CN109940621B - Service method, system and device of hotel robot - Google Patents
Service method, system and device of hotel robot Download PDFInfo
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- CN109940621B CN109940621B CN201910311167.2A CN201910311167A CN109940621B CN 109940621 B CN109940621 B CN 109940621B CN 201910311167 A CN201910311167 A CN 201910311167A CN 109940621 B CN109940621 B CN 109940621B
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Abstract
A service method and system and its apparatus of hotel robot, the destination that the robot of dispatch system needs to arrive, plan out the shortest path, issue to the robot; when a plurality of robots execute tasks together in the process of the robot traveling, performing way-giving operation on the track according to the principle of a central control scheduling system; correcting deviation of the magnetic guide rail, and returning the robot to the magnetic guide rail according to a magnetic guide rail deviation principle; the robot in the task execution process does not respond to any requirements of the client, and if the robot is input with instructions by the client, the robot outputs voice to explain to the client and then continuously executes the task; when the task reaches the task designated place, executing the task requirement, and returning to the empty task position according to the allocation path after the task is finished; the central console is connected with the dispatching system, and the dispatching system can be respectively connected with the robot end and the peripheral end. The invention effectively prevents the robots from colliding with each other, is beneficial to the execution of scheduling tasks, is beneficial to the management of the hotel and ensures the safety of the hotel in all aspects.
Description
Technical Field
The invention relates to the field of hotel robots, in particular to a service method, a service system and a service device of a hotel robot.
Background
In service industries such as hotels, providing weekly and timely services for customers is always an important means for hotels to improve competitiveness and maintain reputation of badges. The potential service needs of a guest entering a hotel are characterized by diversification. Such as identification, greeting, baggage transportation, querying a booking room, meeting room numbers, location information, navigation, and the like. The hotel service robot is controlled through a PC (personal computer) end, and in the execution process of a plurality of robots, the robots generally collect images to judge positions so as to carry out obstacle avoidance operation. When the client has manual demand, the client can send manual request information to the server through the robot voice acquisition and the voice detection. Utilize the PC end to carry out robot control, the manual work load is big, carries out the obstacle discernment and then dodges the operation through gathering the image, and the route of deviating the planning easily to need relocate and plan the walking route, need consume a large amount of time, reduce efficiency, the robot appears not can in time discover when unusual. When the guest needs manual service, the intelligence sends a message to the terminal through the robot, and the problem can be solved when the service person arrives at the place. And the control of the staff to the robot can only be carried out through the PC end to input instructions.
Disclosure of Invention
Objects of the invention
In order to solve the technical problems in the background art, the invention provides a service method, a service system and a service device of hotel robots, which effectively prevent the robots from colliding with each other, are beneficial to the execution of scheduling tasks, are beneficial to the management of hotels and ensure the safety of all aspects of hotels.
(II) technical scheme
In order to solve the problems, the invention provides a service method of a hotel robot, which comprises the following steps;
s1, planning a shortest path for a destination to be reached by the dispatching system robot, and issuing the shortest path to the robot;
s2, when multiple robots execute tasks together in the process of the robot traveling, performing way-giving operation on the track according to the principle of a central control dispatching system;
s3, correcting deviation of the magnetic guide rail, and returning the robot to the magnetic guide rail according to the principle of deviation of the magnetic guide rail;
and S4, the robot in the task execution process does not respond to any requirement of the client, and if the robot is input by the client, the robot outputs voice to explain to the client and then continuously executes the task.
And S5, when the task reaches the task designated place, executing the task requirement, and returning to the empty task position according to the allocation path after the task requirement is completed.
Preferably, during the traveling process of the robot, the robot performs an avoidance task on the guide rail according to the traveling priority.
Preferably, the walking priorities include the following types: when two robots with equal priority meet, the system judges which robot is close to the turnout in the two robots, and the robot close to the turnout firstly goes to the turnout to avoid;
when more than two robots with equal priority meet, the system respectively judges the avoidance time cost in the two-way robots, and the avoidance is carried out in the way with low avoidance cost;
when encountering the robots meeting oppositely on the same rail, the robot with low task priority avoids the robot with high task priority.
Preferably, the robot generates an abnormality in the avoidance operation, and the method for processing the abnormality includes: when the robot forms an on-orbit dead knot, the central console prompts an alarm, and a worker in the central console can remotely control the mobile robot in real time; when two or more robots need to be moved, the problem of locking can be solved, the dispatching system prompts a central console worker, and a scheme for operating the robots in real time and solving the problem of locking is provided.
