CN110941260A - Robot calling method and system and robot - Google Patents
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- G05D1/02—Control of position or course in two dimensions
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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a robot calling method, a system and a robot, wherein the method comprises the following steps: when receiving geomagnetic data of a current position of a client, which is sent by the client according to a call instruction input by a user, converting the geomagnetic data into user position information according to a preset geomagnetic fingerprint map; selecting a robot meeting preset target conditions as a target robot according to the user position information; planning a path to a target position according to the current position of the target robot; the target position is the current position of the client corresponding to the user position information; and controlling the target robot to move to the target position according to the planned path. According to the invention, the customer can operate and call the robot to serve the service by himself according to the own requirements, and the customer does not need to walk to the side of the robot in person to identify the robot, so that the operation mode of the customer is simplified, and the use experience is improved.
Description
Technical Field
The invention relates to the field of robot tracking, in particular to a robot calling method and system and a robot.
Background
With the development of science and technology, it is becoming more and more common to utilize the intelligence of robots to provide services to users in time. At present, two kinds of services are generally provided for users by robots, one is that the robots are fixed in one place and the users seek help in the past; another is that the robot tracks the user and provides assistance thereto.
The existing robot tracks users and has the following defects:
most robots first scan a person or object by visual face recognition or by lidar, and then find and track the user all the time to serve it. According to the technology, a user can identify the user and track the user only when the user comes beside the robot, and when the user is not beside the robot, the user cannot remotely call the robot, so that the user is not intelligent enough.
Disclosure of Invention
The invention aims to provide a robot calling method, a system and a robot, which respond to calling of a client, provide service for the client, are more intelligent and further improve the use experience of the client.
The technical scheme provided by the invention is as follows:
a robot summoning method comprising: when receiving geomagnetic data of a current position of a client, which is sent by the client according to a call instruction input by a user, converting the geomagnetic data into user position information according to a preset geomagnetic fingerprint map; selecting a robot meeting preset target conditions as a target robot according to the user position information; planning a path to a target position according to the current position of the target robot; the target position is the current position of the client corresponding to the user position information; and controlling the target robot to move to the target position according to the planned path.
In the technical scheme, the client can call the robot to serve the client through self operation, the client does not need to walk beside the robot in person to identify the robot, the operation of the client is simplified, and the use experience is improved.
Further, the user-input call instruction includes any one of the following: a user operates a physical calling device; the user triggers a calling module on the client.
In the technical scheme, the use experience is improved by the diversified calling instruction input mode.
Further, the selecting a robot meeting a preset target condition as a target robot according to the user position information includes: and selecting one robot in a standby state as the target robot in a preset selection area corresponding to the user position information.
In the technical scheme, different robots are distributed to manage different areas, the robots meeting preset target conditions can be quickly positioned and found, and the management efficiency is greatly improved.
Further, in a preset selection area corresponding to the user position information, selecting a robot in a standby state as the target robot specifically includes: and selecting a robot which is in a standby state and is closest to the target robot in a preset selection area corresponding to the user position information.
In the technical scheme, the distance is taken into consideration, the target robot can be quickly moved to the side of the client, and the waiting time is not required to be too long.
Further, the selecting a robot meeting a preset target condition as a target robot according to the user position information further includes: and randomly selecting one robot as a target robot according to the position information of the user.
In the technical scheme, the random selection mode has no too many constraint conditions, and a proper robot can be quickly found.
Further, the controlling the target robot to move to the target position according to the planned path includes: and in the process that the target robot moves to the target position, if the position distance between the target robot and the surrounding objects is less than a preset safety distance, controlling the target robot to adjust the running state of the target robot or send a corresponding prompt according to a preset scheme.
In the technical scheme, the preset safe distance and the preset scheme enable the target robot to have the functions of collision prevention and obstacle avoidance in the moving process.
The invention also provides a robot calling system, which comprises: a client and a robot; the client comprises: the data sending module is used for sending the geomagnetic data of the current position of the client according to a calling instruction input by a user; the robot summoning system further comprises: the data receiving module is used for receiving geomagnetic data of the current position of the client sent by the client; the data conversion module is used for converting the geomagnetic data into user position information according to a preset geomagnetic fingerprint map; the robot selection module is used for selecting a robot which meets preset target conditions as a target robot according to the user position information; the path planning module is used for planning a path reaching a target position according to the current position of the target robot; the target position is the current position of the client corresponding to the user position information; and the motion control module is used for controlling the target robot to move to the target position according to the planned path.
