reducing mispicking meals. For example, it shows "This meal is for the guests across~" above position B.

[0083] In the above embodiments, to identify whether the target delivery item in the robot's storage area has been taken away, it can be determined through image recognition or after the user selects the "Finish picking up the meal" control. In addition, when identifying whether the target delivery item in the storage area has been taken away, an identification duration can be set. For example, identify whether the target delivery item in the robot's storage area has been taken away within the third duration, to prevent the robot from staying for a long time when the user is inconvenient to pick up the meal, which may affect the execution of subsequent tasks and the overall delivery efficiency.

[0084] Moreover, when determining through image recognition, the definition of all target delivery items being taken away may vary in different scenarios. For example, in Restaurant A, when delivering Dish C1 to Table B1, if the customer at Table B1 takes away Dish C1, it is considered that the target delivery item has been taken away. However, when picking up meals in Restaurant D, the receipt needs to be taken away to determine that the target delivery item has been taken away. Therefore, in Restaurant D, when delivering Dish C2 to Table B2, if the customer at Table B2 only takes away Dish C2, it is considered that the target delivery item has not been taken away. Only when the customer at Table B2 takes away Dish C2 and the corresponding receipt can it be determined that the target delivery item has been taken away. That is, the target delivery item can be set to include the receipt or not to include the receipt. For example, in a scenario where settlement is made using a receipt, the restaurant staff can set the robot to enable receipt recognition, and at this time, the target delivery item includes the receipt.

[0085] In the above embodiments, after identifying that the target delivery item has been taken away, when giving an item recycling prompt, it can be prompted visually (such as on the robot's interaction interface), or by voice, or in a form combining multiple prompt methods.

[0086] After identifying that the target delivery item in the robot's storage area has been taken away and giving an item recycling prompt, it may include: after identifying that the delivery item in the robot's storage area has been taken away, updating the prompt for placing recyclable items in the interface prompt to a prompt for waiting for items to be placed.

[0087] Exemplarily, taking a food delivery robot as an example, please refer to Figure 3 , Figure 3 which is Example 2 of the prompt interface displayed on the robot screen provided by this application. As Figure 3 shown, when identifying that the target delivery item in the robot's storage area has been taken away and giving an item recycling prompt, update the content displayed at D from "If you have an empty plate, you can also put it on the robot~" to "Waiting for an empty plate", so that the customer can perceive that the robot has entered the recycling waiting process, and the content at D can also be prompted by voice.

[0088] In this way, by prompting the user that the item recycling operation can be performed, the resource utilization rate of the robot can be improved, and it helps to improve the work efficiency of the scene where the robot is located. Moreover, there are various prompting methods, which can meet the needs of different scenarios (for example, in a noisy environment, voice prompting + text prompting is used, and in a quiet environment, text prompting is used), thereby enhancing the user experience, prompting success rate, and efficiency, etc.

[0089] Furthermore, in order to further enhance the intelligence level of the robot, an item recycling function option is added to the robot, and the function switch is supported, so that the user can configure it according to the actual operation situation of the venue managed by himself / herself. For example, in a restaurant, when there are more plates to be recycled during the meal, the item recycling function is turned on, and vice versa.

[0090] Therefore, in an implementation manner provided by the present application, before the item recycling prompt is performed, the control method further includes: in response to the user's activation instruction, controlling the robot to activate the item recycling function; wherein, the item recycling function includes item recycling prompt and item recycling waiting.

[0091] Here, the user's activation instruction can be generated by operating the corresponding button on the robot, or can be generated by other devices and sent to the robot.

[0092] The item recycling waiting refers to the function of controlling the robot to wait at the current delivery point for a period of time after it is determined that the delivered item has been taken away, which is convenient for the user to have more time to place the items to be recycled.

[0093] In this way, by activating the item recycling function in response to the user's activation instruction, the intelligence level of the robot can be effectively improved, and the adaptability of the robot to the application scenario can be enhanced. This design can also help to reasonably arrange the resources of the robot, improve the flexibility and resource utilization rate of the system, and ultimately make the entire item recycling process more efficient and intelligent.

