CN109191027A - A kind of robot calling method, system, equipment and computer readable storage medium - Google Patents
A kind of robot calling method, system, equipment and computer readable storage medium Download PDFInfo
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- CN109191027A CN109191027A CN201811332536.8A CN201811332536A CN109191027A CN 109191027 A CN109191027 A CN 109191027A CN 201811332536 A CN201811332536 A CN 201811332536A CN 109191027 A CN109191027 A CN 109191027A
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Abstract
The invention discloses a kind of robot calling methods, comprising: obtains coordinate information of the user terminal in preset coordinate system；The calling that user terminal is sent is received to instruct and determine target robot；According to coordinate information, controls target robot and be moved to target area；Wherein, target area is the region that the maximum distance away from user terminal is less than or equal to preset first threshold.Using method provided by the present invention, staff can be assisted easily to use robot.The invention also discloses a kind of robot calling system, equipment and computer readable storage mediums, have relevant art effect.
Description
Technical field
The present invention relates to merchandising machine people's control technology fields, more particularly to a kind of robot calling method, system, set
Standby and computer readable storage medium.
Background technique
In automatic stored logistics now, robot can be pre-arranged in related work region, but related work people
Member during the work time, will often use and arrive robot.Such as sorter is when needing using transfer robot, it is necessary to go to and remove
The working region of robot is transported, or places the local of idle machine people and carries out selecting for robot.In addition, if sorter
The robot selected is not able to satisfy its need of work, such as the robot selected is out of power in the use process of sorter, chooses
Not enough etc., sorter needs to turn back again carries out choosing again to robot placement region or working region to the robot quantity of choosing
Choosing, increases the work load of sorter.
It is that current those skilled in the art are badly in need of in conclusion how staff to be assisted easily to use robot
The technical issues of solution.
Summary of the invention
The object of the present invention is to provide a kind of robot calling method, system, equipment and computer readable storage medium, with
Staff is assisted easily to use robot.
In order to solve the above technical problems, the invention provides the following technical scheme:
A kind of robot calling method, comprising:
Obtain coordinate information of the user terminal in preset coordinate system；
The calling that the user terminal is sent is received to instruct and determine target robot；
According to the coordinate information, controls the target robot and be moved to target area；
Wherein, the target area is the area that the maximum distance away from the user terminal is less than or equal to preset first threshold
Domain.
It is preferably, described to determine target robot, comprising:
Based on preset scheduling strategy, the target robot is determined from the robot being in idle condition.
Preferably, quantity information is carried in the calling instruction；
It is described to determine target robot, comprising:
The target robot of corresponding number is determined according to the quantity information.
Preferably, the coordinate information for obtaining user terminal in preset coordinate system, comprising:
Receive N number of range data that user terminal is sent；
According to the coordinate in each comfortable preset coordinate system in N number of base station of N number of range data and storage, described in acquisition
Coordinate information of the user terminal in the coordinate system；
Wherein, N is positive integer and at least 3, N number of range data are as follows: user terminal sends letter to N number of base station
Number, and the N number of range data determined based on N number of respective feedback in base station.
Preferably, the target area is the maximum distance away from the user terminal less than or equal to preset first threshold, and
Minimum distance away from the user terminal is more than or equal to the region of preset second threshold, and the second threshold is less than or equal to described the
One threshold value.
Preferably, the coordinate information for obtaining user terminal in preset coordinate system, comprising:
Obtain the target data sent by user terminal；
Wherein, coordinate information of the user terminal in preset coordinate system is carried in the target data, and is
The data that the user terminal is determined by ultra wide band UWB positioning system.
Preferably, further includes:
When controlling target robot movement, the coordinate of target robot described in real-time monitoring；
When judging that the target robot stops before being moved to the target area, and stay time is more than
When preset duration, prompt information is exported.
A kind of robot calling system, comprising:
Coordinate information obtains module, for obtaining coordinate information of the user terminal in preset coordinate system；
Robot scheduler module, the calling for receiving the user terminal transmission instruct and determine target robot；
Mobile control module, for controlling the target robot and being moved to target area according to the coordinate information；Its
In, the target area is the region that the maximum distance away from the user terminal is less than or equal to preset first threshold.
A kind of robot calling equipment, comprising:
User terminal；
With the server of user terminal communication connection, the server includes:
Memory, for storing robot calling program；
Processor, for executing the robot calling program to realize robot calling method described in any of the above embodiments
The step of.