In the technical scheme, the client can call the robot to serve the client through self operation, the client does not need to walk beside the robot in person to identify the robot, the operation of the client is simplified, and the use experience is improved.
Further, the robot selection module, configured to select, according to the user position information, a robot that meets a preset target condition as a target robot includes: and the robot selection module is used for selecting one robot in a standby state as the target robot in a preset selection area corresponding to the user position information.
Further, the motion control module, configured to control the target robot to move to the target position according to the planned path, includes: and the motion control module is used for controlling the target robot to adjust the running state of the target robot or send a corresponding prompt according to a preset scheme if the position distance between the target robot and the surrounding objects is less than a preset safe distance in the process that the target robot moves to the target position.
The invention also provides a robot, which is applied to any one of the robot calling methods, and comprises the following steps: the path planning module is used for planning a path reaching the target position according to the current position when the target robot is selected; the target position is the current position of the client corresponding to the received user position information; and the motion control module is used for moving to the target position according to the planned path.
Compared with the prior art, the robot calling method, the system and the robot have the beneficial effects that:
according to the invention, the customer can operate and call the robot to serve the service by himself according to the own requirements, and the customer does not need to walk to the side of the robot in person to identify the robot, so that the operation mode of the customer is simplified, and the use experience is improved.
Drawings
The above features, technical features, advantages and implementations of a robot summoning method and system will be further described in the following preferred embodiments in a clearly understandable manner, with reference to the accompanying drawings.
FIG. 1 is a flow chart of one embodiment of a robot summoning method of the present invention;
FIG. 2 is a flow chart of another embodiment of a robot summoning method of the present invention;
FIG. 3 is a schematic structural diagram of one embodiment of a robot summoning system of the present invention;
fig. 4 is a schematic structural diagram of one embodiment of the robot of the present invention.
The reference numbers illustrate:
10. the robot comprises a client, 11, a data sending module, 20, a data receiving module, 30, a data conversion module, 40, a robot selection module, 50, a path planning module, 60, a motion control module and 70.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
In one embodiment of the present invention, as shown in fig. 1, a robot summoning method includes:
s101, when receiving geomagnetic data of the current position of the client sent by the client according to a call instruction input by a user, converting the geomagnetic data into user position information according to a preset geomagnetic fingerprint map.
Specifically, a plane map of the place where the robot is located is established; the method comprises the steps of collecting geomagnetic fingerprint data of each position coordinate point in a plane map, generating a geomagnetic fingerprint map, and setting the geomagnetic fingerprint map as a preset geomagnetic fingerprint map. Collecting indoor geomagnetic fingerprint information; and superposing the geomagnetic fingerprint to each coordinate point of the indoor map so as to obtain geomagnetic fingerprint data of each coordinate point of the indoor map.
The method comprises the steps that a preset geomagnetic fingerprint map is stored in a background server, a client sends current geomagnetic data of the position where the client is located to the background server, and the background server determines a corresponding coordinate position in the preset geomagnetic fingerprint map according to the received geomagnetic data to obtain user position information.
The robot can also store a preset geomagnetic fingerprint map inside, and lays a foundation for subsequent path planning, obstacle avoidance and the like. Therefore, in other embodiments, the client may also send the geomagnetic data to each robot (one implementation manner, but not limited thereto: the client and each robot are in the same local area network to implement data interaction), and each robot determines a corresponding coordinate position in a preset geomagnetic fingerprint map according to the received geomagnetic data to obtain user position information.
Optionally, the call instruction input by the user includes any one of the following:
a user operates a physical calling device;
the user triggers a calling module on the client.
Specifically, the physical calling device may be a calling button, an infrared trigger, a touch display screen, or the like disposed in various places of a shopping mall, and the user may input a calling instruction by pressing the calling button, waving a hand in front of the infrared trigger, and clicking a calling option on the touch display screen.
The physical calling device and the client end are in communication connection, for example: and wireless communication methods such as bluetooth. When the customer operates the physical calling device, the customer is necessarily very close to the physical calling device, namely, the customer terminal is also very close to the physical calling device, so that the customer terminal and the physical calling device can communicate in a short-distance wireless communication mode. Of course, the communication may be performed by other communication methods, for example: after the physical calling device is operated, the physical calling device broadcasts and sends a calling instruction, and the received client automatically judges whether the calling instruction is triggered by the corresponding client, wherein the judgment conditions can be various, for example: and if the distance between the client and the operated physical calling device is within 1 meter, sending the geomagnetic data of the current position of the client, otherwise, not sending the geomagnetic data. The invention is not limited to the form and structure of the physical calling device and the implementation mode of triggering the client to send the geomagnetic data, as long as the corresponding client sends the geomagnetic data after the user operates the physical calling device.
