CN110177330A - Call handling method, device, robot and storage medium - Google Patents
Call handling method, device, robot and storage medium Download PDFInfo
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- CN110177330A CN110177330A CN201810746847.2A CN201810746847A CN110177330A CN 110177330 A CN110177330 A CN 110177330A CN 201810746847 A CN201810746847 A CN 201810746847A CN 110177330 A CN110177330 A CN 110177330A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W68/00—User notification, e.g. alerting and paging, for incoming communication, change of service or the like
- H04W68/005—Transmission of information for alerting of incoming communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
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Abstract
The embodiment of the present invention provides a kind of call handling method, device, robot and storage medium, this method comprises: robot and subscriber terminal equipment are established and communicated to connect, robot detects received first call request of subscriber terminal equipment；If the first call request is not responded, it is determined that corresponding first user to be reminded of the first call request；The position of the first user to be reminded is positioned according to the environmental map stored in robot；If orienting the position of the first user to be reminded, the position of the first user to be reminded is moved to can answer or reply in time call to first user's output incoming prompting message to be reminded to realize to the call reminding of the user.
Description
Technical field
The present invention relates to field of artificial intelligence more particularly to a kind of call handling method, device, robot and storages
Medium.
Background technique
The appearance of mobile phone changes the communication mode of people, when user is busy to be needed to link up with other people, leads to
Crossing mobile phone to phone other side and linked up has been a kind of common selection.
Currently, mobile phone reminds user currently to have call request generally by the mode of vibration, the tinkle of bells.But very much
When user possibly remote from mobile phone or user set silent mode for mobile phone so that when other people give user of incoming call
When user do not find, to can not answer.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of call handling method, device, robot and storage medium, to
It realizes to user's timely call reminding.
The embodiment of the present invention provides a kind of call handling method, is applied to robot, comprising:
The robot and subscriber terminal equipment, which are established, to be communicated to connect；
The robot detects received first call request of the subscriber terminal equipment；
If first call request is not responded, it is determined that corresponding first use to be reminded of first call request
Family；
The position of the described first user to be reminded is positioned according to the environmental map stored in the robot；
If orienting the position of the described first user to be reminded, the position of the described first user to be reminded is moved to right
First user's output incoming prompting message to be reminded.
The embodiment of the present invention provides a kind of communication processing device, is applied to robot, comprising:
Connection establishment module is communicated to connect for establishing with subscriber terminal equipment；
Call detection module, for detecting received first call request of the subscriber terminal equipment；
User's determining module, if not responded for first call request, it is determined that first call request pair
First answered user to be reminded；
Position determination module, for positioning first user to be reminded according to the environmental map stored in the robot
Position；
Processing module is reminded, if orienting the position of the described first user to be reminded for the position determination module,
The position of the described first user to be reminded is moved to described first user's output incoming prompting message to be reminded.
The embodiment of the present invention provides a kind of robot, comprising: the processing on the basic machine is arranged in basic machine
Device, memory, communication interface, moving type actuating mechanism；The memory is for storing one or more computer instruction, wherein
One or more computer instruction is realized when being executed by the processor:
It is established and is communicated to connect by the communication interface and subscriber terminal equipment；
Detect received first call request of the subscriber terminal equipment；
If first call request is not responded, it is determined that corresponding first use to be reminded of first call request
Family；
The position of the described first user to be reminded is positioned according to the environmental map stored in the robot；
If orienting the position of the described first user to be reminded, controlling the moving type actuating mechanism moves the robot
It moves to the position of the described first user to be reminded to described first user's output incoming prompting message to be reminded.
The embodiment of the invention provides a kind of computer readable storage mediums for storing computer instruction, when the computer
When instruction is executed by processor, causing the processor to execute includes movement below:
Establish the communication connection between robot and subscriber terminal equipment；
Detect received first call request of the subscriber terminal equipment；
If first call request is not responded, it is determined that corresponding first use to be reminded of first call request
Family；
The position of the described first user to be reminded is positioned according to the environmental map stored in the robot；
If orienting the position of the described first user to be reminded, the position of the described first user to be reminded is moved to right
First user's output incoming prompting message to be reminded.
