CN110096055A - A kind of intelligence food delivery air navigation aid and navigation system - Google Patents
A kind of intelligence food delivery air navigation aid and navigation system Download PDFInfo
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- CN110096055A CN110096055A CN201910243099.0A CN201910243099A CN110096055A CN 110096055 A CN110096055 A CN 110096055A CN 201910243099 A CN201910243099 A CN 201910243099A CN 110096055 A CN110096055 A CN 110096055A
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- 235000013305 food Nutrition 0.000 title claims abstract description 53
- 235000012054 meals Nutrition 0.000 claims abstract description 98
- 238000004891 communication Methods 0.000 claims description 16
- 238000012790 confirmation Methods 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 6
- 238000013507 mapping Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims 1
- 230000004888 barrier function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Acoustics & Sound (AREA)
- Electromagnetism (AREA)
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Abstract
The invention belongs to dining room food delivery technical fields, and in particular to a kind of intelligence food delivery air navigation aid and navigation system.Wherein, intelligent food delivery air navigation aid, comprising the following steps: S1, the predefined paths control meal delivery robot completed according to planning are moved along track to target dining table；S2, judge the front of meal delivery robot with the presence or absence of obstacle；If it exists, then step S3 is gone to after planning avoidance path；If it does not exist, then step S4 is gone to；S3, control meal delivery robot leave track according to avoidance path, return to after avoiding obstacle to track；S4, control meal delivery robot continue to move until reaching target dining table along predefined paths.Intelligent food delivery air navigation aid of the invention, by track navigation with trackless navigation combine in the way of, both ensure that the timeliness of meal delivery robot food delivery, also ensure that the full extent meal delivery robot move reliability and safety.
Description
Technical field
The invention belongs to dining room food delivery technical fields, and in particular to a kind of intelligence food delivery air navigation aid and navigation system.
Background technique
With the development of science and technology, intelligent robot enters the visual field of people.In order to improve the working efficiency in dining room, effectively
Ground reduces the operation cost in dining room, meal delivery robot because its compared to artificial cheap cost and high-tech positioning increasingly by
Favor.Existing meal delivery robot mostly uses greatly track navigator fix, for example, the patent document of Publication No. CN108341189A
Disclose a kind of cafeteria's tableware garbage collection AGV.Since the environment in dining room is sufficiently complex, the position of barrier may be in real time
Changing；It navigates according to individual track, is planning food delivery path, during robot motion, if in planning path
On there is barrier, robot can not preferably plan optimal path in real time, to influence the timeliness of food delivery.
In addition, existing meal delivery robot also has by the way of trackless navigation, for example, Publication No. CN107193283A
Patent document disclose a kind of mobile robot of independent navigation.There are roads during practical food delivery for existing trackless navigation
The problems such as diameter deviation is larger, correction position deviation time is longer, not smart enoughization, can undoubtedly reduce the reliability of robot motion
And safety, if robot, during constantly trackless arbitrary motion, which there is sensor, in operating path to be detected
The data of the barrier or sensor that arrive have occurred mistake or omit, it is likely that cause robot to bump against on barrier, make
At unnecessary loss.
Summary of the invention
Based on the above deficiencies in the existing technologies, the present invention provides a kind of intelligent food delivery air navigation aid and system of navigating
System.
In order to achieve the above object of the invention, the invention adopts the following technical scheme:
A kind of intelligence food delivery air navigation aid, comprising the following steps:
S1, the predefined paths control meal delivery robot completed according to planning are moved along track to target dining table；
S2, judge the front of meal delivery robot with the presence or absence of obstacle；If it exists, then step is gone to after planning avoidance path
S3；If it does not exist, then step S4 is gone to；
S3, control meal delivery robot leave track according to avoidance path, return to after avoiding obstacle to track；
S4, control meal delivery robot continue to move until reaching target dining table along predefined paths.
Preferably, the step S4 is specifically included:
S41, control meal delivery robot continue to move, and judge whether meal delivery robot reaches and correspond to target dining table on track
Target position；If reaching, step S42 is gone to；If not reaching, controls meal delivery robot and continue to move；
S42, again object of planning path, control meal delivery robot leave track and move to target meal according to destination path
Table.
Preferably, the meal delivery robot determines the position of its own position and target dining table using RFID technique
It sets.
Preferably, further comprising the steps of before the step S1:
S0, predefined paths are planned.