The calling module on the client can be a physical button on the client, or can be a functional module on an APP which is different from the calling of the robot and is installed on the client. For example: when a user presses a volume + key on a client, the user considers that a call instruction is input, and the client needs to send out geomagnetic data of the current position of the client.
For another example: the client side is provided with the APP with the phase difference, occupies the calling option on the APP, considers that the user inputs the calling instruction, and sends the geomagnetic data of the current position of the client side.
S102, selecting the robot meeting preset target conditions as a target robot according to the user position information.
Specifically, after the user position information is obtained through conversion, one robot can be selected as a target robot according to different conditions such as the working state and the position of each robot, and tracking and service are provided for a client corresponding to the client.
In this embodiment, the background server selects the target robot, and then after determining the target robot, the background server sends the user position information to the target robot.
In other embodiments, each robot selects whether to become the target robot, and after data interaction between the robots, a target robot is determined.
S103, planning a path to a target position according to the current position of the target robot; the target position is the current position of the client corresponding to the user position information;
and S104, controlling the target robot to move to the target position according to the planned path.
Specifically, the target robot can plan a path according to the current position of the target robot and a stored preset geomagnetic fingerprint map (the placing positions of furniture and public facilities in the map are available), avoid some obstacles at fixed positions, and then move to the target position according to the planned path.
The division of the path planning into the target robots is in charge of the robots, and the conditions that the robots and the like can meet activities in the moving process are considered, so that the robots and the like can be automatically analyzed and processed.
Optionally, the S104 controlling the target robot to move to the target position according to the planned path includes: in the process that the target robot moves to the target position, if the position distance between the target robot and the surrounding objects is smaller than the preset safety distance, controlling the target robot to adjust the running state of the target robot or send a corresponding prompt according to a preset scheme; and if the position distance between the robot and the surrounding object is not less than the preset safety distance, continuing to move according to the planned path.
Specifically, most of the existing navigation technologies acquire real-time navigation data through image recognition, laser ranging and an inertial sensor. The positions of the robots obtained by the navigation technologies are usually relative positions, and corresponding errors are accumulated continuously, so that when the position of the robot deviates, the system cannot accurately judge the position deviation of the robot, and the robot cannot be accurately prevented from colliding. Particularly, when the positions of the robots are deviated, if the robots are coordinated to work in the same scene, the robots are likely to collide with each other.
Based on the defects of the existing indoor navigation technology, auxiliary equipment such as Wi-Fi, bluetooth, RFID, UWB and the like is usually added for positioning the robot, so as to provide relatively accurate position calibration information for the robot, thereby ensuring accurate positioning of the robot. The above positioning methods all need to add additional accessories, which increases the corresponding cost, some techniques cannot realize positioning calibration with higher precision, and others can greatly increase the cost and construction cost.
In this embodiment, the earth magnetism belongs to the attribute of the earth itself, and the robot can acquire corresponding earth magnetism data at any point on the earth magnetism fingerprint map as long as the robot is provided with the earth magnetism sensor, so that extra cost cannot be increased due to extra equipment.
The precision can be controlled within a certain range (for example, 1m) through geomagnetic positioning, so that absolute position positioning can be effectively implemented indoors, and accurate position information of the robot can be obtained indoors, so that the problem that collision occurs among various robots, target robots and people due to position deviation or blind areas detected by sensors is avoided. The geomagnetic positioning accuracy problem is not the key point of the present invention, and is not described herein again.
The target robot can meet unpredictable moving objects such as people and moving robots in the moving process, and the target robot judges whether the position distance between the geomagnetic data and the current position geomagnetic data sent by other equipment (clients carried on the person or other robots) is smaller than a preset safety distance according to the geomagnetic data acquired by the target robot in real time and the received geomagnetic data of the current position of the target robot.
The preset safety distance is set according to actual use requirements, for example: 2 meters, 3 meters, etc. In the moving process, when the position distance is smaller than the preset safety distance, the collision event possibly occurs, so that the target robot can adjust the running state of the target robot according to a preset scheme or send a corresponding prompt.
The preset scheme may be various, for example: and controlling the target robot to stop operating, or back off, or replanning the path and operating according to the replanned path. The prompt may be a voice prompt, an action prompt, etc., such as: if people meet, the voice prompt of 'please give a lead' can be sent out, and the thank you can be done.
If the distance is not less than the preset safe distance, it indicates that no large collision occurs, and the target robot can continue to walk according to the planned path.
