CN109976325A - Method, device and equipment for managing articles by robot - Google Patents
Method, device and equipment for managing articles by robot Download PDFInfo
- Publication number
- CN109976325A CN109976325A CN201711449368.6A CN201711449368A CN109976325A CN 109976325 A CN109976325 A CN 109976325A CN 201711449368 A CN201711449368 A CN 201711449368A CN 109976325 A CN109976325 A CN 109976325A
- Authority
- CN
- China
- Prior art keywords
- information
- article
- rfid tag
- radio frequency
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 58
- 238000003860 storage Methods 0.000 claims abstract description 46
- 230000008569 process Effects 0.000 claims abstract description 18
- 238000004590 computer program Methods 0.000 claims description 20
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 description 13
- 238000012545 processing Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 235000013361 beverage Nutrition 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000002699 waste material Substances 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000006399 behavior Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000013011 mating Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 235000014121 butter Nutrition 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000004851 dishwashing Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 239000002453 shampoo Substances 0.000 description 2
- 239000000344 soap Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000008429 bread Nutrition 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 235000013351 cheese Nutrition 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 235000015205 orange juice Nutrition 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
Abstract
The invention is applicable to the technical field of robots, and provides a method, a device, equipment and a computer readable storage medium for managing articles by a robot, wherein the method comprises the following steps: in the tour process in the closed space, constructing a space map of the closed space, and respectively acquiring radio frequency identification information stored by each radio frequency identification tag arranged in the closed space, wherein the radio frequency identification information comprises position information and/or article information; determining the position information corresponding to the article searched by the user based on the article searching information input by the user and the article information in the radio frequency identification information acquired in the tour process; and determining a walking path from the current position to the position of the article searched by the user according to the space map, the current position of the robot and the position information corresponding to the article, and outputting the walking path. The invention realizes the automation of article management and improves the efficiency and precision of managing and searching articles.
Description
Technical field
The invention belongs to robotic technology field more particularly to the method, apparatus of robot management article, equipment and calculating
Machine readable storage medium storing program for executing.
Background technique
It is some to display the entity for having large numbers of items, such as large supermarket with the rising of national purchasing power and traffic convenience
Etc. more and more, and wherein, the type and quantity comprising article are also all the more abundant, greatly facilitate daily life.Citing comes
It says, the operating mode of large supermarket is article first to be transported to supermarket by source of goods side, then classified by the administrator of supermarket
And it is manually recorded, article is finally selected by user, is bought.
Problem is, in this kind of entity such as supermarket, when user selects article or Admin Administration's article, due to user
Or administrator may display situation to the article in supermarket and be not familiar with, oneself need can be found by leading to longer time to be spent
The article wanted.Existing solution is that map is arranged in supermarket, and user or administrator first determine article before finding article
Type, such as bath articles find corresponding article region on map further according to the type of article.But this method management and
The low efficiency of article is searched, error rate is high, and precision is low, can only obtain a rough regional scope.
Summary of the invention
In view of this, the embodiment of the invention provides the method, apparatus of robot management article, equipment and computer-readable
Storage medium, to solve to search in the prior art and the low efficiency of management article, labor intensive is at high cost, searches that precision is low asks
Topic.
The first aspect of the embodiment of the present invention provides a kind of method of robot management article, comprising:
During cruising in the enclosed space, the space map of the enclosure space is constructed, and obtains be placed in respectively
The information in radio frequency that each RFID tag in the enclosure space is stored, the information in radio frequency include described
The Item Information of article corresponding to the location information of RFID tag and/or the RFID tag；
In the search information of article based on user's input and the information in radio frequency obtained in the process of cruising
The Item Information, determine user search the corresponding location information of article；
According to the space map, the current location of robot and the corresponding location information of the article, institute is determined
The walking path of the position for the article that current location is searched for user is stated, and exports the walking path.
The second aspect of the embodiment of the present invention provides a kind of device of robot management article, comprising:
It cruises unit, for during cruising in the enclosed space, constructing the space map of the enclosure space, and point
The information in radio frequency that each RFID tag that Huo Qu be placed in the enclosure space is stored, the radio frequency identification
Information includes the article letter of article corresponding to the location information and/or the RFID tag of the RFID tag
Breath；
Determination unit, the search information of the article for being inputted based on user and described cruise are penetrated described in acquisition in the process
The Item Information in frequency identification information determines the corresponding location information of article of user's search；
Output unit, for according to the current location of the space map, robot and the corresponding institute's rheme of the article
Confidence breath, determines the walking path of the position for the article that the current location is searched for user, and exports the walking road
Diameter.
The third aspect of the embodiment of the present invention provides a kind of equipment of robot management article, including memory, processing
Device and storage in the memory and the computer program that can run on the processor, described in the processor execution
The step of method of robot management article as described above is realized when computer program.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, which is characterized in that the computer program realizes machine as described above when being executed by processor
The step of method of people's management article.
Existing beneficial effect is the embodiment of the present invention compared with prior art: the embodiment of the present invention is being sealed by robot
It closes space to cruise, to construct space map, during cruising while obtaining each RFID tag in enclosure space
The information in radio frequency of storage, information in radio frequency include the location information and/or position letter where affiliated RFID tag
The Item Information of article in ceasing, after cruising, according to the search information of the article of user's input to acquired Item Information
It scans for, the corresponding location information of user's article to be searched for is determined, finally according to the current location of space map, robot
Location information corresponding with user's article to be searched for determines the walking path of article to be searched for from current location to user, and defeated
Walking path out realizes the automation of Item Management, improves management and searches the efficiency and precision of article.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the implementation flow chart of the method for the robot management article that the embodiment of the present invention one provides；
Fig. 2 is the implementation flow chart of the method for robot management article provided by Embodiment 2 of the present invention；
Fig. 3 is the structural block diagram of the device for the robot management article that the embodiment of the present invention three provides；
Fig. 4 is the schematic diagram of the equipment for the robot management article that the embodiment of the present invention four provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Fig. 1 shows the implementation process of the method for the robot management article of the offer of the embodiment of the present invention one, and details are as follows:
In S101, during cruising in the enclosed space, the space map of the enclosure space is constructed, and obtain respectively
The information in radio frequency for taking each RFID tag being placed in the enclosure space to be stored, the information in radio frequency
The Item Information of article corresponding to location information and/or the RFID tag including the RFID tag.