[0094] Regarding step S102, the recycled item is an item that the user needs to return or dispose of, and the specific type of the recycled item is determined according to the application scenario of the robot.

[0095] For example, when the robot is a food delivery robot in a restaurant, the recycled items may include empty plates used by customers or garbage generated during the meal, etc.

[0096] The waiting duration refers to the duration that the robot stays at the current delivery point.

[0097] The first monitoring result of the recycled items in the placement area can be obtained in real time or periodically, which is not limited herein.

[0098] The first monitoring result of the recycled items in the storage area can be the monitoring result of the recycled items in the original area where the target delivery item for the current delivery is located, or the monitoring result of the recycled items in all the storage areas on the robot. It can be specifically selected according to the actual situation.

[0099] Here, to reduce the data processing complexity and improve the result determination efficiency, the determined first monitoring result can be the monitoring result determined by real-time monitoring of the original area where the target delivery item taken away in the storage area is located.

[0100] Therefore, for step S102, in an optional implementation manner, the determining the waiting duration of the robot according to the first monitoring result of the recycled items in the storage area includes:

[0101] S1021. Conduct real-time monitoring on the original area where the target delivery item taken away in the storage area is located to determine whether there are recycled items.

[0102] S1022. Determine the first duration as the waiting duration of the robot.

[0103] S1023. Determine the second duration as the waiting duration of the robot.

[0104] For step S1021, the triggering logic for the real-time monitoring of the original area where the target delivery item taken away in the storage area is located is to identify that the target delivery item at the current delivery point has been taken away. When determining whether there are recycled items in the original area where the target delivery item is located, the detection methods that can be adopted include: image recognition, pressure recognition, weight recognition, etc., which are not limited here.

[0105] Here, when conducting real-time monitoring on the original area where the target delivery item taken away in the storage area is located, a monitoring duration can be set. For example: conduct real-time monitoring on the original area where the target delivery item taken away in the storage area is located to determine whether there are recycled items in the original area where the target delivery item is located within the first duration.

[0106] After step S1021 is completed, if it is determined that there are no recycled items, then step S1022 is executed; if it is determined that there are recycled items, then step S1023 is executed.

[0107] In steps S1022 and S1023, while determining the waiting duration, the monitoring duration of the recycled items at the current delivery point is also determined.

[0108] Further, for step S1023, when it is recognized that there are recyclable items in the original area where the target delivery item is located, in one implementation, the second duration is determined as the waiting duration of the robot, and the waiting item placement prompt is updated to a recyclable item detection prompt. At this time, for the information prompt at this node, the implemented prompt method can adopt at least one of the following: text prompt on the interaction interface, voice prompt, etc.

[0109] Exemplarily, taking the restaurant scenario as an example, please refer to Figure 4 , Figure 4 This is Example 3 of a prompt interface displayed on the robot screen provided by this application. As Figure 4 shown, when there are recyclable items in the original area where the target delivery item is located, a recyclable item status prompt is given. At this time, the content displayed at D is updated from "Waiting for empty plate" to "Empty plate detected", and the content at D can also be re-promoted by voice. At this time, by changing the content at D, the determination logic of the robot's waiting duration is also changed to determine the second duration as the waiting duration. So that the user can know from the interface prompt that the robot has detected the item to be recycled, which is convenient for the user to continue placing items, or after placing the items, the user can click a button such as "Finish picking up food" to instruct the robot to go to the next destination for delivery. If all delivery tasks are completed, the robot returns to the designated point.

[0110] In this implementation, the second duration is greater than the first duration; in another implementation, when the waiting duration is the second duration, when the robot's waiting time reaches a preset time difference from the waiting duration, a robot start-up prompt is given.

[0111] For example, assume the first duration is 20s, then the second duration can be set to 40s. In this embodiment, when the waiting duration is the second duration, when the robot's waiting time reaches a preset time difference from the waiting duration, a robot start-up prompt is given to inform the user that the robot is about to leave. Specifically, when the countdown of the second duration ends at 7s (the time is configurable), a prompt is given (the reminder content is configurable, and the prompt method can adopt voice, text, etc.). In this way, by giving a re-prompt before the waiting duration expires, it can effectively avoid the situation where the machine suddenly leaves without the customer's knowledge, and the recyclable items (such as empty plates) are not placed properly or slip, resulting in damage to the items.