In the embodiment, the client can call the robot to serve the robot through self operation, the client does not need to walk beside the robot in person to identify the robot, the operation of the client is simplified, and the use experience is improved.
In another embodiment of the present invention, as shown in fig. 2, a robot summoning method includes:
s201, when receiving geomagnetic data of the current position of the client sent by the client according to a call instruction input by a user, converting the geomagnetic data into user position information according to a preset geomagnetic fingerprint map.
Optionally, the call instruction input by the user includes any one of the following: a user operates a physical calling device; the user triggers a calling module on the client.
S202, according to the user position information, selecting the robot meeting the preset target condition as the target robot comprises the following steps:
s212, in the preset selection area corresponding to the user position information, one robot in a standby state is selected as a target robot.
Specifically, furniture market can be divided into different areas, and different areas have corresponding robot to be responsible for, for example: and the robot is divided into A, B, C three areas, each area is responsible for 7 robots, and if the user confirms that the robot is in the A area according to the user position information, one robot in a standby state is selected as a target robot from the 7 robots A1-A7.
Different robots are distributed to manage different areas, so that the robots meeting preset target conditions can be quickly positioned and found, and the management efficiency is greatly improved.
Preferably, in the preset selection area corresponding to the user position information, the step S212 of selecting a robot in a standby state as a target robot specifically includes: and selecting a robot which is in a standby state and is closest to the target robot in a preset selection area corresponding to the user position information.
Specifically, when the target robot is selected, the distance from the client to the client is also taken into consideration recently, the selected target robot can spend the least time to reach the client at once, so that the resources of the robot are saved, and the use experience of the client is further improved.
S202, according to the user position information, selecting the robot meeting the preset target condition as the target robot further comprises: s222 randomly selects one robot as a target robot according to the user position information.
Specifically, one robot is randomly selected as a target robot according to the current position of each robot, so that the robot is free from too much constraint, and a suitable robot can be quickly found out, so that the target robot can catch up to the side of a customer, and the service is provided for the customer as soon as possible.
Preferably, in S222, according to the user position information, randomly selecting one robot as the target robot specifically includes: and randomly selecting one robot in a standby state as a target robot according to the position information of the user.
Specifically, the robot in the standby state means that the robot does not need a service from a customer and can arrange customers for the robot, so that randomly selecting the robot as a target robot can allocate the robot to the customer for the service as soon as possible.
S203, planning a path to a target position according to the current position of the target robot; the target position is the current position of the client corresponding to the user position information.
S204 controlling the target robot to move to the target position according to the planned path includes: s214, in the process that the target robot moves to the target position, if the position distance between the target robot and the surrounding objects is smaller than the preset safe distance, controlling the target robot to adjust the running state of the target robot according to a preset scheme or sending a corresponding prompt; and S224, if the position distance between the robot and the surrounding objects is not less than the preset safety distance, continuing to move according to the planned path.
Specifically, the different preset safety distances can be set in combination with the topographic feature attributes of each position coordinate point of the indoor place, for example: the position coordinate point is in a wider place, and the preset safety distance is set to be 3 m; the position coordinate point is in a narrow place, and the preset safety distance is set to be 2 m.
The corresponding preset safe distances of the coordinate points at the same position in all directions are different, for example: the preset safe distance of the position coordinate point towards the south is set to be 3m, and the preset safe distance of the position coordinate point towards the west is set to be 2 m. When the preset safety ranges corresponding to the coordinate points at the same position in all directions are different, the target robot acquires the geomagnetic information and the direction information of the current position, and determines the preset safety distance of the position information (namely the coordinate points and the current position) according to the acquired geomagnetic information and the direction information and by combining a preset geomagnetic fingerprint map, so as to judge whether the position distance between the target robot and the surrounding objects is smaller than the preset safety distance.
In other embodiments, the step S214, during the moving process of the target robot to the target position, if the position distance between the target robot and the surrounding object is less than the preset safe distance, the step of controlling the target robot to adjust the operation state of the target robot according to the preset scheme or sending a corresponding prompt includes:
and if the position distance between the target robot and the surrounding objects is less than the preset safety distance, controlling the target robot to continue to operate according to the planned path, and when the position distance between the target robot and the surrounding objects reaches the preset warning value, controlling the target robot to adjust the operating state of the target robot according to a preset scheme or sending a corresponding prompt. And when the position distance between the target robot and the surrounding objects does not reach a preset warning value, continuing to move according to the planned path.