A kind of computer readable storage medium is stored with computer program on the computer readable storage medium, described
The step of robot calling method described in any of the above embodiments is realized when computer program is executed by processor.
Using technical solution provided by the embodiment of the present invention, comprising: obtain seat of the user terminal in preset coordinate system
Mark information；The calling that user terminal is sent is received to instruct and determine target robot；According to coordinate information, target robot is controlled
It is moved to target area；Wherein, target area is the region that the maximum distance away from user terminal is less than or equal to preset first threshold.
It in the scheme of the application, does not need user and moves, but robot is called to user by the side of.Specifically,
After receiving the calling instruction that user terminal is sent, since coordinate information of the user terminal in preset coordinate system can be obtained,
Therefore target robot can be controlled according to coordinate information to be moved near user terminal, namely be moved to target area.Cause
This, the scheme of the application can call target robot to user terminal, so that the user for carrying the user terminal can be with
Easily use robot.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of implementation flow chart of robot calling method in the present invention；
Fig. 2 is a kind of structural schematic diagram of robot calling system in the present invention；
Fig. 3 is a kind of structural schematic diagram of robot calling equipment in the present invention.
Specific embodiment
Core of the invention is to provide a kind of robot calling method, staff can be assisted easily to use machine
People.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Referring to FIG. 1, Fig. 1 is a kind of implementation flow chart of robot calling method in the present invention, this method includes following
Step:
Step S101: coordinate information of the user terminal in preset coordinate system is obtained.
User terminal can be a multi-functional terminal end, i.e., other function can also be integrated with other than positioning function, when
So, it is also possible to terminal only with relevant positioning function, has no effect on implementation of the invention.User terminal is carried by user,
Such as user terminal is a label, is worn on sorter, therefore, server obtains seat of the user terminal in preset coordinate system
Information is marked, also means that server obtains the user for carrying the user terminal the location of in preset coordinate system.
What preset coordinate system usually chose is two-dimensional Cartesian system, and the origin of the coordinate system, X-axis and Y-axis are just
Direction can be preset according to actual needs.Certainly, the coordinate system of other forms can also be selected when specific implementation, as long as
It can be realized the positioning to user terminal, have no effect on implementation of the invention.
Server can obtain coordinate information of the user terminal in preset coordinate system, and coordinate information can be in user terminal
After sending related data to server, the determination of coordinate information is carried out via server, is also possible to user terminal and directly determines
Coordinate information out, then the coordinate information determined is sent to server, so that server is obtained the coordinate information.
It should be pointed out that server can be obtains coordinate information of the user terminal in preset coordinate system in real time, i.e.,
Related data is sent to server in real time by user terminal, in addition it is also possible to non real-time mode be taken, for example, only receiving
The coordinate information that user terminal is obtained when calling instruction, has no effect on implementation of the invention.
Step S102: it receives the calling that user terminal is sent and instructs and determine target robot.
User terminal is connect with server communication, and calling instruction can be sent to server, and server receives calling instruction
Afterwards, target robot needed for can determining user terminal.For example, it is contemplated that user only needs using one under normal conditions
Therefore a target robot can set server to after receiving calling instruction, distribute a target for user terminal
Robot.
In view of in the occasion of part, user terminal has using multiple target machine human needs, then user terminal can call
Quantity information is added in instruction so that server know the server-side needed for target robot quantity.For example, can be
Related key is set on user terminal, and user can input quantity information by key, and service receives and carries calling together for quantity information
After calling out instruction, the target robot of corresponding number is just determined according to quantity information.In this kind of embodiment, due to permitting
Perhaps user terminal calls multiple target robots simultaneously, meets user terminal while using multiple target machine Man's Demands.
When determining target robot, the robot of usually selection idle state can be further based on server
Preset scheduling strategy determines target robot from the robot being in idle condition.And preset scheduling strategy can be with
It is set and is chosen according to actual needs, such as the scheduling strategy based on nearby principle, based on the scheduling strategy of most fast principle,
Intelligent scheduling strategy based on AI etc. has no effect on implementation of the invention.
In a specific embodiment, it is contemplated that if partial target robot is by using more frequent, when work
Between it is too long, the related hardware of this partial robotic may be damaged, seriously reduce the service life of this partial robotic,
Therefore in this kind of embodiment, server determines mesh from the robot being in idle condition based on the principle randomly selected
Scalar robot, such mode are conducive to each robot and suffer from more similar operating time, avoid partial robotic
Frequency of use is higher and the case where reducing the service life.