Preferably, the step S0 specifically includes the following steps:
S01, judge whether meal delivery robot uses for the first time；If so, going to step S02；If it is not, then going to step
S04；
S02, scanning dining room are to obtain dining room map；
S03, the distributing position of track in dining room is inputted to determine the relative position map of track and dining table in dining room, and will
The relative position map of track and dining table is stored；
S04, it is based on target dining table, predefined paths is planned according to the relative position map of track and dining table, planning is completed.
Preferably, the mode of the storage is able to achieve power down preservation.
Preferably, the planning avoidance path is according to the optimal avoidance path of A-Star algorithmic rule.
Preferably, further comprising the steps of after the step S4:
Confirmation code on S5, control meal delivery robot scanning target dining table, reaches target dining table to determine, food delivery is completed.
The present invention also provides a kind of intelligent food delivery navigation system, including be laid in dining room track, meal delivery robot and
Single-chip microcontroller, motor driver, magnetic navigation sensor, ultrasonic sensor in meal delivery robot；The motor driver
It is connect with single chip communication, for driving meal delivery robot to move；The magnetic navigation sensor is connect with single chip communication, is used for
Control meal delivery robot is moved along track；The ultrasonic sensor is connect with single chip communication, for detecting obstacle；The list
Piece machine is for planning predefined paths and avoidance path.
Preferably, the system also includes the RFID for being installed in meal delivery robot and connecting with single chip communication
Reader, laser radar, photographing module, touch screen, voice module further include the RFID card and confirmation code for being installed on dining table；Institute
RFID reader RFID card for identification is stated, to position the position of dining table and the position of meal delivery robot itself；The camera shooting mould
Block with assisting navigation and determines target dining table for scanning confirmation code；The laser radar is for scanning mapping dining room map；Institute
Touch screen is stated for showing dining room map and inputting the distributing position of track in dining room, to determine the phase of track and dining table in dining room
To situational map；The voice module is for playing the audio recorded in advance.
Compared with prior art, the present invention beneficial effect is:
Intelligent food delivery air navigation aid of the invention, by track navigation with trackless navigate combine in the way of, both ensure that
The timeliness of meal delivery robot food delivery also ensure that the reliability and safety of meal delivery robot movement to the full extent.
Intelligent food delivery navigation system of the invention, simple structure are able to achieve intelligent food delivery air navigation aid of the invention, both protected
The timeliness of meal delivery robot food delivery has been demonstrate,proved, also ensure that the reliability and safety of meal delivery robot movement to the full extent
Property.
Detailed description of the invention
Fig. 1 is the flow chart of the intelligent food delivery air navigation aid of the embodiment of the present invention；
Fig. 2 is the flow chart of the predefined paths planning of the intelligent food delivery air navigation aid of the embodiment of the present invention；
Fig. 3 is the avoidance flow diagram of the intelligent food delivery air navigation aid of the embodiment of the present invention；
Fig. 4 is the schematic diagram before the avoidance of the intelligent food delivery air navigation aid of the embodiment of the present invention；
Fig. 5 is the avoidance schematic illustration of the intelligent food delivery air navigation aid of the embodiment of the present invention；
Fig. 6 is the catenation principle figure of the intelligent food delivery navigation system of the embodiment of the present invention.
Specific embodiment
In order to illustrate the embodiments of the present invention more clearly, Detailed description of the invention a specific embodiment of the invention will be compareed below.
It should be evident that drawings in the following description are only some embodiments of the invention, those of ordinary skill in the art are come
It says, without creative efforts, is also possible to obtain other drawings based on these drawings, and obtain other real
Apply mode.
As shown in Figure 1-3, the intelligent food delivery air navigation aid of the embodiment of the present invention, comprising the following steps:
S0, predefined paths are planned；The original route of meal delivery robot to target dining table is planned；Such as Fig. 2 institute
Show, specifically, comprising the following steps:
S01, judge whether meal delivery robot uses for the first time；If so, going to step S02；If it is not, then going to step
S04；Wherein, it is equipped with single-chip microcontroller in meal delivery robot, judges whether meal delivery robot is to use for the first time by single-chip microcontroller.
S02, scanning dining room are to obtain dining room map；Specifically, the result judged when the single-chip microcontroller of meal delivery robot is send
Machine is eaten artificially in the first time use in the dining room, at this time, it may be necessary to carry out by the laser radar in meal delivery robot to dining room
Scanning mapping, to obtain dining room landform, i.e. dining room map, the layout information in the map denotation dining room of dining room, the i.e. position of dining table
Set and the structure in dining room construction etc. information.In addition, also showing the dining room landform scanned in the touch screen of meal delivery robot.