Before carrying out Item Management, robot needs to know the space map inside entity space.Concrete mode can be with
It is that robot receives the path of operator and cruises instruction, wherein cruising in instruction in path, operator has planned robot
Specific Running strategy all is related to the place of article with guarantee that robot can traverse in enclosure space.Next, machine
Device people executes the path and cruises instruction, is patrolled in the enclosed space enough using the ground-engaging element of robot, such as crawler belt, class people
Trip.During cruising, robot records path of cruising in real time, and after cruising, robot is to all path integration meters of cruising
It calculates, the space map of enclosure space is constructed, to eliminate the process that operator models space map manually.Operator only needs
It writes corresponding path to cruise instruction, instruction robot walks in the enclosed space, can establish space map automatically.To patrolling
The process for swimming path progress conformity calculation can be carried out in robot interior by the processor of robot.In practical applications,
Enclosure space is often the indoor scene with wireless WIFI communication system such as supermarket, therefore in embodiments of the present invention, it is preferable that
When robot is cruised, the path that will cruise in real time passes through WIFI communications to background information system, by background information system
System carries out integration processing to all paths of cruising, and the space map that building is completed is passed through WIFI communications again and returns machine
Space map is showed user convenient for robot, treatment effeciency can be improved, and reduces the computation burden of robot by people.
Optionally, sensor module is set in robot, through detection robot at a distance from barrier, prevents machine
People collides during cruising.Since there may be unknown obstacle situations in enclosure space, as there is more hand in supermarket
Push bracket, container, and People are hurrying to and fro often, operator is difficult to predict these unknown situations when path is cruised and instructed in initial write,
Cause robot when record cruises path, it is likely that can collide with barrier.It can be added in robot as a result, multiple
Sensor, and formulate corresponding detection Hedging mechanism.When robot is cruised, the data that sensor returns are obtained, thus
Detect multiple distances of the robot away from all directions barrier, when some distance be less than preset minimum range, may cause machine
When device people crashes, wait robot original place, situation fed back into operator, or according to get it is multiple away from
From numerical value, by detecting the judgement of Hedging mechanism, automatic adaptation adjustment is made to the track route of robot, wherein sensor
It can be infrared sensor or ultrasonic sensor etc..By the above method, can hoisting machine people record cruise path with
And safety when walking.
In robot during cruising, by radio frequency identification (Radio Frequency Identification,
RFID) technology obtains the information in radio frequency in enclosure space.Radio Frequency Identification Technology, also known as radio frequency identification are a kind of logical
Letter technology can be identified specific objective by radio signal and read and write related data, without identify main body and specific objective it
Between establish mechanical or optical contact.Specifically, radio frequency identification card reader is installed in robot, obtains the radio frequency in communication range
Identification signal.It is corresponding with radio frequency identification card reader, it is RFID tag, is stored with data, and radio frequency identification can be emitted
The data of storage are transmitted to radio frequency identification card reader by signal.After radio frequency identification card reader receives radio frequency identification signal, it can will penetrate
Frequency identification signal is converted to digital signal, and using the Digital Signal Processing of radio frequency identification card reader, it is whole to carry out necessary processing
After shape, the information in radio frequency in RFID tag finally can be therefrom extracted.In operation, it is first put everywhere in enclosure space
RFID tag is set, in this way in robot during cruising, so that it may be deposited to RFID tag by radio frequency identification card reader
The information in radio frequency of storage is read out.
Optionally, the location information of the RFID tag stored in each RFID tag is obtained respectively
With the Item Information of article corresponding to the RFID tag.In conjunction with actual application scenarios, such as in supermarket, often
Of a sort article is sorted out, therefore when placing RFID tag, RFID tag can be placed under each taxonomy of goods,
The information in radio frequency of RFID tag storage is that the location information of the RFID tag adds the corresponding article of the label
Information.The mode of location information in initially set RFID tag can be, using the certain point of enclosure space as original
Point establishes horizontal axis vertical pivot, thus with the specific coordinate points of RFID tag as location information, as comprising location information
Information in radio frequency is " (12,13)-shampoo ", " (15,16)-dish washing liquid ".More, after robot cruises and finishes,
The space map that building can be combined to complete location information, is further optimized, is such as optimized for " first row first row-wash
Shampoo ", " second row secondary series-dish washing liquid ", compared to the recording mode of coordinate points, such mode is more bonded reality, also just
In the location information for returning to more convenient understanding when subsequent user searches for article.In addition, the article letter that information in radio frequency includes
Breath can also include such as item pictures, the more contents of article introduction other than the title in example.Information in radio frequency
Specific storage mode is not limited to this example, as long as the radio frequency identification card reader of robot can be read in place from information in radio frequency
Confidence breath and Item Information, then corresponding storage mode is intended to be included in the embodiment of the present invention.Pass through the above method, specification
The information content of RFID tag and information in radio frequency, reduces resource waste, and improves robot and obtains closing
The efficiency of the location information in space and corresponding Item Information.Wherein, radio frequency identification card reader has Anti-knocking characteristic, is able to solve
When there are two above RFID tags to send data bring communication contention aware and data phase to radio frequency identification card reader simultaneously
Mutual interference problem enables radio frequency identification card reader to identify multiple labels simultaneously, more suitable for existing simultaneously in enclosure space
The scene of a RFID tag.