Step S103: it according to coordinate information, controls target robot and is moved to target area；Target area is away from user terminal
Maximum distance be less than or equal to preset first threshold region.
At the time of receiving calling instruction, server just according to the coordinate information of the user terminal at the moment, controls target
Robot is moved to target area.
Target area refers to that the maximum distance away from user terminal is less than or equal to the region of preset first threshold, that is,
It says, target robot needed for server can control user terminal is moved near user terminal.The shape of target area and
The size of one threshold value can be set and be adjusted according to the actual situation, such as usual target area is border circular areas, radius
It is 2 meters, the center of circle is coordinate at the time of user terminal sends calling instruction.
Server would generally obtain coordinate of the target robot in preset coordinate system in real time, to determine target robot
Whether target area is moved to, for example, passing through the more accurate robots of acquisitions such as earth-magnetism navigation system, Laser navigation system
Coordinate.And typically, when target robot is mobile for the movement routine of its setting according to server, target robot is rigid
Just it is moved to after target area, it will stop motion.But in view of target robot has certain volume, and user terminal
Coordinate information or the coordinate of target robot there may be certain errors, therefore, in a specific embodiment,
The maximum distance away from user terminal is set less than or equal to preset first threshold by target area, and away from the nearest of user terminal
Distance is more than or equal to the region of preset second threshold, and second threshold is less than or equal to first threshold.Due to being drawn for target robot
Fixed target area, the minimum distance away from user terminal are also to be more than or equal to preset second threshold, also allow for target machine
When people is called near user terminal, a certain distance is maintained with user terminal, target robot collision is efficiently avoided and takes
The case where user with user terminal.
Using method provided by the embodiment of the present invention, comprising: obtain coordinate letter of the user terminal in preset coordinate system
Breath；The calling that user terminal is sent is received to instruct and determine target robot；According to coordinate information, it is mobile to control target robot
To target area；Wherein, target area is the region that the maximum distance away from user terminal is less than or equal to preset first threshold.
It in the scheme of the application, does not need user and moves, but robot is called to user by the side of.Specifically,
After receiving the calling instruction that user terminal is sent, since coordinate information of the user terminal in preset coordinate system can be obtained,
Therefore target robot can be controlled according to coordinate information to be moved near user terminal, namely be moved to target area.Cause
This, the scheme of the application can call target robot to user terminal, so that the user for carrying the user terminal can be with
Easily use robot.
In a kind of specific embodiment of the invention, step S101 may include:
Receive N number of range data that user terminal is sent；
According to the coordinate in each comfortable preset coordinate system in N number of base station of N number of range data and storage, obtains user terminal and exist
Coordinate information in coordinate system；
Wherein, N is positive integer and at least 3, N number of range data are as follows: user terminal sends signal to N number of base station, and is based on N
A base station is respective to feed back the N number of range data determined.
In this kind of embodiment, user terminal sends signal to N number of base station, such as can be to UWB (Ultra Wide-
Band, ultra wide band) N number of base station of positioning system sends a signal Poll, after each base station receives signal, Bian Huili
Send a response signal to user terminal, user terminal can flight time according to signal and flying speed, really
N number of range data is made, this N number of range data namely indicates N number of base station respectively at a distance from user terminal.Certainly, it needs to refer to
Out, the information carried in the feedback signal of each base station will allow user terminal to determine which the signal comes from
One base station.
In this kind of embodiment, after server receives the N number of range data sent by user terminal, due to pre- in server
The coordinate being first stored in each preset coordinate system of leisure in each base station, can determine the seat of user terminal in a coordinate system
Mark information.N at least needs to be 3, and when N is 3, just using 3 base stations as the center of circle, corresponding 3 range data, can be with as radius
3 circles are obtained, these three justify the coordinate information that common intersection point is user terminal.Certainly, it is contemplated that the error of data, N's takes
Value can be bigger, to more accurately determine out the coordinate information of user terminal.In this kind of embodiment, user terminal only need into
The determination of the N number of range data of row, subsequent calculating are completed by server, can be in order to more simple by the structure of user terminal design ground
It is single light, it is convenient for carrying, such as user terminal is a UWB label.
In a kind of specific embodiment of the invention, step S101 includes:
Obtain the target data sent by user terminal；
Wherein, coordinate information of the user terminal in preset coordinate system is carried in target data, and logical for user terminal
Cross the data that ultra wide band UWB positioning system is determined.