Specifically, when the position distance is less than the preset safe distance, it indicates that the robot and the surrounding object may collide. In the embodiment, whether collision occurs or not is judged according to the position distance, mainly considering the collision situation between the target robot and the surrounding movable objects (such as people and other robots), the moving path of the movable objects is changed, and the possibility of collision between the target robot and the surrounding objects is very low along with the movement of the target robot and the surrounding movable objects.
In order to avoid influencing the normal operation of the target robot under the condition, the preset safe distance can be set to be larger, and the possibility of collision between the target robot and surrounding objects is reduced; on the basis, the robot can still continue to operate according to the planned path, the change of the position distance between the target robot and the surrounding objects is analyzed, and when the position distance between the target robot and the surrounding objects reaches a preset warning value (the preset warning value is smaller than a preset safety distance), the robot is controlled to stop operating or retreat or the path is planned again.
In order to avoid redundancy, the other parts that are the same as the above embodiments will not be described again, please refer to the above embodiments.
In the embodiment, the customer can input the calling instruction to call the robot in different modes, so that diversified use experience is provided for the customer; and different allocation modes are set according to actual demands to select the target robot, so that the intelligence of robot calling is improved, customers can be served more quickly, and the use experience of the robots is further improved.
FIG. 3 illustrates a robot summoning system embodiment of the present invention, comprising: a client 10 and a robot; the client 10 includes: and the data sending module 11 is configured to send geomagnetic data of the current location of the client according to a call instruction input by the user.
Specifically, a plane map of the place where the robot is located is established; the method comprises the steps of collecting geomagnetic fingerprint data of each position coordinate point in a plane map, generating a geomagnetic fingerprint map, and setting the geomagnetic fingerprint map as a preset geomagnetic fingerprint map. Collecting indoor geomagnetic fingerprint information; and superposing the geomagnetic fingerprint to each coordinate point of the indoor map so as to obtain geomagnetic fingerprint data of each coordinate point of the indoor map.
The method comprises the steps that a preset geomagnetic fingerprint map is stored in a background server, a client sends current geomagnetic data of the position where the client is located to the background server, and the background server determines a corresponding coordinate position in the preset geomagnetic fingerprint map according to the received geomagnetic data to obtain user position information.
The robot can also store a preset geomagnetic fingerprint map inside, and lays a foundation for subsequent path planning, obstacle avoidance and the like. Therefore, in other embodiments, the client may also send the geomagnetic data to each robot (one implementation manner, but not limited thereto: the client and each robot are in the same local area network to implement data interaction), and each robot determines a corresponding coordinate position in a preset geomagnetic fingerprint map according to the received geomagnetic data to obtain user position information.
Optionally, the call instruction input by the user includes any one of the following: a user operates a physical calling device; the user triggers a calling module on the client.
Specifically, the physical calling device may be a calling button, an infrared trigger, a touch display screen, or the like disposed in various places of a shopping mall, and the user may input a calling instruction by pressing the calling button, waving a hand in front of the infrared trigger, and clicking a calling option on the touch display screen.
The physical calling device and the client end are in communication connection, for example: and wireless communication methods such as bluetooth. When the customer operates the physical calling device, the customer is necessarily very close to the physical calling device, namely, the customer terminal is also very close to the physical calling device, so that the customer terminal and the physical calling device can communicate in a short-distance wireless communication mode. Of course, the communication may be performed by other communication methods, for example: after the physical calling device is operated, the physical calling device broadcasts and sends a calling instruction, and the received client automatically judges whether the calling instruction is triggered by the corresponding client, wherein the judgment conditions can be various, for example: and if the distance between the client and the operated physical calling device is within 1 meter, sending the geomagnetic data of the current position of the client, otherwise, not sending the geomagnetic data. The invention is not limited to the form and structure of the physical calling device and the implementation mode of triggering the client to send the geomagnetic data, as long as the corresponding client sends the geomagnetic data after the user operates the physical calling device.
The calling module on the client can be a physical button on the client, or can be a functional module on an APP which is different from the calling of the robot and is installed on the client. For example: when a user presses a volume + key on a client, the user considers that a call instruction is input, and the client needs to send out geomagnetic data of the current position of the client.
For another example: the client side is provided with the APP with the phase difference, occupies the calling option on the APP, considers that the user inputs the calling instruction, and sends the geomagnetic data of the current position of the client side.
The robot summoning system further comprises:
the data receiving module 20 is configured to receive geomagnetic data of a current location of the client sent by the client. The data conversion module 30 is configured to convert the geomagnetic data into user location information according to a preset geomagnetic fingerprint map.