Preferably, in S3, the magnetic guide rail deviation principle includes a short-distance deviation of the magnetic guide rail, and the robot returns to the magnetic guide rail by itself; the magnetic guide rail is deviated in a long distance, the nearest magnetic guide rail position is obtained through a central console instruction, and the derailing robot is controlled to move to the nearest stop point and return to the guide rail again; manual intervention, remote real-time control of the center console and return to the magnetic guide rail;
the magnetic rail deviation is determined according to a map construction consisting of the magnetic rail and the passive RFID.
The invention also provides a service system of the hotel robot, which is characterized by comprising a center console, a dispatching system, an external end and a robot end; the central console is in communication connection with a dispatching system, and the dispatching system is in communication connection with the robot end and the peripheral end respectively;
the peripheral equipment is one or more of a headset and a bracelet, and when the peripheral equipment is communicated with a guest, the robot screen is always displayed at an obvious position, and the video call with a service worker can be realized in real time by clicking the position;
the central console controls the robot to walk and act in real time to acquire a real-time video, and acquires the state of the robot, the remarks of the robot and the grouping management in real time; the robot walking is based on a plan of a dispatching system, and the center console can modify a map and mark the robot and peripheral equipment;
the highest instruction permission of the instruction sent by the instruction list of the center console editing robot comprises the following steps: a certain new task is immediately executed in the robot task, the new task is executed, namely the task is positioned at the first position of a robot task list, and other tasks are arranged backwards and forwards; inserting a new task into the robot task list; editing task sequencing in a robot task list; and deleting the tasks in the robot task list.
Preferably, the scheduling system plan is synthesized from multiple graphs, and the multiple graphs include: the system comprises a magnetic guide rail diagram, an RFID (radio frequency identification) marking diagram, a hotel plan diagram, a robot and peripheral real-time position display diagram; the plan planning principle of the dispatching system comprises the following steps:
s1, planning a plurality of closed-loop paths for the target parking points;
s2, when a plurality of closed-loop paths cannot be set, a single closed-loop path is planned for the target parking point;
s3, when a single closed loop path can not be set, entering a destination point accessory by a plurality of paths, if the entry of the plurality of paths can not be set, executing the step 4;
s4, when a plurality of paths can not be set for entering, a small closed loop is set in front of a destination point;
s5, when the small closed loop can not be set, setting an avoidance turnout in front of the destination point;
s6, when the avoidance turnout can not be arranged in front of the destination point, arranging the avoidance turnout at a position far away from the destination point;
and S7, when the avoidance turnout cannot be set, the scheduling scheme under the most severe condition at present is used.
Preferably, the small closed loops and the diversions in S4 and S5 are provided in plurality.
The invention also provides a service device of the hotel robot, which is characterized by comprising a processor, a data center, a communication unit, a multi-sensing unit, a voice interaction unit and a motion control unit; the output ends of the processor, the data center and the communication unit are in communication connection with the input end of the processor; the output end of the processor is in communication connection with the input end of the motion control unit; the voice interaction unit is in communication connection with the processor;
the processor is used for receiving the scheduling task of the scheduling system and sending a corresponding operation instruction according to the analyzed scheduling task;
the data center is used for storing hotel service information and map information for the processor to call; the voice interaction unit is used for storing the interaction voice information for being called by the voice interaction unit; the system is used for storing the video information of the hotel service process for calling the center console;
the communication unit is used for communicating with the central console, the dispatching system and the peripheral end;
the multi-sensing unit is used for acquiring environment information in different spatial directions to provide obstacle avoidance operation of the robot;
the voice interaction unit is used for collecting user voice, analyzing the user instruction contained in the user voice and outputting the user instruction to the processor, and the voice interaction device can output voice according to the instruction of the processor;
and the motion control unit is used for realizing the movement of the robot and hotel service actions thereof.
The technical scheme of the invention has the following beneficial technical effects: (in the method, avoidance operation is mainly carried out according to the principle of walking priority, collision among robots is effectively prevented, returning the guide rail under the deviation condition according to the deviation error correction principle of the magnetic guide rail; the map planning scheme can better improve the moving efficiency of the robot on the map, in addition, the map is synthesized by multiple maps, namely a magnetic guide rail diagram, an RFID marking diagram, a hotel plan diagram, a robot and peripheral real-time position display diagram, which is beneficial to the execution of scheduling tasks; in the system, a robot end is in communication connection with a central console, a dispatching system and an external end, a worker obtains the state of the robot in any corner of a place in real time through the external end, and the robot is subjected to instruction input, so that hotel management is facilitated; a guest can directly meet the video requirements of service personnel through a manual button on a robot screen, and the real-time video acquisition can also ensure the safety of all aspects of a hotel.