Optionally, corresponding with reading process, the information in radio frequency of RFID tag storage is written.One
The position of a little enclosure space such as supermarkets etc., storage article is not unalterable, and will appear type of goods update often, goods
Frame movement etc. changes, then corresponding, the information in radio frequency for the RFID tag storage placed under taxonomy of goods is also required to
It is updated.If needing operator first to find the RFID tag for needing to update, then to the radio frequency using artificial regeneration
Identification label carries out re-writing operation, undoubtedly wastes many times.Therefore in embodiments of the present invention, it is carried using robot
Radio frequency identification card reader carry out write operation, move specifically issued by operator allow the robot to be moved to and need to carry out
Near the RFID tag of update, due in the radiofrequency field of radio frequency identification card reader there may be multiple RFID tags,
So it is to be updated to need the number information distributed by tag identifier or in advance to find out from multiple RFID tags
RFID tag, after the completion of lookup, robot sending carries the radio frequency identification signal of information in radio frequency after update, to this
RFID tag is written.By the above method, not only can occur needing to be updated information in radio frequency
When situation, instruction robot is written, and reduces human cost；It can also be initially to radio frequency identification a large amount of in enclosure space
When label is written, the radio frequency identification card reader carried using robot, the write-in of Dong Taiing, realizes write-in while cruising
Mass, automation.
In S102, the search information of the article based on user's input and the radio frequency obtained in the process of cruising are known
The Item Information in other information determines the corresponding location information of article of user's search.
Radio-frequency identification reader/writer is opened during cruising by robot, receives the RFID tag inside supermarket and sends
Radio frequency identification signal out, so that information in radio frequency is obtained, in this way after cruising, all radio frequency identification markings inside supermarket
The information in radio frequency of label storage, which also obtains, to be finished.When robot gets information in radio frequency, machine can be stored it in
Memory space inside people, can also be by the wireless WIFI communication system inside supermarket, after information in radio frequency is uploaded to
Station information system is stored in background information system, improves scalability, reduces the storage burden of robot.Wherein, backstage
Information in radio frequency can be stored in database by information system, can also store it in cloud storage space, to improve storage
Efficiency mitigates storage pressure, and more, database can extend to database purchase cluster, to adapt to the knowledge of actual scene radio frequency
The more huge situation of other information data.
Complete the preparation of early period in robot, i.e., after building space map and acquisition information in radio frequency, user
The article of oneself demand can be found by robot.Concrete mode can be that user provides according to robot display screen
Taxonomy of goods option finds the taxonomy of goods of oneself demand and is clicked, or user is manually entered oneself demand
Article etc..After information is searched in the input mode input that user is provided by robot, robot receives the search information, and in machine
It is scanned for inside device people or in the memory space of background information system, obtains Item Information relevant to search information, and
Can by Item Information robot display screen display, to facilitate user to judge whether the Item Information belongs to self-demand
Article.Since robot is when identifying RFID tag and obtaining information in radio frequency, the location information and article of the position
Information has relevance, so can find corresponding location information accordingly, and can believe position after getting Item Information
Breath shows user.In addition, it is contemplated that user may know the destination of oneself, merely by robot to the feelings navigated
Condition, robot can also directly receive the location information of user's input, save above-mentioned search operation.The above process can be in robot
Inside is completed, and the search information of the article of user's input is also transmitted to background information system, is being stored by background information system
Lookup processing is carried out in space.
Optionally, voice messaging from the user is acquired；Text is converted by the voice messaging, is believed as described search
Breath.Above-mentioned user inputs the mode of search information, and there is shortcomings, such as user itself may be not aware that oneself is needed
Which kind of taxonomy of goods the article asked belongs to, if taking the mode being manually entered, can waste the more time, and be not suitable for
The crowds such as old man, child, so in embodiments of the present invention, robot can acquire voice messaging from the user, and by voice
Information is converted into text information, and specifically speech recognition decoder can be built in robot, executed by speech recognition decoder
Identify transformation.In subsequent searches, believe using text information or the keyword extracted from text information as search
Breath.Optionally, after robot collects voice messaging from the user, by transmission of speech information to background information system, by
Voice messaging is converted text information by the speech recognition program of background information system intialization, and by text information or text envelope
Some keyword in breath is as search information, the subsequent search engine server started in background information system, to search for letter
It is scanned in database or cloud storage space based on breath, improves the applicability to different crowd.
In S103, believed according to the space map, the current location of robot and the corresponding position of the article
Breath, determines the walking path of the position for the article that the current location is searched for user, and exports the walking path.
After getting location information, robot is according to the space map by building of cruising, further according to working as robot
Front position, calculate robot to user demand article most short walking path, export and return to the walking path to user.
Wherein, the current location of robot is judged according to the actual situation, for example, robot is stationary machines people, then can be tied
The space map of building is closed, operator pre-sets the current location of robot；If robot walks in the enclosed space,
That is the position of robot be it is uncertain, then need to calculate the current location of robot according to RFID tag.