And the robot selection module 40 is used for selecting the robot meeting the preset target conditions as the target robot according to the user position information.
Specifically, after the user position information is obtained through conversion, one robot can be selected as a target robot according to different conditions such as the working state and the position of each robot, and tracking and service are provided for a client corresponding to the client.
In this embodiment, the background server selects the target robot, and then after determining the target robot, the background server sends the user position information to the target robot. That is, the data receiving module 20, the data converting module 30, and the robot selecting module 40 may be provided in a background server.
In other embodiments, each robot can also select whether to become the target robot, and after data interaction between the robots, a target robot is determined. The data receiving module 20, the data converting module 30, and the robot selecting module 40 may be provided in each robot.
The robot summoning system further comprises:
a path planning module 50, configured to plan a path to the target position according to the current position of the target robot; the target position is the current position of the client corresponding to the user position information; and a motion control module 60 for controlling the target robot to move to the target position according to the planned path.
Specifically, the target robot can plan a path according to the current position of the target robot and a stored preset geomagnetic fingerprint map (the placing positions of furniture and public facilities in the map are available), avoid some obstacles at fixed positions, and then move to the target position according to the planned path.
The path planning module 50 may be disposed in a backend server, and the backend server performs path planning and then sends the path planning module to the target robot to move the target robot. However, considering that the target robot may encounter a moving person, a robot, etc. during the moving process, it is preferable that the path planning module 50 and the motion control module 60 are both disposed on the robot so that they can perform analysis and processing by themselves when encountering the situation.
Optionally, the motion control module 60 is configured to control the target robot to move to the target position according to the planned path, specifically:
the motion control module 60 is configured to, in the process that the target robot moves to the target position, control the target robot to adjust the operating state of the target robot according to a preset scheme or send a corresponding prompt if the position distance between the target robot and a surrounding object is smaller than a preset safe distance; and if the position distance between the robot and the surrounding object is not less than the preset safety distance, continuing to move according to the planned path.
Specifically, the earth magnetism belongs to the attribute of earth itself, and the robot can acquire corresponding earth magnetism data at any point on the earth magnetism fingerprint map as long as being provided with the earth magnetism sensor, so extra expense can not be increased because of extra increase equipment.
The precision can be controlled within a certain range (for example, 1m) through geomagnetic positioning, so that absolute position positioning can be effectively implemented indoors, and accurate position information of the robot can be obtained indoors, so that the problem that collision occurs among various robots, target robots and people due to position deviation or blind areas detected by sensors is avoided.
The target robot can meet unpredictable moving objects such as people and moving robots in the moving process, and the target robot judges whether the position distance between the geomagnetic data and the current position geomagnetic data sent by other equipment (clients carried on the person or other robots) is smaller than a preset safety distance according to the geomagnetic data acquired by the target robot in real time and the received geomagnetic data of the current position of the target robot.
The preset safety distance is set according to actual use requirements, for example: 2 meters, 3 meters, etc. In the moving process, when the position distance is smaller than the preset safety distance, the collision event possibly occurs, so that the target robot can adjust the running state of the target robot according to a preset scheme or send a corresponding prompt.
The preset scheme may be various, for example: and controlling the target robot to stop operating, or back off, or replanning the path and operating according to the replanned path. The prompt may be a voice prompt, an action prompt, etc., such as: if people meet, the voice prompt of 'please give a lead' can be sent out, and the thank you can be done.
If the distance is not less than the preset safe distance, it indicates that no large collision occurs, and the target robot can continue to walk according to the planned path.
In the embodiment, the user can call the robot to serve the robot through self operation, and the user does not need to walk beside the robot in person to identify the robot, so that the operation of the user is simplified, and the use experience is improved.
In another system embodiment of the present invention, a robot summoning system comprises: a client 10 and a robot; the client 10 includes: and the data sending module 11 is configured to send geomagnetic data of the current location of the client according to a call instruction input by the user.
Optionally, the call instruction input by the user includes any one of the following: a user operates a physical calling device; the user triggers a calling module on the client.
The robot summoning system further comprises:
a data receiving module 20, configured to receive geomagnetic data of a current location of the client sent by the client; the data conversion module 30 is configured to convert the geomagnetic data into user location information according to a preset geomagnetic fingerprint map.
The robot selecting module 40 is configured to select, according to the user position information, a robot that meets a preset target condition as a target robot, and includes:
and the robot selection module 40 is used for selecting one robot in a standby state as a target robot in a preset selection area corresponding to the user position information.