[0112] In this way, by dynamically adjusting the waiting duration according to the monitoring result of the recyclable items in the original area where the target delivery item is located (for example, when there are recyclable items, the waiting time is longer; when there are no recyclable items, the waiting time is shorter), the success rate of item recycling can be guaranteed, and the working efficiency of the robot can be improved. And by giving a reminder before starting, the integrity of the recyclable items can also be guaranteed, avoiding damage to the recyclable items, and also improving the recycling speed.

[0113] Regarding step S103, in this step, the completion status of the delivery task refers to whether there is an uncompleted delivery task for the robot. If there is, the task information of the next delivery task is determined. The task information may include the information of the next delivery point, the information of the target delivery item, etc.

[0114] The second monitoring result may be the monitoring result determined by monitoring the recycled items in all the storage areas of the robot.

[0115] In an optional implementation manner, generating the control strategy of the robot according to at least one of the completion status of the delivery task and the second monitoring result of the recycled items in the storage area includes:

[0116] S1031. Identify whether all the delivery tasks are completed.

[0117] S1032. If not all completed, obtain the next delivery point, and control the robot to move to the next delivery point to execute the delivery task.

[0118] Here, after arriving at the delivery point and completing the delivery task and the item recycling function at this delivery point, for the subsequent control strategy of the robot, first perform the operation of step S1031. If it is determined that the delivery tasks of the robot are not all completed, then perform step S1032, otherwise perform step S1033.

[0119] Regarding step S1032, this step includes: according to the situation of the uncompleted delivery task, obtain the next delivery point, generate a target motion trajectory according to the position of the current delivery point and the position of the next delivery point, and the environmental information of the result location scene, and control the robot to move to the next delivery point to execute the delivery task according to the target motion trajectory.

[0120] Here, after arriving at the next delivery point, the way to execute the delivery task is the same as that at the current delivery point. The specific implementation manner can refer to the description of the embodiments in steps S101 to S103, and will not be elaborated here.

[0121] In this way, by monitoring the completion status of the delivery task and, after determining that the delivery tasks are not all completed, the robot can intelligently decide the next action (quickly obtain the next delivery point and plan the optimal path), thereby reducing time waste, significantly improving the task execution efficiency, completion rate, and resource utilization rate, and making this solution applicable to complex and changeable delivery and recycling scenarios. That is, when the robot still has delivery tasks, even if recycled items have been monitored, it still gives priority to completing the delivery tasks to avoid long-term waiting for users and improve the user experience.

[0122] Further, after executing step S1031, if it is determined that all the delivery tasks of the robot are completed, the content in steps S1033 to S1035 is executed, which specifically includes the following:

[0123] S1033. Perform full-area identification on the storage area of the robot to determine whether there are recyclable items.

[0124] S1034. If there are no recyclable items, determine the return path based on the current position and the target docking position of the robot; if there are recyclable items, determine the return path based on the current position, the target docking position of the robot, and the recycling position corresponding to the recyclable items.

[0125] S1035. Control the robot to move along the return path and perform real-time monitoring on the storage area of the robot during the return journey.

[0126] Regarding step S1033, when performing full-area identification on the storage area of the robot, the identification method adopted can be: scanning the entire storage area through built-in sensors (such as cameras, infrared sensors, or weight sensors), analyzing the scanning data, and identifying whether there are items to be recycled.

[0127] Here, if no recyclable items are detected, enter the return mode (return to the target docking position); if recyclable items are detected, enter the recycling mode (first drive to the position where the recyclable items are received).