In this kind of embodiment, user terminal directly determines the coordinate information come from preset coordinate system, to service
It is portable with the coordinate information determined in the target data that device is sent.It, can since user terminal completes the calculating of coordinate information
To reduce the burden of server, and to when the transmission of server progress target data, it is also possible to using except positioning system
Other communication systems, such as wifi communication, advantageously reduce the bandwidth consumption of positioning system.
Interference will not be generated to the other equipment under same environment since UWB has, penetrability is stronger, and transmission power is very
Small, electromagenetic wave radiation is small, a variety of advantages such as wide application, therefore in this kind of embodiment, and mesh number evidence is that user terminal is fixed by UWB
The data that position system is determined.Certainly, in other embodiments, other kinds of positioning method can also be used, not shadow
Ring implementation of the invention.
In a kind of specific embodiment of the invention, further includes:
When controlling target robot movement, the coordinate of real-time monitoring target robot；
When judging that target robot stops before being moved to target area, and stay time is more than preset duration
When, export prompt information.
During being moved to target area in view of target robot, it is understood that there may be mobile unsuccessful situation, such as
There is situations such as damaged in collision, power supply is out of power in target robot moving process.In this kind of embodiment, server can supervise in real time
The coordinate for surveying target robot, when judging that target robot stops before being moved to target area, and stay time
When more than preset duration, illustrate that exception occurs in the movement of target robot, server just exports prompt information, such as passes through finger
Show that lamp or buzzer carry out fault alarm, is also just conducive to the timely discovery of abnormal conditions.
Corresponding to above method embodiment, the embodiment of the invention also provides a kind of robot calling systems, hereafter retouch
The robot calling system stated can correspond to each other reference with above-described robot calling method.
Shown in Figure 2, for a kind of structural schematic diagram of robot calling system in the present invention, which includes:
Coordinate information obtains module 201, for obtaining coordinate information of the user terminal in preset coordinate system；
Robot scheduler module 202, the calling for receiving user terminal transmission instruct and determine target robot；
Mobile control module 203, for controlling target robot and being moved to target area according to coordinate information；Wherein, mesh
Marking region is the region that the maximum distance away from user terminal is less than or equal to preset first threshold.
In a kind of specific embodiment of the invention, robot scheduler module 202 is specifically used for:
The calling instruction that user terminal is sent is received, and is based on preset scheduling strategy, from the robot being in idle condition
In determine target robot.
In a kind of specific embodiment of the invention, quantity information is carried in calling instruction；Robot scheduler module
202, it is specifically used for: receives the calling that user terminal is sent and instruct and determine the target machine of corresponding number according to quantity information
Device people.
In a kind of specific embodiment of the invention, coordinate information obtains module 201, comprising:
Range data receiving submodule, for receiving N number of range data of user terminal transmission.
Coordinate information obtains submodule, for each comfortable preset coordinate in N number of base station according to N number of range data and storage
Coordinate in system obtains the coordinate information of user terminal in a coordinate system；Wherein, N is positive integer and at least 3, N number of range data
Are as follows: user terminal sends signal, and the N number of range data determined based on the respective feedback in N number of base station to N number of base station.
In a kind of specific embodiment of the invention, target area is that the maximum distance away from user terminal is less than or equal to preset
First threshold, and the minimum distance away from user terminal is more than or equal to the region of preset second threshold, and second threshold is less than or equal to
First threshold.
In a kind of specific embodiment of the invention, coordinate information obtains module 201, is specifically used for:
Obtain the target data sent by user terminal；Wherein, user terminal is carried in target data in preset coordinate system
In coordinate information, and data determined by ultra wide band UWB positioning system for user terminal.
Further include with lower module in a kind of specific embodiment of the invention:
Robot coordinate monitoring modular is used for when controlling target robot movement, the seat of real-time monitoring target robot
Mark；
Prompt information output module judges that target robot stops before being moved to target area for working as,
And stay time be more than preset duration when, export prompt information.
Corresponding to above method and system embodiment, the embodiment of the invention also provides a kind of robot calling equipment with
And a kind of computer readable storage medium, reference can be corresponded to each other with above-described robot calling method.
It is shown in Figure 3, the structural schematic diagram of equipment is called for robot a kind of in the present invention, comprising:
User terminal 310；
With the server 320 of user terminal communication connection, server 320 includes:
Memory 321, for storing robot calling program；
Processor 322, for executing robot calling program to realize the calling side of robot in any of the above-described embodiment
The step of method.