Specifically, three standoff distances of calculating robot and three RFID tags are added and are known from three radio frequencies
Three positional information calculations got in distinguishing label go out the current location of robot.It is counted in the current location to robot
When calculation, if robot calculate based on RFID tag it is very few, be difficult to obtain precisely as a result, if robot calculates base
In RFID tag it is excessive, it will cause unnecessary computing resource waste, the processing times of Tuo Man robot.By reality
After testing, the embodiment of the present invention calculates three standoff distances of robot with three RFID tags recognized first, by
Location information where being stored with the label in RFID tag, so robot can be according to three standoff distances and three
Three location informations of RFID tag storage uniquely determine out the current location of itself by three-point fox method.It is specific real
Existing principle is as follows, and radio frequency identification signal is radiated in unifonn spherical in all directions after the transmitting of the antenna of RFID tag,
In transmission process, radio frequency identification signal can be with the increase of transmission range, and loss of signal degree is also higher, such as super in actual scene
In city, the transmission loss model of radio frequency identification signal in the scene can be calculated by mass data.So implementing in the present invention
In example, robot can be according to transmission loss model, to calculate the radio-frequency identification reader/writer of robot interior to radio frequency identification
The standoff distance of label is calculated, the current location of available robot with three RFID tags.Transmission loss model
It is suitble to most situations, but when calculating current location, it is possible that the error in tolerance interval, such as obtain
Current location is in some shelf of supermarket, and actually robot walks on the ground, is not likely located at the position.So
After obtaining current location, makes and further calculating in combination with cartographic information, it is immediate a certain that real time position is moved to its
On paths, also facilitate the calculating for carrying out subsequent walking path.After obtaining the current location of robot, in combination with before robot
By the space map for building of cruising, intuitively current location is showed on the map of space with point, it specifically can be by aobvious
Display screen is shown, is facilitated user to know the position laid oneself open to, is improved real-time.
Optionally, robot can also be achieved guiding function, and after user issues robot and guides instruction, robot is utilized
The ground-engaging element of itself, advances according to walking path, during traveling, calculates current location in real time, and update walking
Path prevents user from forgetting walking path, improves the hommization that article is searched by robot.Wherein, guide instruction can be with
Robot display screen is clicked by user to generate, and speech production can also be issued by user, other can make robot know that guide refers to
The mode of order, should also be included in the embodiment of the present invention.
Optionally it is determined that being greater than the article of preset threshold with the degree of correlation of the Item Information of the article of user's search；
The information for the article determined is exported.When creating Item Information, operator can will article chain relevant to the Item Information
It connects and is written in the Item Information, and write the different degrees of correlation according to degree of correlation, such as the degree of correlation of " perfumed soap " and " soap "
Height, and the degree of correlation of " dumpling " are lower.Robot also obtains corresponding object when obtaining the Item Information in information in radio frequency
Product link and the degree of correlation.Search information is inputted in user, after robot determines the Item Information of user demand, searches article letter
Threshold value can be set in actual items to screen out relatively low other of the degree of correlation in breath and the degrees of correlation of other Item Information
Item Information.After the completion of screening, obtains linking with the higher article of the Item Information degree of correlation of user demand, be linked by article
Relative article information is found, and relative article information is exported.More, in this kind of actual scene of supermarket, if there is rush
The article of Promotional Items can then be linked and is written in similar article by pin activity, for example " xx board beverage " is promoting, then by it
The article link of article is written in the Item Information of the beverage items such as similar cola, orange juice, and creates higher degree of relation, this
Sample user is easier to see the Item Information and sales promotion information of " xx board beverage ", supermarket is facilitated to cater to use when searching for beverage
The demand at family improves the effective percentage of push.In addition, the search information for the user that robot can also will acquire is uploaded to big data
Platform, big data platform carry out big data analysis calculating after the search information for receiving multiple users, input later in new user
When searching for information, big data platform can analyze the search intention of user and be likely to occur subsequent according to the search information
Search behavior, and the user will be recommended to relevant Item Information, with increasing for the data volume for analysis, the knot of analysis
Fruit is just more accurate.The above method can increase the applicability to user's search behavior, so that user is not knowing self-demand article
Name when, can the word on association to article upper layer or lower layer scan for, being found by the Item Information recommendation of robot needs
The article asked, extend search behavior as a result, improve the applicability of user's search.
By embodiment illustrated in fig. 1 it is found that in embodiments of the present invention, being patrolled in the enclosed space by robot
Trip is obtained during cruising and is placed in penetrating for each RFID tag storage in enclosure space to construct space map
Frequency identification information, wherein information in radio frequency includes that the location information in the place corresponds to the Item Information of article with the place, is patrolled
After trip, robot obtains the search information of user, is searched in stored Item Information, determines that user is intended to search
The corresponding location information of the article of rope, and walking road is generated according to space map, the current location of robot and the location information
Diameter, and walking path is exported to user, automation and the mass of Item Management are realized, management is improved and searches article
Efficiency and precision, save cost of labor.
It is on the basis of the embodiment of the present invention one, in active RFID tag and passive radio frequency identification mark shown in Fig. 2
Label cooperation is placed, and is stored under the scene of different radio frequency identification information, the step refined to the method for robot management article
Suddenly.The implementation flow chart of the method for robot management article provided in an embodiment of the present invention, as shown, this method may include
Following steps:
In S201, the location information stored in first RFID tag is obtained.
In actual scene such as supermarket, since the article on shelf often updates replacement, if known using single radio frequency
Distinguishing label is stored with the format of " location information+Item Information ", then when Item Information in the position changes, is needed pair
All the elements of the RFID tag are written over, and cause information update difficult.On the other hand, to pass through information in radio frequency
The real time position of calculating robot, needing RFID tag belonging to information in radio frequency is active RFID tag, this
It is to be convenient for location Calculation since the identification distance of active RFID tag is longer.On this basis, the article of supermarket usually compared with
More, if recording Item Information using multiple active RFID tags, the cost of consuming is excessively high；If multiple articles believed
Breath and the mating single active RFID tag of deposit of a location information, then the precision of later period search is lower, and leads a hair
And dynamic whole body, inconvenience change.Also, it if location information and Item Information deposit single radio frequency are identified label, is actually answering
In, robot needs do further strip operation to the information in radio frequency of the RFID tag received, separate
Open Item Information and location information, required with meeting the lookup article of user or searching position etc., actual operability compared with
It is low.