[0128] Among them, in this step, a detection of recyclable items in all storage areas will be carried out first before the return journey, so that recyclable items not detected at the delivery point can also be detected, thus ensuring the accurate operation of the recycling function. In some cases, when the robot is delivering goods, only some storage areas may be used to place items for delivery. During delivery, the completion of the delivery task is prioritized to reduce the computing pressure of the robot. Therefore, when picking up and recycling monitoring, only the corresponding storage areas can be monitored, but users may place the items to be recycled in other storage areas; when all delivery tasks are completed, all storage areas can be detected to avoid omission and ensure that the robot runs along the recycling route when there are items to be recycled.

[0129] Regarding step S1034, if it is determined that there are no recyclable items in all the storage areas of the robot, the robot first determines the current position (the current delivery point position) and the target docking position (a preset position, for example, in a restaurant scenario, the target docking position is the food outlet). Then, use a path planning algorithm (such as the A* algorithm or the Dijkstra algorithm) to calculate the optimal path from the current position to the target docking position. Finally, after determining the optimal path, control the robot to move.

[0130] When it is determined that there are recyclable items in all the storage areas of the robot, the robot first determines its current position, the target docking position, and the recycling positions of the recyclable items (if there are multiple different recyclable items, the corresponding recycling positions may be different). Then, it uses a path planning algorithm to calculate a path that passes through the recycling positions and finally reaches the target docking position. Finally, after determining the path, it controls the robot to move.

[0131] Regarding step S1035, the robot moves along the planned path while continuously monitoring the status of the recyclable items in all the storage areas.

[0132] In this way, if new recyclable items are detected or the status of the items changes (for example, they are taken away by the staff in advance) during the return journey, the robot will re-evaluate the path and adjust the strategy, thus effectively avoiding waste of the robot's resources and ensuring that the robot safely reaches the target docking position. For example, if all the recyclable items have been taken away, the robot will no longer go to the recycling positions and directly plan the path and move to the target docking position.

[0133] Therefore, through automatic identification, path planning, and real-time monitoring, this embodiment realizes the efficient integration of the delivery and recycling tasks, significantly improves the autonomy, efficiency, and reliability of the robot, and is applicable to various application scenarios.

[0134] Regarding step S1035, in an alternative embodiment, the control method further includes:

[0135] S10351. During the return journey, continuously monitor the storage area of the robot in real time to identify whether there are changes in the recyclable items in the storage area;

[0136] S10352. If there are changes, update the return path according to the remaining recyclable items after the change.

[0137] S10353. And control the robot to perform the return movement according to the updated return path and continuously monitor the storage area of the robot in real time during the return journey.

[0138] Regarding step S10351, in an alternative embodiment, the robot continuously scans all the storage areas through built-in sensors (such as cameras, infrared sensors, weight sensors, etc.) or weight sensors. Compare the scanning data with the previously recorded information of the recyclable items to determine whether new recyclable items are put in or the original recyclable items are removed.

[0139] Here, if it is detected that there are changes in the recyclable items (such as addition or reduction), the status record of the recyclable items will be updated. And the content in step S10352 will be executed.

[0140] For step S10352, this step includes updating the recycling location according to the changed remaining recyclable items; then, based on the current location, the updated recycling location, and the target docking location, recalculating the optimal path and using the calculated optimal path to update the original return path.

[0141] For step S10353, the specific implementation of this step can refer to the description of the embodiment in step S1035 and will not be elaborated here.

[0142] In this way, through real-time monitoring and dynamic path updating, the robot can complete tasks in an optimal manner, reducing time and energy consumption. And it can quickly adjust the driving trajectory according to the changing state of the recyclable items, reducing empty driving and unnecessary detours, and making full use of the robot's carrying capacity. Ensuring the stability and safety of task execution, it is applicable to complex scenarios that require efficient handling of distribution and recycling tasks.

[0143] Further, when executing step S101, in addition to the situation where the target delivery item in the robot's storage area is taken away, there may be another situation, that is, the delivery item in the robot's storage area is not taken away within the third time period. When this situation occurs, in an embodiment provided by the present application, the control method further includes: controlling the robot to move to the timeout waiting position; or, when the delivery task is not completely completed, obtaining the next delivery point and controlling the robot to move to the next delivery point to execute the delivery task.