It is stored with computer program on computer readable storage medium, is realized when computer program is executed by processor above-mentioned
The step of robot calling method in any embodiment.Computer readable storage medium mentioned here includes random access memory
(RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, removable magnetic
Any other form of storage medium well known in disk, CD-ROM or technical field.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including element.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand technical solution of the present invention and its core concept.It should be pointed out that for the common of the art
, without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention for technical staff, these
Improvement and modification are also fallen within the protection scope of the claims of the present invention.
Claims (10)
1. a kind of robot calling method characterized by comprising
Obtain coordinate information of the user terminal in preset coordinate system；
The calling that the user terminal is sent is received to instruct and determine target robot；
According to the coordinate information, controls the target robot and be moved to target area；
Wherein, the target area is the region that the maximum distance away from the user terminal is less than or equal to preset first threshold.
2. robot calling method according to claim 1, which is characterized in that described to determine target robot, comprising:
Based on preset scheduling strategy, the target robot is determined from the robot being in idle condition.
3. robot calling method according to claim 1, which is characterized in that carry quantity letter in the calling instruction
Breath；
It is described to determine target robot, comprising:
The target robot of corresponding number is determined according to the quantity information.
4. robot calling method according to claim 1, which is characterized in that the acquisition user terminal is in preset coordinate
Coordinate information in system, comprising:
Receive N number of range data that user terminal is sent；
According to the coordinate in each comfortable preset coordinate system in N number of base station of N number of range data and storage, the user is obtained
Hold the coordinate information in the coordinate system；
Wherein, N is positive integer and at least 3, N number of range data are as follows: user terminal sends signal to N number of base station, and
The N number of range data determined based on N number of respective feedback in base station.
5. robot calling method according to claim 1, which is characterized in that the target area is away from the user terminal
Maximum distance be less than or equal to preset first threshold, and the minimum distance away from the user terminal be more than or equal to preset second threshold
The region of value, the second threshold are less than or equal to the first threshold.
6. robot calling method according to claim 1, which is characterized in that the acquisition user terminal is in preset coordinate
Coordinate information in system, comprising:
Obtain the target data sent by user terminal；
Wherein, coordinate information of the user terminal in preset coordinate system is carried in the target data, and is described
The data that user terminal is determined by ultra wide band UWB positioning system.
7. robot calling method according to any one of claims 1 to 6, which is characterized in that further include:
When controlling target robot movement, the coordinate of target robot described in real-time monitoring；
When judging that the target robot stops before being moved to the target area, and stay time is more than default
When duration, prompt information is exported.
8. a kind of robot calling system characterized by comprising
Coordinate information obtains module, for obtaining coordinate information of the user terminal in preset coordinate system；
Robot scheduler module, the calling for receiving the user terminal transmission instruct and determine target robot；
Mobile control module, for controlling the target robot and being moved to target area according to the coordinate information；Wherein,
The target area is the region that the maximum distance away from the user terminal is less than or equal to preset first threshold.
9. equipment is called by a kind of robot characterized by comprising
User terminal；
With the server of user terminal communication connection, the server includes:
Memory, for storing robot calling program；
Processor, for executing the robot calling program to realize that robot as described in any one of claim 1 to 7 calls together
The step of calling out method.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program, the computer program realize robot calling method as described in any one of claim 1 to 7 when being executed by processor
The step of.
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| CN111975785A (en) * | 2020-09-09 | 2020-11-24 | 上海有个机器人有限公司 | Robot calling system and device |
| CN112109087A (en) * | 2020-09-09 | 2020-12-22 | 上海有个机器人有限公司 | Robot remote calling method and system |
| CN112351087A (en) * | 2020-10-29 | 2021-02-09 | 上海有个机器人有限公司 | Method and equipment for remotely calling robot |
| CN113298472A (en) * | 2021-06-03 | 2021-08-24 | 上海擎朗智能科技有限公司 | Method and device for recycling articles, electronic equipment and storage medium |
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| CN112351087A (en) * | 2020-10-29 | 2021-02-09 | 上海有个机器人有限公司 | Method and equipment for remotely calling robot |
| CN113298472A (en) * | 2021-06-03 | 2021-08-24 | 上海擎朗智能科技有限公司 | Method and device for recycling articles, electronic equipment and storage medium |
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