Drawings
Fig. 1 is a schematic diagram of a service method and a service system of a hotel robot and a flow of a service method in the hotel robot.
Fig. 2 is a structural diagram of a service system in a hotel robot service method and system and a device thereof according to the present invention.
Fig. 3 is a schematic diagram of a service method and system of a hotel robot and a planning principle of a map construction scheme in the hotel robot service system.
Fig. 4 is a magnetic guide diagram and an RFID mapping diagram in the hotel robot service method and system and the device thereof according to the present invention.
Fig. 5 is a schematic structural diagram of a service method and a service system of a hotel robot and a service device in the hotel robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the accompanying drawings in combination with the embodiments. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Example 1
A service method of a hotel robot comprises the following steps;
s1, planning a shortest path for a destination to be reached by the dispatching system robot, and issuing the shortest path to the robot;
s2, when multiple robots execute tasks together in the process of traveling, performing a way-giving operation on the track according to the principle of a central control scheduling system;
s3, correcting deviation of the magnetic guide rail, and returning the robot to the magnetic guide rail according to the principle of deviation of the magnetic guide rail;
s4, the robot in the process of executing the task does not respond to any requirement of the client, if the robot is input by the client, the robot outputs voice to explain to the client and then continuously executes the task.
And S5, when the task reaches the task designated place, executing the task requirement, and returning to the empty task position according to the allocation path after the task requirement is completed.
In an optional embodiment, the robot carries out avoidance tasks on the guide rail according to the walking priority during the traveling process of the robot.
In an alternative embodiment, the walking priorities include the following types: when two robots with equal priority meet, the system judges which robot is close to the turnout in the two robots, and the robot close to the turnout firstly goes to the turnout to avoid;
when more than two robots with equal priority meet, the system respectively judges the avoidance time cost in the two-way robots, and the avoidance is carried out in the way with low avoidance cost;
when encountering the robots meeting oppositely on the same rail, the robot with low task priority avoids the robot with high task priority.
In an optional embodiment, the robot generates an exception in the avoidance operation, and the processing method of the exception comprises the following steps: when the robot forms an on-orbit dead knot, the central console prompts an alarm, and a worker in the central console can remotely control the mobile robot in real time; when two or more robots are moved to solve the problem of locking, the dispatching system prompts a central console worker to provide a scheme for operating the robots in real time to solve the problem of locking.
In an alternative embodiment, in S3, the magnetic guide rail deviation rule includes a short-distance deviation of the magnetic guide rail, and the robot returns to the magnetic guide rail by itself; the magnetic guide rail is deviated in a long distance, the nearest magnetic guide rail position is obtained through a central console instruction, and the derailing robot is controlled to move to the nearest stop point and return to the guide rail again; manual intervention, remote real-time control of the center console and return to the magnetic guide rail;
the magnetic rail deviation is determined according to a map construction consisting of the magnetic rail and the passive RFID.
Example 2
According to embodiment 1, the invention further provides a service system of the hotel robot, which is characterized by comprising a center console, a dispatching system, a peripheral end and a robot end; the central console is in communication connection with a dispatching system, and the dispatching system is in communication connection with the robot end and the peripheral end respectively;
the peripheral equipment is one or more of a headset and a bracelet, and when the peripheral equipment is communicated with a guest, the robot screen is always displayed at an obvious position, and the video call with a service worker can be realized in real time by clicking the position;
the central console controls the robot to walk and act in real time to acquire a real-time video, and acquires the state of the robot, the remarks of the robot and the grouping management in real time; the robot walking is based on a plan of a dispatching system, and the center console can modify a map and mark the robot and peripheral equipment;
the highest instruction permission of the instruction sent by the instruction list of the center console editing robot comprises the following steps: a certain new task is immediately executed in the robot task, the new task is executed, namely the task is positioned at the first position of a robot task list, and other tasks are arranged backwards and forwards; inserting a new task into the robot task list; editing task sequencing in a robot task list; and deleting the tasks in the robot task list.