[0144] Here, when the robot is executing the delivery task, if the waiting time at a certain delivery point exceeds the preset threshold (such as due to the user not picking up the goods in time), the system will determine it as a timeout. Among them, the timeout threshold and the timeout waiting position can be adaptively set according to the specific scenario.

[0145] Exemplarily, in a restaurant scenario, when a customer fails to pick up the meal on time, the customer can choose the timeout waiting position according to the product situation of their own restaurant. For example, the timeout return to the dish outlet (high unit price of the dish, long production time) to prompt the user for manual delivery, or the dishwashing room (low unit price of the dish, fast meal delivery, emphasizing quality), and regenerate a new delivery task.

[0146] In this example, another control strategy can also be executed after the timeout, that is, automatically obtaining the next delivery point and executing the task to improve the task execution efficiency.

[0147] In this way, by controlling the robot to move to the timeout waiting position or dynamically obtaining the next delivery point, this control method can significantly improve the task execution efficiency, flexibility, and reliability, and is applicable to complex scenarios that require efficient handling of delivery tasks.

[0148] Further, taking the restaurant scenario as an example, please refer to Figure 5 ,Figure 5 This is a schematic diagram of the process of a delivery robot performing delivery tasks and recycling tasks provided by this application. As Figure 5 shown, S1: The robot waits at the target docking position (for example, waits at the food outlet); S2: Formulate a delivery task (delivery point, delivery items, placement location, etc.); S3: Click to depart (control the robot to perform the delivery task); S4: Reach the delivery point and give a prompt (meal pickup prompt); If the meal pickup is completed, execute step S5, if the meal pickup times out, execute step S6; S5: Prompt to place the empty plate and perform empty plate detection (pre-open the empty plate recycling function for the robot); S6: Determine the timeout waiting position; Here, you can first choose to return to the target docking position or choose to go to the recycling position; S7: Determine whether there is an empty plate to put in; If so, execute step S8, if not, execute step S9: S8: Wait for the plate to be placed; S9: Return to the target docking position and turn on the full storage area detection; S10: Determine whether there is an empty plate to put in; If so, execute step S11, if not, execute step S1; S11: Go to the recycling position (for example, the dishwashing room); S12: Determine whether it has reached the dishwashing room; If so, execute step S13, if not, execute step S14; S13: Detect whether the plate pickup is completed and whether the plate pickup times out. After meeting either condition, execute step S1; S14: Turn on the full storage area detection; S15: Whether to pick up the plate in advance; If so, execute step S1, if not, continue to execute step S11.

[0149] Based on the same inventive concept, an embodiment of this application also provides a control device corresponding to the control method. Since the principle of the device in the embodiment of this application to solve problems is similar to the above control method in the embodiment of this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be elaborated.

[0150] Please refer to Figure 6 、 Figure 7 , Figure 6 This is one of the structural schematic diagrams of an item recycling control device for a delivery robot provided by an embodiment of this application, Figure 7 This is the second structural schematic diagram of an item recycling control device for a delivery robot provided by an embodiment of this application. As Figure 6 shown in

[0151] The prompt module 610 is used to give an item recycling prompt after identifying that the target delivery item in the storage area of the robot has been taken away;

[0152] The determination module 620 is used to determine the waiting duration of the robot according to the first monitoring result of the recycled items in the storage area;

[0153] A generation module 630, configured to generate a control strategy for the robot according to at least one of the completion status of the delivery task and the second monitoring result of the recycled items in the storage area when the waiting duration ends.

[0154] Optionally, when the determination module 620 is configured to determine the waiting duration of the robot according to the first monitoring result of the recycled items in the storage area, the determination module 620 is configured to:

[0155] Monitor the original area where the target delivery item taken away in the storage area in real time to determine whether there are recycled items;

[0156] If not, determine the first duration as the waiting duration of the robot;

[0157] If so, determine the second duration as the waiting duration of the robot;

[0158] Wherein, the second duration is greater than the first duration; when the waiting duration is the second duration, a start-up prompt for the robot is given when the waiting time of the robot reaches a preset time difference from the waiting duration.