Specifically, furniture market can be divided into different areas, and different areas have corresponding robot to be responsible for, for example: and the robot is divided into A, B, C three areas, each area is responsible for 7 robots, and if the user confirms that the robot is in the A area according to the user position information, one robot in a standby state is selected as a target robot from the 7 robots A1-A7.
Different robots are distributed to manage different areas, so that the robots meeting preset target conditions can be quickly positioned and found, and the management efficiency is greatly improved.
Preferably, the robot selecting module 40 is configured to select a robot in a standby state and closest to the target robot in a preset selection area corresponding to the user position information.
Specifically, when the target robot is selected, the distance from the client to the client is also taken into consideration recently, the selected target robot can spend the least time to reach the client at once, so that the resources of the robot are saved, and the use experience of the client is further improved.
The robot selecting module 40 is configured to select, according to the user position information, a robot that meets a preset target condition as a target robot, and further includes:
and the robot selection module 40 is used for randomly selecting one robot as a target robot according to the user position information.
Specifically, one robot is randomly selected as a target robot according to the current position of each robot, so that the robot is free from too much constraint, and a suitable robot can be quickly found out, so that the target robot can catch up to the side of a customer, and the service is provided for the customer as soon as possible.
Preferably, the robot selecting module 40 is configured to randomly select a robot in a standby state as the target robot according to the user position information.
Specifically, the robot in the standby state means that the robot does not need a service from a customer and can arrange customers for the robot, so that randomly selecting the robot as a target robot can allocate the robot to the customer for the service as soon as possible.
A path planning module 50, configured to plan a path to the target position according to the current position of the target robot; the target position is the current position of the client corresponding to the user position information. And a motion control module 60 for controlling the target robot to move to the target position according to the planned path.
A motion control module 60 for controlling the target robot to move to the target position according to the planned path includes:
the motion control module 60 is configured to, in the process that the target robot moves to the target position, control the target robot to adjust the operating state of the target robot according to a preset scheme or send a corresponding prompt if the position distance between the target robot and a surrounding object is smaller than a preset safe distance; and if the position distance between the robot and the surrounding object is not less than the preset safety distance, continuing to move according to the planned path.
Specifically, the different preset safety distances can be set in combination with the topographic feature attributes of each position coordinate point of the indoor place, for example: the position coordinate point is in a wider place, and the preset safety distance is set to be 3 m; the position coordinate point is in a narrow place, and the preset safety distance is set to be 2 m.
The corresponding preset safe distances of the coordinate points at the same position in all directions are different, for example: the preset safe distance of the position coordinate point towards the south is set to be 3m, and the preset safe distance of the position coordinate point towards the west is set to be 2 m. When the preset safety ranges corresponding to the coordinate points at the same position in all directions are different, the target robot acquires the geomagnetic information and the direction information of the current position, and determines the preset safety distance of the position information (namely the coordinate points and the current position) according to the acquired geomagnetic information and the direction information and by combining a preset geomagnetic fingerprint map, so as to judge whether the position distance between the target robot and the surrounding objects is smaller than the preset safety distance.
In other embodiments, the motion control module 60, configured to control the target robot to adjust the operation state of the target robot or issue a corresponding prompt according to a preset scheme if the position distance to the surrounding object is less than the preset safe distance during the process that the target robot moves to the target position, includes:
and the motion control module 60 is configured to control the target robot to continue to operate according to the planned path if the position distance between the target robot and the surrounding objects is smaller than the preset safe distance, and when the position distance between the target robot and the surrounding objects reaches the preset warning value, control the target robot to adjust the operating state of the target robot according to the preset scheme or send a corresponding prompt. And when the position distance between the target robot and the surrounding objects does not reach a preset warning value, continuing to move according to the planned path.
Specifically, when the position distance is less than the preset safe distance, it indicates that the robot and the surrounding object may collide. In the embodiment, whether collision occurs or not is judged according to the position distance, mainly considering the collision situation between the target robot and the surrounding movable objects (such as people and other robots), the moving path of the movable objects is changed, and the possibility of collision between the target robot and the surrounding objects is very low along with the movement of the target robot and the surrounding movable objects.
In order to avoid influencing the normal operation of the target robot under the condition, the preset safe distance can be set to be larger, and the possibility of collision between the target robot and surrounding objects is reduced; on the basis, the robot can still continue to operate according to the planned path, the change of the position distance between the target robot and the surrounding objects is analyzed, and when the position distance between the target robot and the surrounding objects reaches a preset warning value (the preset warning value is smaller than a preset safety distance), the robot is controlled to stop operating or retreat or the path is planned again.