S03, the distributing position of track in dining room is inputted to determine the relative position map of track and dining table in dining room, and will
The relative position map of track and dining table is stored；Specifically, businessman is inputted in dining room by the touch screen of meal delivery robot
The distributing position of track, is obtained track and dining table in dining room by the distributing position (i.e. magnetic stripe position) of track in conjunction with the map of dining room
Relative position map, be similar to existing navigation map, convenient for target dining table carry out positioning and path planning.Wherein,
The relative position map of track and dining table is stored into the Flash of meal delivery robot, and the mode stored supports power down to save,
The preservation of data will not be influenced power-off.
S04, it is based on target dining table, predefined paths is planned according to the relative position map of track and dining table, planning is completed.It is logical
Cross the touch screen input target dining table of meal delivery robot information (such as target dining table position or table number etc. can be with target dining table
Corresponding information, at this point, the single-chip microcontroller of meal delivery robot handles to determine target dining table the target dining table information of input
Position (dining table information of making a reservation), and plan meal delivery robot to target dining table according to the relative position map of track and dining table
Predefined paths, which refers to that the operating path on track has been planned that is, according to the preferential planning path in magnetic stripe position
At.
After the completion of the original route planning of meal delivery robot to target dining table, then follow the steps below:
S1, Robot track are moved to dining table, i.e., the predefined paths control meal delivery robot completed according to planning is along magnetic
Rail is moved to target dining table；Specifically, the single-chip microcontroller control motor driver operation of meal delivery robot, drives meal delivery robot edge
Track is moved according to the predefined paths that planning is completed to target dining table.Wherein, the motor driver of the embodiment of the present invention uses
ZD510 brushless motor driver.
S2, judge the front of meal delivery robot with the presence or absence of obstacle；If it exists, then step is gone to after planning avoidance path
S3；If it does not exist, then step S4 is gone to；Specifically, as shown in figure 3, the ultrasonic sensor by meal delivery robot front is examined
The front for judging meal delivery robot is surveyed with the presence or absence of obstacle (i.e. sensor scanning to obstacle?), if meal delivery robot was being run
There are obstacle (i.e. sensor detect obstacle) in discovery front in journey, then single-chip microcontroller plans avoidance path again, and planning is completed, this
When avoidance path be trackless operating path.Wherein, single-chip microcontroller plans that avoidance path is to calculate according to A-Star (i.e. A-STAR) again
Method plans optimal avoidance path, and as shown in Figures 4 and 5, the grey square frame in left side is the position that meal delivery robot is presently in, white
Long frame be barrier, the grey square frame on right side is the position of target dining table, passes through the optimal avoidance road of A-Star algorithmic rule
The path of diameter such as the gray circles formation in Fig. 5.
S3, control meal delivery robot leave track (leaving track avoidance) according to optimal avoidance path, after avoiding obstacle
It returns to track；Specifically, the single-chip microcontroller control motor driver of meal delivery robot leaves track according to avoidance path, keeps away
It returns to after opening obstacle to track (i.e. avoidance completion returns to track and continues to move).It is designed in this way the laying that can reduce track
Quantity, it is only necessary to stick magnetic stripe on main aisle.
S4, control meal delivery robot continue to move until reaching target dining table along predefined paths.Specifically, when food delivery machine
After people is back to track, that is, former predefined paths are returned to, at this point, the single-chip microcontroller control motor driver driving of meal delivery robot, makes
It obtains meal delivery robot to continue to move according to former predefined paths, until reaching target dining table.
Preferably, above-mentioned steps S4 can with the following steps are included:
S41, control meal delivery robot continue to move, and judge whether meal delivery robot reaches and correspond to target dining table on track
Target position；If reaching, step S42 is gone to；If not reaching, controls meal delivery robot and continue to move；Specifically, due to machine
People is also required to disengaging track when leaning on close-target dining table and is further reduced the cloth of track then before railless movable to target dining table
If quantity；At this time, it may be necessary to judge whether meal delivery robot reaches the target position for corresponding to target dining table on track, can specifically pass through
RFID module in meal delivery robot positions the position of target dining table (installing RFID card thereon), confirms by RFID technique
The position of self-position and target dining table, so that it is determined that reaching target dining table nearby (confirms that arrival dining table is attached according to RFID
Closely), target dining table is reached at this point, not tracking also, therefore carries out next step S42.
S42, again object of planning path, control meal delivery robot leave track and move to target meal according to destination path
Table (leaves track to become toward dining table).Specifically, the single-chip microcontroller of meal delivery robot object of planning path, i.e. target position to mesh again
The trackless path for marking dining table, leaves track and moves to target dining table according to destination path to control meal delivery robot.