[0159] Optionally, when the generation module 630 is configured to generate a control strategy for the robot according to at least one of the completion status of the delivery task and the second monitoring result of the recycled items in the storage area, the generation module is configured to:

[0160] Identify whether the delivery task is completely completed;

[0161] If not all completed, obtain the next delivery point and control the robot to move to the next delivery point to execute the delivery task.

[0162] Optionally, the generation module 630 is further configured to:

[0163] When it is identified that the delivery task has been completely completed, perform a full-area identification of the storage area of the robot to determine whether there are recycled items;

[0164] If there are no recycled items, determine a return path according to the current position and the target docking position of the robot; if there are recycled items, determine a return path according to the current position, the target docking position of the robot and the recycling position corresponding to the recycled items;

[0165] Control the robot to move according to the return path and perform real-time monitoring of the storage area of the robot during the return journey.

[0166] Optionally, as Figure 7 shown, the control device 600 further includes a monitoring module 640, and the monitoring module 640 is configured to:

[0167] During the return journey, the storage area of the robot is monitored in real time to identify whether there are any changes in the recycled items in the storage area;

[0168] If there are changes, update the return path according to the remaining recycled items after the change;

[0169] And control the robot to return and move according to the updated return path, and monitor the storage area of the robot in real time during the return journey.

[0170] Optionally, the control device 600 further includes a timeout processing module 650, and the timeout processing module 650 is used for: when the delivery items in the storage area of the robot are not taken away within the third time period, control the robot to move to the timeout waiting position;

[0171] Or, when the delivery task is not completely completed, obtain the next delivery point and control the robot to move to the next delivery point to execute the delivery task.

[0172] Optionally, the control device 600 further includes an activation module 660, and the activation module 660 is used for:

[0173] In response to the user's activation instruction, control the robot to activate the item recycling function; wherein, the item recycling function includes item recycling prompts and item recycling waiting.

[0174] Optionally, the prompting module 610 is further used for: when the robot moves to the delivery point, control the screen of the robot to give an interface prompt, and the interface prompt includes the storage area where the target delivery item is located, a prompt for the delivery target user, and a prompt for recyclable items that can be placed.

[0175] When the prompting module 610 gives an item recycling prompt after identifying that the target delivery item in the storage area of the robot has been taken away, the prompting module 610 is used for:

[0176] After identifying that the delivery item in the storage area of the robot has been taken away, update the prompt for recyclable items that can be placed in the interface prompt to a waiting for items to be placed prompt.

[0177] When the determination module 620 is used to determine the waiting duration of the robot according to the first monitoring result of the recycled items in the storage area, the determination module 620 is used for:

[0178] Perform real-time detection on the original area where the delivered item taken away in the storage area to determine whether there are recycled items;

[0179] If it exists, determine the second duration as the waiting duration of the robot, and update the waiting item placement prompt to a recycled item detected prompt.

[0180] Please refer to Figure 8 , Figure 8 which is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 8 shown in

[0181] the electronic device 800 includes a processor 810, a memory 820, and a bus 830. Figures 1 to 5 The memory 820 stores machine-readable instructions executable by the processor 810. When the electronic device 800 runs, the processor 810 communicates with the memory 820 through the bus 830. When the machine-readable instructions are executed by the processor 810, the steps in the method embodiment as described above

[0182] can be executed. For the specific implementation manner, reference can be made to the method embodiment, which will not be elaborated here. Figures 1 to 5 The embodiments of the present application also provide a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is run by a processor, the steps in the method embodiment as described above

[0183] can be executed. For the specific implementation manner, reference can be made to the method embodiment, which will not be elaborated here.

[0184] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, which will not be elaborated here.

[0185] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0186] In addition, in each embodiment of the present application, each functional unit may be integrated into a processing unit, may exist physically alone for each unit, or two or more units may be integrated into one unit.