In an alternative embodiment, the magnetic track map and the RFID map are based on two factors: the robot can move on the rail, the RFID is arranged on the parking point, and the robot can park on the RFID; in order to improve the moving efficiency of the robot on the map, the optimal environment of the map planning is that the robot service points, the robot charging area and the like have as many parking points as possible, and each parking point can form a closed loop. Therefore, the planning principle of the map construction scheme is that when the upper level is ideal and cannot be implemented, the next level planning mode is compromised until the last severest environment. As shown in fig. 3, the map planning principle steps are as follows:
1. planning a plurality of closed-loop paths for the target parking point, and executing the step 2 if the plurality of closed-loop paths cannot be set;
2. planning a single closed loop path for the target parking point, and if the single closed loop path cannot be set, executing the step 3;
3. entering the destination point accessory by multiple paths, and if the entry of multiple paths cannot be set, executing the step 4;
4. setting a small closed loop in front of the destination point, and executing the step 5 if the small closed loop cannot be set;
5. setting an avoidance turnout in front of the destination point, and executing the step 6 if the avoidance turnout cannot be set in front of the destination point;
6. setting an avoidance turnout at a position far away from the destination point, and executing the step 7 if the avoidance turnout cannot be set;
7. the scheduling scheme of the currently most severe condition is used.
In an alternative embodiment, the small closed loops and the diversions in S4 and S5 are provided in plurality.
Example 3
According to embodiment 1, the invention also provides a service device of the hotel robot, which is characterized by comprising a processor, a data center, a communication unit, a multi-sensing unit, a voice interaction unit and a motion control unit; the output ends of the processor, the data center and the communication unit are in communication connection with the input end of the processor; the output end of the processor is in communication connection with the input end of the motion control unit; the voice interaction unit is in communication connection with the processor;
the processor is used for receiving the scheduling task of the scheduling system and sending a corresponding operation instruction according to the analyzed scheduling task;
the data center is used for storing hotel service information and map information for the processor to call; the voice interaction unit is used for storing the interaction voice information for being called by the voice interaction unit; the system is used for storing the video information of the hotel service process for calling the center console;
the communication unit is used for communicating with the central console, the dispatching system and the peripheral end;
the multi-sensing unit is used for acquiring environment information in different spatial directions to provide obstacle avoidance operation of the robot;
the voice interaction unit is used for collecting user voice, analyzing the user instruction contained in the user voice and outputting the user instruction to the processor, and the voice interaction device can output voice according to the instruction of the processor;
and the motion control unit is used for realizing the movement of the robot and hotel service actions thereof.
In conclusion, the method mainly carries out avoidance operation according to the walking priority principle, effectively prevents the robots from colliding with each other, and returns to the guide rail under the condition of deviation according to the magnetic guide rail deviation error correction principle; the map planning scheme can well improve the moving efficiency of the robot on the map. In addition, the map is synthesized by multiple maps, namely a magnetic guide rail map, an RFID (radio frequency identification) marking map, a hotel plan map, a robot and peripheral real-time position display map, so that the execution of a scheduling task is facilitated; in the system, a robot end is in communication connection with a central console, a dispatching system and an external end, and a worker acquires the state of the robot in real time through the external equipment at any corner of a place and inputs instructions to the robot, so that hotel management is facilitated; a guest can directly meet the video requirements of service personnel through a manual button on a robot screen, and the real-time video acquisition can also ensure the safety of all aspects of a hotel.
It should be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modifications, equivalents, improvements and the like which are made without departing from the spirit and scope of the present invention shall be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (5)
1. A service method of a hotel robot is characterized by comprising the following steps;
s1, planning a shortest path for a destination to be reached by the dispatching system robot, and issuing the shortest path to the robot;
s2, when multiple robots execute tasks together in the process of the robot traveling, performing way-giving operation on the track according to the principle of a central control dispatching system; in the process of the robot traveling, the robot carries out an avoidance task on the guide rail according to the traveling priority; the walking priorities include the following types: when two robots with equal priority meet, the system judges which robot is close to the turnout in the two robots, and the robot close to the turnout firstly goes to the turnout to avoid;
when more than two robots with equal priority meet, the system respectively judges the avoidance time cost in the two-way robots, and the avoidance is carried out in the way with low avoidance cost;
when encountering the robots meeting oppositely on the same rail, the robot with low task priority avoids the robot with high task priority; the robot is abnormal in the avoidance operation, and the processing method of the abnormality comprises the following steps: when the robot forms an on-orbit dead knot, the central console prompts an alarm, and a worker in the central console can remotely control the mobile robot in real time; when two or more robots need to be moved to solve the problem of locking, the dispatching system prompts a central console worker, and provides a scheme for operating the robots in real time to solve the problem of locking;
s3, correcting deviation of the magnetic guide rail, and returning the robot to the magnetic guide rail according to the principle of deviation of the magnetic guide rail; the magnetic guide rail deviation principle comprises a short-distance deviation magnetic guide rail, and the robot automatically returns to the magnetic guide rail; the magnetic guide rail is deviated in a long distance, the nearest magnetic guide rail position is obtained through a central console instruction, and the derailing robot is controlled to move to the nearest stop point and return to the guide rail again; manual intervention, remote real-time control of the center console and return to the magnetic guide rail;
the magnetic guide rail deviation is judged according to map construction, and the map construction is composed of a magnetic guide rail and a passive RFID;
s4, the robot in the task executing process does not respond to any requirement of the client, if the robot is input by the client, the robot outputs voice to explain to the client and then continuously executes the task;
and S5, when the task reaches the task designated place, executing the task requirement, and returning to the empty task position according to the allocation path after the task requirement is completed.