Confirmation code on S5, control meal delivery robot scanning target dining table, reaches target dining table to determine, food delivery is completed.
Specifically, the confirmation code on the single-chip microcontroller control photographing module barcode scanning target dining table of meal delivery robot, so that it is determined that reaching target
Dining table；Wherein, confirmation code is one-dimensional bar code or two dimensional code etc.；I.e. meal delivery robot confirms according to two dimensional code arrives at target meal
Table, food delivery are completed to return.
The intelligent food delivery air navigation aid of the embodiment of the present invention is navigated in such a way that trackless navigation combines using track, food delivery
Robot intelligently can be moved preferentially according to track when planning food delivery path；If encountering obstacle during the motion, robot
It can be intelligently detached from track, optimal avoidance path is gone out according to A-Star algorithmic rule, track is then returned and continue to run；Robot exists
It also can intelligently de-orbit when by close-target dining table, before railless movable to dining table；Reduce the quantity of track laying in this way, only needs
Magnetic stripe is sticked on main aisle.The present invention both ensure that the timeliness of meal delivery robot food delivery, also to the full extent
It ensure that the reliability and safety of robot motion.
In addition, corresponding to the intelligent food delivery air navigation aid of the embodiment of the present invention, the embodiment of the present invention also provides intelligent food delivery
Navigation system.Specifically, as shown in fig. 6, intelligent food delivery navigation system include the track being laid in dining room, meal delivery robot and
It is mounted on single-chip microcontroller in meal delivery robot, motor driver, magnetic navigation sensor, ultrasonic sensor, RFID reader, swashs
Optical radar, photographing module, touch screen, voice module；Further include the RFID card being mounted on each dining table and confirmation code, RFID card and
Confirmation code and dining table correspond, i.e. a RFID card and the corresponding dining table of confirmation code.
Wherein, motor driver is connect with single chip communication, for controlling motor driver operation by single-chip microcontroller to drive
Dynamic meal delivery robot movement.Motor driver uses ZD510 brushless motor driver.
Magnetic navigation sensor is connect with single chip communication, is moved for controlling meal delivery robot along track；Specifically, magnetic conductance
Boat sensor is moved along track, is determined meal delivery robot to be located on track by magnetic navigation sensor and is run, so that it is guaranteed that food delivery
The movement of Robot predefined paths.Magnetic navigation sensor uses D-MNSV6-16.
Ultrasonic sensor (ultrasonic wave module) is connect with single chip communication, is used for real-time detection obstacle；
Single-chip microcontroller is also used to plan predefined paths, avoidance path and destination path.Single-chip microcontroller uses STM32.
RFID reader (i.e. RFID module) is connect with single chip communication, for identification RFID card, to position the position of dining table
It sets and the position of meal delivery robot itself；
Photographing module is connect with single chip communication, for scanning confirmation code, with assisting navigation and determines target dining table；Camera shooting
Module uses OV5640 camera, and confirmation code is one-dimensional bar code or two dimensional code.
Laser radar is connect with single chip communication, for scanning mapping dining room map；
Touch screen (LCD touch screen) is connect with single chip communication, for showing dining room map and inputting track in dining room
Distributing position, to determine the relative position map of track and dining table in dining room；
Voice module is connect with single chip communication, for playing the audio recorded in advance, such as: " please eat ", " dining is pleased
Fastly " etc..
The intelligent food delivery navigation system of the embodiment of the present invention surveys and draws dining room landform, planning on the whole with laser radar scanning
Path；Ultrasonic sensor is mounted in robot front on closely, is used for real-time detection avoidance；Also positioned with RFID
The position of dining table, meal delivery robot can confirm self-position and target dining table position by RFID；Robot front is taken the photograph
As head can scan the two-dimensional code, assisting navigation, confirmation target dining table information etc.；Simple structure realizes above-mentioned intelligent food delivery navigation
Method both ensure that the timeliness of meal delivery robot food delivery, also ensure that the reliability of meal delivery robot movement to the full extent
And safety.
The above is only that the preferred embodiment of the present invention and principle are described in detail, to the common skill of this field
For art personnel, the thought provided according to the present invention will change in specific embodiment, and these changes should also regard
For protection scope of the present invention.