Therefore in embodiments of the present invention, active RFID tag and passive radio-frequency identification labeled combined mode are taken,
Wherein corresponding first RFID tag of active RFID tag, passive radio-frequency identification labeled the second radio frequency identification marking of correspondence
Label, the two store different types of information respectively.Passive radio-frequency identification labeled inside is made of antenna and chip, is penetrated when it enters
After the radiofrequency field that frequency identification card reader generates, antenna receives electromagnetic wave and generates energy, thus by the data in chip by penetrating
Frequency identification signal transfers out, and in embodiments of the present invention, belongs to passive radio-frequency identification labeled the second RFID tag peace
Shelf loaded on supermarket, for saving the Item Information of certain article, such as " certain brand toothbrush ", " certain brand bread ", according to tool
The requirement of body project, Item Information may also include picture and introduction etc..And active RFID tag, in passive radio frequency identification mark
It further include battery on the basis of label, therefore it does not need radio frequency identification card reader and provides energy to start, but can actively emit radio frequency
Identification signal, ratio it is passive radio-frequency identification labeled, can support to identify more at a distance, in embodiments of the present invention, belonging to has
First RFID tag of source RFID tag is installed on the ground of enclosure space, is used for record position information.Initial
The mode for the location information being arranged in the first RFID tag can be, using the certain point of enclosure space as origin, to establish
Horizontal axis vertical pivot, to can be as location information, such as location information with the specific coordinate points of the first RFID tag
" (12,13) ", " (15,16) ".More, it can be further optimized, such as be optimized in conjunction with the shelf presence position of supermarket
" first row first row ", " second row secondary series ", compared to the recording mode of coordinate points, such mode is more bonded reality,
Convenient for returning to the more convenient location information understood when subsequent user searches for article.Portion pre-sets in the enclosed space
After one RFID tag and the second RFID tag and storage finish corresponding informance, robot passes through radio frequency identification card reader
Obtain the location information of the first RFID tag storage.
In S202, identification is located at second radio frequency identification marking of the same area with first RFID tag
Label, it is associated positioned at first RFID tag of the same area and the tag identifier of second RFID tag.
When robot obtains the location information of the first RFID tag storage by radio frequency identification card reader, get
The tag identifier of first RFID tag, wherein tag identifier is generated when RFID tag dispatches from the factory, and is that each is penetrated
What frequency identification tag all uniquely had, it can be used for distinguishing different RFID tags.Getting the first RFID tag
Tag identifier after, robot according to the pre-set rule of correspondence, such as " tag identifier be 100 the first radio frequency identification marking
Label corresponding label is identified as 110 to 150 the second RFID tag ", the second RFID tag recognized is sieved
Choosing, to determine that the Item Information of second RFID tag storage belongs to the location information of the first RFID tag storage
In position range.After the shelf shift position or article of enclosure space such as supermarket change pendulum position, the rule of correspondence is repaired
Change, prevents robot from doing the identification to make mistake according to the rule of correspondence not updated.If the rule of correspondence being not previously set,
The signal strength of radio frequency identification signal is received to be judged according to robot, if the second RFID tag and first is penetrated
The signal strength for the radio frequency identification signal that frequency identification tag is launched is identical or difference is in tolerance interval, it is determined that should
The Item Information of second RFID tag storage belongs in the position range of the location information of the first RFID tag storage,
And the tag identifier of the tag identifier of second RFID tag and the first RFID tag is established into the rule of correspondence.Its
In, it is 13.56 megahertzs that the signal of (passive radio-frequency identification labeled) sending of the second RFID tag, which belongs to low frequency, and first
The signal that RFID tag (active RFID tag) issues belongs to high frequency, is 433.92 megahertzs or 2.45 gigahertzs
Hereby, therefore robot can distinguish identification to the two.
Optionally, number information is set in each RFID tag, which is global assignment, convenient for operation
Person carries out identification control to RFID tag, is detecting the second radio frequency with the first RFID tag there are corresponding relationship
After identifying label, the number information of first RFID tag is written in second RFID tag, two radio frequencies are made
Identify that label forms association.Number information can be the combination of letter and number, such as " acfa3521644fd67 ",
" bew1125d1ade457 " etc..It can be set with uniqueness, i.e., different RFID tags when generating in number information
It will not number information having the same.After identifying some first RFID tag, if according to the preset rule of correspondence
Some second RFID tag is recognized, or the second RFID tag recognized and the transmitting of the first RFID tag
The signal strength of radio frequency identification signal out is identical or difference is in tolerance interval, then by the first RFID tag
Number information is written in the second RFID tag, thus produces the second RFID tag and the first RFID tag
Raw association, so that the Item Information stored in it be made to be associated with location information generation.By the above method, convenient for artificial identification mark
Label, later period are also easy to be searched according to number information.In the application, it can choose whether according to the actual situation in tag identifier
On the basis of number information is set, to obtain more highly controllable.
In S203, the Item Information stored in second RFID tag is obtained.
After identifying the second RFID tag associated with the first RFID tag, second radio frequency knowledge is obtained
The Item Information stored in distinguishing label.Due within the scope of same first RFID tag, it is understood that there may be multiple second penetrate
Frequency identification tag, so after the Item Information that robot obtains that the second RFID tag returns, can according to the rule of correspondence, with
Item Information group is created based on location information, the Item Information that will acquire is included into the Item Information group, is realized mating
It adapts to, wherein Item Information group does not imply that certain specific array formats, but a kind of broad concept, is the rule of correspondence
It embodies, is located within the scope of location information with embodying the Item Information in it.