To avoid redundancy, the other parts that are the same as the system embodiments described above will not be described again, please refer to the system embodiments described above.
In the embodiment, the customer can input the calling instruction to call the robot in different modes, so that diversified use experience is provided for the customer; and different allocation modes are set according to actual demands to select the target robot, so that the intelligence of robot calling is improved, customers can be served more quickly, and the use experience of the robots is further improved.
Fig. 4 shows an embodiment of a robot 70 of the invention, comprising: a path planning module 50, configured to plan a path to the target position according to the current position when the target robot is selected; the target position is the current position of the client corresponding to the received user position information; and the motion control module 60 is electrically connected with the path planning module 50 and used for moving to the target position according to the planned path.
Specifically, when the robot is selected as the target robot, the robot can perform path planning according to the received user position information, move to the target position, automatically handle the situation of encountering an obstacle in the moving process, timely arrive at the customer, respond to the call of the customer, and provide service for the customer.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (10)
1. A robot summoning method, comprising:
when receiving geomagnetic data of a current position of a client, which is sent by the client according to a call instruction input by a user, converting the geomagnetic data into user position information according to a preset geomagnetic fingerprint map;
selecting a robot meeting preset target conditions as a target robot according to the user position information;
planning a path to a target position according to the current position of the target robot; the target position is the current position of the client corresponding to the user position information;
and controlling the target robot to move to the target position according to the planned path.
2. A robotic call method as claimed in claim 1, wherein the user-entered call instruction includes any one of:
a user operates a physical calling device;
the user triggers a calling module on the client.
3. A robot summoning method according to claim 1, wherein said selecting a robot meeting a preset target condition as a target robot based on user position information includes:
and selecting one robot in a standby state as the target robot in a preset selection area corresponding to the user position information.
4. A robot summoning method according to claim 4, wherein the selecting a robot in a standby state as the target robot in a preset selection area corresponding to the user position information specifically comprises:
and selecting a robot which is in a standby state and is closest to the target robot in a preset selection area corresponding to the user position information.
5. A robot summoning method according to any one of claims 1-4, wherein said selecting a robot meeting a preset target condition as a target robot based on user position information further comprises:
and randomly selecting one robot as a target robot according to the position information of the user.
6. A robot summoning method according to any one of claims 1-4, wherein said controlling the target robot to move to the target position according to a planned path includes:
and in the process that the target robot moves to the target position, if the position distance between the target robot and the surrounding objects is less than a preset safety distance, controlling the target robot to adjust the running state of the target robot or send a corresponding prompt according to a preset scheme.
7. A robotic call system, comprising: a client and a robot; the client comprises: the data sending module is used for sending the geomagnetic data of the current position of the client according to a calling instruction input by a user;
the robot summoning system further comprises:
the data receiving module is used for receiving geomagnetic data of the current position of the client sent by the client;
the data conversion module is used for converting the geomagnetic data into user position information according to a preset geomagnetic fingerprint map;
the robot selection module is used for selecting a robot which meets preset target conditions as a target robot according to the user position information;
the path planning module is used for planning a path reaching a target position according to the current position of the target robot; the target position is the current position of the client corresponding to the user position information;
and the motion control module is used for controlling the target robot to move to the target position according to the planned path.
8. A robot summoning system according to claim 7, wherein the robot selecting module, for selecting a robot meeting a preset target condition as a target robot according to the user position information, comprises:
and the robot selection module is used for selecting one robot in a standby state as the target robot in a preset selection area corresponding to the user position information.
9. A robot summoning system according to claim 7, wherein the motion control module, for controlling the target robot to move to the target location according to a planned path, comprises:
and the motion control module is used for controlling the target robot to adjust the running state of the target robot or send a corresponding prompt according to a preset scheme if the position distance between the target robot and the surrounding objects is less than a preset safe distance in the process that the target robot moves to the target position.
10. A robot applied to the robot summoning method according to any one of claims 1 to 6, characterized by comprising:
the path planning module is used for planning a path reaching the target position according to the current position when the target robot is selected; the target position is the current position of the client corresponding to the received user position information;
and the motion control module is used for moving to the target position according to the planned path.
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| CN201811110760.2A CN110941260A (en) | 2018-09-21 | 2018-09-21 | Robot calling method and system and robot |
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| CN201811110760.2A CN110941260A (en) | 2018-09-21 | 2018-09-21 | Robot calling method and system and robot |
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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 |
| CN112415991A (en) * | 2020-11-30 | 2021-02-26 | Oppo广东移动通信有限公司 | Control method and device, and storage medium |
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