[0187] If the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0188] Finally, it should be noted that: the above-mentioned embodiments are only specific implementation manners of the present application, used to illustrate the technical solutions of the present application, rather than limiting it. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present application can still modify the technical solutions recorded in the foregoing embodiments or easily think of changes, or perform equivalent replacements for some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for controlling item recovery of a delivery robot, characterized in that: The control method comprises: After recognizing that the target delivery item in the robot's storage area has been taken away, a reminder to recycle the item is issued; Determining a waiting time of the robot according to a first monitoring result of retrieving items in the storage area; When the waiting time is over, a control strategy for the robot is generated according to at least one of the completion status of the delivery task and the second monitoring result of reclaiming items in the storage area.

2. The control method according to claim 1, characterized in that: The step of determining the waiting time of the robot according to the first monitoring result of retrieving items in the storage area includes: Real-time monitoring is performed on the original area where the target delivery items taken away from the storage area are located to determine whether there are any recycled items; If not, the first duration is determined as the waiting time of the robot; If so, the second duration is determined as the waiting duration of the robot; Among them, the second time length is greater than the first time length; when the waiting time length is the second time length, when the robot's waiting time reaches a preset time difference from the waiting time length, a robot start prompt is given.

3. The control method according to claim 1, characterized in that: The generating of the control strategy of the robot according to at least one of the completion status of the delivery task and the second monitoring result of the recovered items in the storage area comprises: Identify whether the delivery task is fully completed; If not all are completed, the next delivery point is obtained, and the robot is controlled to move to the next delivery point to perform the delivery task.

4. The control method according to claim 3, characterized in that: When it is identified that the delivery task has been completed, the control method further includes: Performing full-area identification on the storage area of ​​the robot to determine whether there are any recyclable items; If there are no recyclable items, a return path is determined according to the current position of the robot and the target docking position; if there are recyclable items, a return path is determined according to the current position of the robot, the target docking position and the recycling position corresponding to the recyclable items; The robot is controlled to move along the return path, and the storage area of ​​the robot is monitored in real time during the return process.

5. The control method according to claim 4, characterized in that: The control method further comprises: During the return process, the robot's storage area is monitored in real time to identify whether the recyclable items in the storage area have changed; If there is a change, the return route is updated according to the remaining recyclable items after the change; The robot is controlled to perform return movement according to the updated return path, and the storage area of ​​the robot is monitored in real time during the return process.

6. The control method according to claim 1, characterized in that: When the delivered items in the storage area of ​​the robot are not taken away within the third time period, the control method further includes: Controlling the robot to move to a timeout waiting position; Or, when the delivery task is not fully completed, the next delivery point is obtained, and the robot is controlled to move to the next delivery point to perform the delivery task.

7. The control method according to claim 1, characterized in that: Before providing the item recycling prompt, the control method further includes: In response to a user's start instruction, the robot is controlled to start an item recycling function; wherein the item recycling function includes an item recycling prompt and an item recycling wait.

8. The control method according to claim 1, characterized in that: The control method further comprises: The robot moves to the delivery point, and controls the screen of the robot to provide an interface prompt, wherein the interface prompt includes a storage area where the target delivery item is located, a prompt for the delivery target user, and a prompt for where recyclable items can be placed; After the target delivery item in the storage area of ​​the robot is identified to be taken away, a prompt for item recovery is given, including: After recognizing that the delivered items in the storage area of ​​the robot have been taken away, updating the prompt for placing recyclable items in the interface prompt to a prompt for waiting for placement; The step of determining the waiting time of the robot according to the first monitoring result of retrieving items in the storage area includes: Performing real-time detection on the original area where the delivered items taken away from the storage area were located to determine whether there are any recycled items; If so, the second time duration is determined as the waiting time duration of the robot, and the waiting object placement prompt is updated to a detected object recovery prompt.

9. An article recovery control device for a delivery robot, characterized in that: The control device comprises: A prompt module is used to identify that the target delivery item in the storage area of ​​the robot has been taken away and issue an item recovery prompt; A determination module, configured to determine a waiting time of the robot according to a first monitoring result of retrieving items in the storage area; A generation module is used to generate a control strategy for the robot when the waiting time ends according to at least one of the completion status of the delivery task and the second monitoring result of the recovered items in the storage area.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the control method according to any one of claims 1 to 8 are executed.

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