For example, the Item Information of article is " butter ", and corresponding location information is " first row first row ", robot
Radio frequency identification card reader receive the first RFID tag sending information in radio frequency after, first according in it position believe
Breath establishes Item Information group, is labeled as " first row first row ".Further according to the tag identifier of first RFID tag, identification
The Item Information " butter " got from second RFID tag is added into this by corresponding second RFID tag out
Item Information group.More, it if having the Item Information group, without newly-built, and be to continue with and obtain corresponding Item Information
It is added, such as within the scope of the first RFID tag for being stored with " first row first row " location information, there are also store
Having Item Information is second RFID tag of " cheese ", and robot is directly added into after obtaining the Item Information
The Item Information group.By the above method, facilitate Item Information and the mating storage of location information, and subsequent user is facilitated to search
Other information in Item Information group is back to user, improves the efficiency of storage and lookup by Suo Shi.Furthermore, it is contemplated that machine
Limited storage space inside device people, so can pass through the Item Information and location information that robot is got in enclosure space
Newly the wireless WIFI communications system transmission in portion is carried out the foundation of corresponding relationship by background information system, i.e., to background information system
Build with management article information group, and be stored in the form of Item Information group background information system database or cloud storage it is empty
Between in, if there is part objects information is not included into Item Information group, then individually stored, to reduce robot
Storage burden improves treatment effeciency by the stronger access capability of background information system.
By embodiment illustrated in fig. 2 it is found that in embodiments of the present invention, by the way that Item Information and location information are deposited respectively
It puts, and when radio frequency identification card reader is opened by robot, obtains location information in the first RFID tag respectively and with the
Item Information in associated second RFID tag of one RFID tag, so that the efficiency of later period lookup is improved,
And enhance the alterability of information.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Corresponding to the method for robot management article described in foregoing embodiments, Fig. 3 shows the embodiment of the present invention three and mentions
The structural block diagram of the device of the robot management article of confession, described device can be applied in robot, referring to Fig. 3, the device
Include:
It cruises unit 31, for constructing the space map of the enclosure space during cruising in the enclosed space, and
The information in radio frequency that each RFID tag being placed in the enclosure space is stored is obtained respectively, and the radio frequency is known
Other information includes the article letter of article corresponding to the location information and/or the RFID tag of the RFID tag
Breath；
Determination unit 32, the search information of the article for being inputted based on user and it is described cruise during obtain described in
The Item Information in information in radio frequency determines the corresponding location information of article of user's search；
Output unit 33, for corresponding described according to the current location of the space map, robot and the article
Location information, determines the walking path of the position for the article that the current location is searched for user, and exports the walking
Path.
Optionally, in described device, the RFID tag includes knowing for storing the first radio frequency of its location information
Second RFID tag of the Item Information of distinguishing label article corresponding with for storing its, the unit 31 of cruising, comprising:
First acquisition unit, for obtaining the location information stored in first RFID tag；
Recognition unit is located at second radio frequency identification of the same area with first RFID tag for identification
Label, first RFID tag positioned at the same area are related to the tag identifier of second RFID tag
Connection；
Second acquisition unit, for obtaining the Item Information stored in second RFID tag.
Optionally, the determination unit 32, further includes:
Acquisition unit, for acquiring voice messaging from the user；
Conversion unit, for converting text for the voice messaging, as described search information.
Fig. 4 is the schematic diagram of the equipment for the robot management article that the embodiment of the present invention four provides.As shown in figure 4, the reality
The equipment 4 for applying the robot management article of example includes: processor 40, memory 41 and is stored in the memory 41 and can
The computer program 42 run on the processor 40.The processor 40 is realized above-mentioned when executing the computer program 42
Step in the embodiment of the method for each robot management article, such as step S101 to S103 shown in FIG. 1.Alternatively, described
Processor 40 realizes the function of each module/unit in above-mentioned each Installation practice, such as Fig. 3 when executing the computer program 42
The function of shown module 31 to 33.
Illustratively, the computer program 42 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 41, and are executed by the processor 40, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 42 in the equipment 4 of the robot management article is described.For example, the computer journey
Sequence 42 can be divided into unit of cruising, determination unit, output unit, and each unit concrete function is as follows:
It cruises unit, for during cruising in the enclosed space, constructing the space map of the enclosure space, and point
The information in radio frequency that each RFID tag that Huo Qu be placed in the enclosure space is stored, the radio frequency identification
Information includes the article letter of article corresponding to the location information and/or the RFID tag of the RFID tag
Breath；
Determination unit, the search information of the article for being inputted based on user and described cruise are penetrated described in acquisition in the process
The Item Information in frequency identification information determines the corresponding location information of article of user's search；
Output unit, for according to the current location of the space map, robot and the corresponding institute's rheme of the article
Confidence breath, determines the walking path of the position for the article that the current location is searched for user, and exports the walking road
Diameter.
The equipment 4 of the robot management article may include, but be not limited only to, processor 40, memory 41.This field skill
Art personnel are appreciated that Fig. 4 is only the example of the equipment 4 of robot management article, do not constitute to robot management article
Equipment 4 restriction, may include perhaps combining certain components or different components than illustrating more or fewer components,
Such as the equipment 4 of the robot management article can also include input-output equipment, network access equipment, bus etc..