Claims (10)
1. a kind of intelligence food delivery air navigation aid, which comprises the following steps:
S1, the predefined paths control meal delivery robot completed according to planning are moved along track to target dining table；
S2, judge the front of meal delivery robot with the presence or absence of obstacle；If it exists, then step S3 is gone to after planning avoidance path；If
It is not present, then goes to step S4；
S3, control meal delivery robot leave track according to avoidance path, return to after avoiding obstacle to track；
S4, control meal delivery robot continue to move until reaching target dining table along predefined paths.
2. a kind of intelligent food delivery air navigation aid according to claim 1, which is characterized in that the step S4 is specifically included:
S41, control meal delivery robot continue to move, and judge whether meal delivery robot reaches the target that target dining table is corresponded on track
Position；If reaching, step S42 is gone to；If not reaching, controls meal delivery robot and continue to move；
S42, again object of planning path, control meal delivery robot leave track and move to target dining table according to destination path.
3. a kind of intelligent food delivery air navigation aid according to claim 2, which is characterized in that the meal delivery robot utilizes
RFID technique determines the position of its own position and target dining table.
4. a kind of intelligent food delivery air navigation aid according to claim 1, which is characterized in that before the step S1, also wrap
Include following steps:
S0, predefined paths are planned.
5. a kind of intelligent food delivery air navigation aid according to claim 4, which is characterized in that the step S0 specifically include with
Lower step:
S01, judge whether meal delivery robot uses for the first time；If so, going to step S02；If it is not, then going to step S04；
S02, scanning dining room are to obtain dining room map；
The distributing position of track to be in S03, input dining room to determine the relative position map of track and dining table in dining room, and by track
It is stored with the relative position map of dining table；
S04, it is based on target dining table, predefined paths is planned according to the relative position map of track and dining table, planning is completed.
6. a kind of intelligent food delivery air navigation aid according to claim 5, which is characterized in that the mode of the storage is able to achieve
Power down saves.
7. a kind of intelligent food delivery air navigation aid according to claim 1, which is characterized in that the planning avoidance path is root
According to the optimal avoidance path of A-Star algorithmic rule.
8. a kind of intelligent food delivery air navigation aid according to claim 1-7, which is characterized in that the step S4 it
Afterwards, further comprising the steps of:
Confirmation code on S5, control meal delivery robot scanning target dining table, to determine target dining table, food delivery is completed.
9. a kind of intelligence food delivery navigation system, which is characterized in that including be laid in dining room track, meal delivery robot and be set to
Single-chip microcontroller, motor driver, magnetic navigation sensor, ultrasonic sensor in meal delivery robot；The motor driver and list
Piece machine communication connection, for driving meal delivery robot to move；The magnetic navigation sensor is connect with single chip communication, for controlling
Meal delivery robot is moved along track；The ultrasonic sensor is connect with single chip communication, for detecting obstacle；The single-chip microcontroller
For planning predefined paths and avoidance path.
10. a kind of intelligent food delivery navigation system according to claim 9, which is characterized in that the system also includes installations
In the RFID reader, laser radar, photographing module, touch screen, the voice mould that are connect in meal delivery robot and with single chip communication
Block further includes the RFID card and confirmation code for being installed on dining table；RFID reader RFID card for identification, to position dining table
Position and the position of meal delivery robot itself；The photographing module with assisting navigation and determines target meal for scanning confirmation code
Table；The laser radar is for scanning mapping dining room map；The touch screen is for showing magnetic in dining room map and input dining room
The distributing position of rail, to determine the relative position map of track and dining table in dining room；The voice module is for playing prior record
The audio of system.
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Cited By (7)
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| CN110597263A (en) * | 2019-09-25 | 2019-12-20 | 福州大学 | Automatic meal delivery path planning method for unmanned restaurant |
| CN111062223A (en) * | 2019-10-18 | 2020-04-24 | 口碑(上海)信息技术有限公司 | Robot meal delivery system and robot meal delivery method |
| CN111552280A (en) * | 2020-02-25 | 2020-08-18 | 北京公共交通控股（集团）有限公司 | Dust removal robot based on autonomous navigation movement |
| CN112925328A (en) * | 2021-02-01 | 2021-06-08 | 王浩 | Intelligent control method for motion trail of food delivery robot |
| CN113568405A (en) * | 2021-07-15 | 2021-10-29 | 南京林业大学 | Network equipment signal lamp visual identification system and method based on inspection robot |
| CN113778076A (en) * | 2020-11-30 | 2021-12-10 | 北京京东振世信息技术有限公司 | Dining table positioning method, device and system |
| CN113835428A (en) * | 2021-08-27 | 2021-12-24 | 华东交通大学 | Robot path planning method for restaurant |
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