2. A service system of the hotel robot using the service method of the hotel robot according to claim 1, comprising a center console, a dispatching system, a peripheral end and a robot end; the central console is in communication connection with a dispatching system, and the dispatching system is in communication connection with the robot end and the peripheral end respectively;
the peripheral end is one or more of a headset and a bracelet, and when the peripheral end is communicated with a guest, the robot screen is always displayed at an obvious position, and a user can carry out real-time video call with a service worker by clicking the position;
the central console controls the robot to walk and act in real time to acquire a real-time video, and acquires the state of the robot, the remarks of the robot and the grouping management in real time; the robot walking is based on a plan of a dispatching system, and the center console can modify a map and mark a robot and an external end;
the highest instruction permission of the instruction sent by the instruction list of the center console editing robot comprises the following steps: a certain new task is immediately executed in the robot task, the new task is executed, namely the task is positioned at the first position of a robot task list, and other tasks are arranged backwards and forwards; inserting a new task into the robot task list; editing task sequencing in a robot task list; and deleting the tasks in the robot task list.
3. The hotel robot service system as recited in claim 2, wherein the dispatch system plan is composed of a plurality of graphs, the plurality of graphs comprising: a magnetic guide rail diagram, an RFID marking diagram, a hotel plan diagram and a robot and peripheral end real-time position display diagram; the plan planning principle of the dispatching system comprises the following steps:
s31, planning a plurality of closed-loop paths for the target parking points;
s32, when a plurality of closed-loop paths can not be set, a single closed-loop path is planned for the target parking point;
s43, when a single closed loop path can not be set, setting a plurality of paths to enter a destination point, if the plurality of paths can not be set, executing the step 4;
s34, when a plurality of paths cannot be set for entering, a small closed loop is set in front of a destination point;
s35, when the small closed loop can not be set, setting an avoidance turnout in front of the destination point;
s36, when the avoidance turnout cannot be arranged in front of the destination point, arranging the avoidance turnout at a position far away from the destination point;
and S37, when the avoidance turnout cannot be set, the scheduling scheme under the most severe condition at present is used.
4. The service system of hotel robot as claimed in claim 3, wherein there are a plurality of small closed loops and avoidance diversions in S4 and S5.
5. A service apparatus of a hotel robot adopting the service method of a hotel robot as set forth in claim 1, comprising a processor, a data center, a communication unit, a multi-sensing unit, a voice interaction unit, and a motion control unit; the output ends of the data center and the communication unit are in communication connection with the input end of the processor; the output end of the processor is in communication connection with the input end of the motion control unit; the voice interaction unit is in communication connection with the processor;
the processor is used for receiving the scheduling task of the scheduling system and sending a corresponding operation instruction according to the analyzed scheduling task;
the data center is used for storing hotel service information and map information for the processor to call; the voice interaction unit is used for storing the interaction voice information for being called by the voice interaction unit; the system is used for storing the video information of the hotel service process for calling the center console;
the communication unit is used for communicating with the central console, the dispatching system and the peripheral end;
the multi-sensing unit is used for acquiring environment information in different spatial directions to provide obstacle avoidance operation of the robot;
the voice interaction unit is used for collecting user voice, analyzing a user instruction contained in the user voice and outputting the user instruction to the processor, and the voice interaction unit can perform voice output according to the instruction of the processor;
and the motion control unit is used for realizing the movement of the robot and hotel service actions thereof.
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| CN111618876A (en) * | 2020-06-11 | 2020-09-04 | 北京云迹科技有限公司 | Method and device for managing room and service robot |
| CN113031591B (en) * | 2021-02-24 | 2023-04-07 | 丰疆智能(深圳)有限公司 | Exception handling method and device for material pushing robot, server and storage medium |
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| CN206960962U (en) * | 2017-08-02 | 2018-02-02 | 武昌理工学院 | A kind of wheeled meal delivery robot |
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