Alleged processor 40 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 41 can be the internal storage unit of the equipment 4 of the robot management article, such as robot
The hard disk or memory of the equipment 4 of management article.The memory 41 is also possible to the outer of the equipment 4 of the robot management article
The plug-in type hard disk being equipped in portion's storage equipment, such as the equipment 4 of the robot management article, intelligent memory card (Smart
Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card) etc..Further,
The memory 41 can also both including the robot management article equipment 4 internal storage unit and also including external storage
Equipment.The memory 41 is for storing needed for the equipment 4 of the computer program and the robot management article it
His program and data.The memory 41 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (Read-Only Memory, ROM), random access memory (Random
Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the meter
The content that calculation machine readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice,
It such as does not include electric carrier signal and telecommunications according to legislation and patent practice, computer-readable medium in certain jurisdictions
Signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of method of robot management article characterized by comprising
During cruising in the enclosed space, construct the space map of the enclosure space, and obtain respectively be placed in it is described
The information in radio frequency that each RFID tag in enclosure space is stored, the information in radio frequency include the radio frequency
Identify the Item Information of article corresponding to the location information and/or the RFID tag of label；
Institute in the search information of article based on user's input and the information in radio frequency obtained in the process of cruising
Item Information is stated, determines the corresponding location information of article of user's search；
According to the space map, the current location of robot and the corresponding location information of the article, work as described in determination
The walking path of the position for the article that front position is searched for user, and export the walking path.
2. the method as described in claim 1, which is characterized in that the RFID tag includes for storing its location information
The first RFID tag article corresponding with for storing its Item Information the second RFID tag, the difference
Obtain the information in radio frequency that each RFID tag being placed in the enclosure space is stored, comprising:
Obtain the location information stored in first RFID tag；
Identification is located at second RFID tag of the same area with first RFID tag, is located at the same area
First RFID tag and second RFID tag tag identifier it is associated；
Obtain the Item Information stored in second RFID tag.
3. the method as described in claim 1, which is characterized in that the acquisition respectively is placed in each in the enclosure space
The information in radio frequency that RFID tag is stored, comprising:
The location information and the radio frequency of the RFID tag stored in each RFID tag are obtained respectively
Identify the Item Information of article corresponding to label.
4. the method as described in claim 1, which is characterized in that further include:
The determining degree of correlation with the Item Information of the article of user's search is greater than the article of preset threshold；
The information for the article determined is exported.
5. the method as described in claim 1, which is characterized in that search information and institute in the article based on user's input
The Item Information in the information in radio frequency obtained during cruising is stated, determines that the article of user's search is corresponding
Before the location information, further includes:
Acquire voice messaging from the user；
Text is converted by the voice messaging, as described search information.
6. a kind of device of robot management article characterized by comprising
It cruises unit, for constructing the space map of the enclosure space, and obtain respectively during cruising in the enclosed space
The information in radio frequency for taking each RFID tag being placed in the enclosure space to be stored, the information in radio frequency
The Item Information of article corresponding to location information and/or the RFID tag including the RFID tag；
Determination unit, the search information of the article for being inputted based on user and the radio frequency obtained in the process of cruising are known
The Item Information in other information determines the corresponding location information of article of user's search；
Output unit, for being believed according to the corresponding position in the current location of the space map, robot and the article
Breath, determines the walking path of the position for the article that the current location is searched for user, and exports the walking path.
7. device as claimed in claim 6, which is characterized in that the RFID tag includes for storing its location information
The first RFID tag article corresponding with for storing its Item Information the second RFID tag, it is described to cruise
Unit, comprising:
First acquisition unit, for obtaining the location information stored in first RFID tag；
Recognition unit is located at second radio frequency identification marking of the same area with first RFID tag for identification
Label, it is associated positioned at first RFID tag of the same area and the tag identifier of second RFID tag；
Second acquisition unit, for obtaining the Item Information stored in second RFID tag.
8. device as claimed in claim 6, which is characterized in that the determination unit, further includes:
Acquisition unit, for acquiring voice messaging from the user；
Conversion unit, for converting text for the voice messaging, as described search information.
9. a kind of equipment of robot management article, including memory, processor and storage are in the memory and can be
The computer program run on the processor, which is characterized in that the processor is realized such as when executing the computer program
The step of any one of claim 1 to 5 the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 5 of realization the method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711449368.6A CN109976325A (en) | 2017-12-27 | 2017-12-27 | Method, device and equipment for managing articles by robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711449368.6A CN109976325A (en) | 2017-12-27 | 2017-12-27 | Method, device and equipment for managing articles by robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109976325A true CN109976325A (en) | 2019-07-05 |
Family
ID=67071261
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711449368.6A Pending CN109976325A (en) | 2017-12-27 | 2017-12-27 | Method, device and equipment for managing articles by robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109976325A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109978083A (en) * | 2017-12-27 | 2019-07-05 | 深圳市优必选科技有限公司 | Method, device and equipment for monitoring article environment state by robot |
| CN110991575A (en) * | 2019-11-18 | 2020-04-10 | 深圳市优必选科技股份有限公司 | Asset checking method and device, readable storage medium and robot |
| CN111179377A (en) * | 2019-12-31 | 2020-05-19 | 深圳市优必选科技股份有限公司 | Robot mapping method, corresponding robot and storage medium |
| CN112561010A (en) * | 2020-12-22 | 2021-03-26 | 深圳技术大学 | Article management method and system based on passive RFID |
| CN113673921A (en) * | 2020-05-15 | 2021-11-19 | 丰田自动车株式会社 | Distribution management system, distribution management method, and distribution management program |
| CN114428501A (en) * | 2021-12-17 | 2022-05-03 | 重庆特斯联智慧科技股份有限公司 | Old people home service robot and control method thereof |
| CN114510022A (en) * | 2021-12-17 | 2022-05-17 | 重庆特斯联智慧科技股份有限公司 | Medical transportation robot and control method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1945351A (en) * | 2006-10-21 | 2007-04-11 | 中国科学院合肥物质科学研究院 | Robot navigation positioning system and navigation positioning method |
| CN1979519A (en) * | 2005-11-30 | 2007-06-13 | 中国科学院自动化研究所 | Automatic crusing robot system based on radio-frequency identification technology |
| US20070150106A1 (en) * | 2005-12-12 | 2007-06-28 | Honda Motor Co., Ltd. | Mobile robot |
| CN103323002A (en) * | 2012-03-19 | 2013-09-25 | 联想(北京)有限公司 | Simultaneous localization and mapping method and device |
| CN103325030A (en) * | 2013-07-11 | 2013-09-25 | 江苏迅捷装具科技有限公司 | Robot-based method for managing goods in internet of things |
| CN104330090A (en) * | 2014-10-23 | 2015-02-04 | 北京化工大学 | Robot distributed type representation intelligent semantic map establishment method |
-
2017
- 2017-12-27 CN CN201711449368.6A patent/CN109976325A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1979519A (en) * | 2005-11-30 | 2007-06-13 | 中国科学院自动化研究所 | Automatic crusing robot system based on radio-frequency identification technology |
| US20070150106A1 (en) * | 2005-12-12 | 2007-06-28 | Honda Motor Co., Ltd. | Mobile robot |
| CN1945351A (en) * | 2006-10-21 | 2007-04-11 | 中国科学院合肥物质科学研究院 | Robot navigation positioning system and navigation positioning method |
| CN103323002A (en) * | 2012-03-19 | 2013-09-25 | 联想(北京)有限公司 | Simultaneous localization and mapping method and device |
| CN103325030A (en) * | 2013-07-11 | 2013-09-25 | 江苏迅捷装具科技有限公司 | Robot-based method for managing goods in internet of things |
| CN104330090A (en) * | 2014-10-23 | 2015-02-04 | 北京化工大学 | Robot distributed type representation intelligent semantic map establishment method |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109978083A (en) * | 2017-12-27 | 2019-07-05 | 深圳市优必选科技有限公司 | Method, device and equipment for monitoring article environment state by robot |
| CN110991575A (en) * | 2019-11-18 | 2020-04-10 | 深圳市优必选科技股份有限公司 | Asset checking method and device, readable storage medium and robot |
| CN111179377A (en) * | 2019-12-31 | 2020-05-19 | 深圳市优必选科技股份有限公司 | Robot mapping method, corresponding robot and storage medium |
| US11654572B2 (en) | 2019-12-31 | 2023-05-23 | Ubtech Robotics Corp Ltd | Robot mapping method and robot and computer readable storage medium using the same |
| CN111179377B (en) * | 2019-12-31 | 2024-04-26 | 深圳市优必选科技股份有限公司 | Robot mapping method, corresponding robot and storage medium |
| CN113673921A (en) * | 2020-05-15 | 2021-11-19 | 丰田自动车株式会社 | Distribution management system, distribution management method, and distribution management program |
| CN113673921B (en) * | 2020-05-15 | 2024-05-03 | 丰田自动车株式会社 | Distribution management system, distribution management method, and distribution management program |
| CN112561010A (en) * | 2020-12-22 | 2021-03-26 | 深圳技术大学 | Article management method and system based on passive RFID |
| CN114428501A (en) * | 2021-12-17 | 2022-05-03 | 重庆特斯联智慧科技股份有限公司 | Old people home service robot and control method thereof |
| CN114510022A (en) * | 2021-12-17 | 2022-05-17 | 重庆特斯联智慧科技股份有限公司 | Medical transportation robot and control method thereof |
| CN114428501B (en) * | 2021-12-17 | 2024-06-21 | 重庆特斯联智慧科技股份有限公司 | Old man home service robot and control method thereof |
| CN114510022B (en) * | 2021-12-17 | 2024-06-21 | 北京未末卓然科技有限公司 | Medical transport robot and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109976325A (en) | Method, device and equipment for managing articles by robot | |
| KR101153034B1 (en) | Rfid enabled information systems utilizing a business application | |
| CN106886612A (en) | A kind of big data acquisition analysis system | |
| CA3127331C (en) | Robot gamification for improvement of operator performance | |
| CN107274257A (en) | Method and device is recommended in a kind of hotel service | |
| CN106934652A (en) | Recommend the system and method for Business Information | |
| CN105611492A (en) | Processing method, apparatus and system for positioning information | |
| CN105300398B (en) | The methods, devices and systems of gain location information | |
| CN107817750A (en) | A kind of building monitoring system based on BIM | |
| CN111242994A (en) | Semantic map construction method and device, robot and storage medium | |
| CN108151732A (en) | A kind of long-range position and behavior method of estimation | |
| CN112150072A (en) | Asset checking method and device based on intelligent robot, electronic equipment and medium | |
| CN110349434A (en) | Park planning system and method based on intelligent planning technology | |
| CN112382118B (en) | Parking space intelligent reservation management system, method, storage medium and computer equipment | |
| CN107958040B (en) | Intelligent system for positioning, managing and analyzing indoor articles | |
| CN108776700A (en) | A kind of Forest Eco-station data processing system based on technology of Internet of things | |
| CN115471805A (en) | Point cloud processing and deep learning model training method and device and automatic driving vehicle | |
| KR101929491B1 (en) | Method for providing ai-based quick pickup service for delivery using filling station | |
| CN114428502B (en) | Logistics robot based on networking with household appliances and control method thereof | |
| CN110348824A (en) | A kind of wisdom of humanity, action edge Real-Time Sharing mutual assistance platform | |
| CN109857829A (en) | A kind of geographic information data fusion system | |
| CN109919680A (en) | A kind of intelligent navigation module in shopping environment | |
| CN103167032B (en) | The indoor positioning background service system of map auxiliary | |
| KR20190079579A (en) | Transport system, information processing device configured to manage information about user who uses any one of plurality of mobile units, and information processing method | |
| CN109978083A (en) | Method, device and equipment for monitoring article environment state by robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190705 |
|
| RJ01 | Rejection of invention patent application after publication |