In embodiments of the present invention, robot and the mobile phone of the such as one or more users of subscriber terminal equipment pre-establish
Communication connection, thus, when the call request that some subscriber terminal equipment receives caller's triggering is known as the first call request,
First call request can be forwarded to robot by the communication connection that is, robot can be examined by the communication connection
Measure the first call request that subscriber terminal equipment receives.Robot if it find that user do not respond this first call ask
It asks, illustrates that user may not have found first call request, at this point, robot can determine the first call request corresponding
One user to be reminded, for example be callee.In turn, its local environment and robot are movably special in conjunction with known to robot
Point, robot can be moved in the case where orienting the position of the first user to be reminded according to stored environmental map
With to first user's output incoming prompting message to be reminded at the position of first user to be reminded, to realize the incoming call to the user
It reminds, can answer or reply in time call.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of flow chart of call handling method provided in an embodiment of the present invention；
Fig. 2 is the flow chart of another call handling method provided in an embodiment of the present invention；
Fig. 3 is the flow chart of another call handling method provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of communication processing device provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of robot corresponding with the communication processing device that embodiment illustrated in fig. 4 provides.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
The term used in embodiments of the present invention is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The present invention.In the embodiment of the present invention and the "an" of singular used in the attached claims, " described " and "the"
It is also intended to including most forms, unless the context clearly indicates other meaning, " a variety of " generally comprise at least two, but not
It excludes to include at least one situation.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, indicate
There may be three kinds of relationships, for example, A and/or B, can indicate: individualism A, exist simultaneously A and B, individualism B these three
Situation.In addition, character "/" herein, typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Depending on context, word as used in this " if ", " if " can be construed to " ... when " or
" when ... " or " in response to determination " or " in response to detection ".Similarly, context is depended on, phrase " if it is determined that " or " such as
Fruit detection (condition or event of statement) " can be construed to " when determining " or " in response to determination " or " when detection (statement
Condition or event) when " or " in response to detection (condition or event of statement) ".
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
Include, so that commodity or system including a series of elements not only include those elements, but also including not clear
The other element listed, or further include for this commodity or the intrinsic element of system.In the feelings not limited more
Under condition, the element that is limited by sentence "including a ...", it is not excluded that in the commodity or system for including the element also
There are other identical elements.
In addition, the step timing in following each method embodiments is only a kind of citing, rather than considered critical.
Fig. 1 is a kind of flow chart of call handling method provided in an embodiment of the present invention, which can be by
Robot executes, as shown in Figure 1, this method may include steps of:
101, robot and subscriber terminal equipment, which are established, communicates to connect, and robot detects subscriber terminal equipment received the
One call request.
If 102, the first call request is not responded, it is determined that corresponding first user to be reminded of the first call request.
103, the position of the described first user to be reminded is positioned according to the environmental map stored in robot.
If 104, orienting the position of the first user to be reminded, the position of the first user to be reminded is moved to first
User's output incoming prompting message to be reminded.
The shape of robot and structure are not limited specifically in the embodiment of the present invention, however, it will be understood that should
Robot is transportable robot, i.e., there is moving type actuating mechanism to allow the robot to walk for the robot.
It is the call reminding realized by robot to user in the call handling method provided in an embodiment of the present invention
Function, therefore, this method generally can be adapted under home environment, the robot under home environment come to the user in family into
Row call reminding, under home environment, which can be sweeping robot, family accompanies and attends to robot follows robot etc..
But it should be not limited to apply under home environment by processing method.
In embodiments of the present invention, subscriber terminal equipment refers to the computer equipment with call function, is based on the call
Function, the call function can support user to carry out traditional honeycomb mobile call i.e. by making a phone call the logical of number progress
Words, or user can also be supported to carry out internet call, such as the Internet phone-calling carried out by instant messaging application.The use
Family terminal device for example can be smart phone, tablet computer, wearable device etc..
Optionally, subscriber terminal equipment can be established by mobile network and robot and be communicated to connect, correspondingly, mobile network
The network formats of network can be 2G (GSM), 2.5G (GPRS), 3G (WCDMA, TD-SCDMA, CDMA2000, UTMS), 4G
(LTE), any one in 4G+ (LTE+), WiMax etc..Alternatively, optionally, subscriber terminal equipment can also by bluetooth,
The modes such as WiFi, infrared ray and robot, which establish, to be communicated to connect.But it is worth noting that, in order to realize regardless of user is working as
Any position under preceding local environment such as home environment, robot can carry out the purpose of call reminding, robot to it
Communication connection between subscriber terminal equipment should be ensured that all be in the present context it is effective, it is therefore contemplated that robot with
Long connection is to maintain between subscriber terminal equipment.
For example, generally can all have WiFi network under home environment, the subscriber terminal equipment of each user in family is ok
The WiFi network is accessed, likewise, robot can also access the WiFi network, and can be built by certain network configuration
Stand each subscriber terminal equipment respectively with the communication connection channel of robot.
It is worth noting that establishing the quantity of the subscriber terminal equipment of communication connection with robot in the embodiment of the present invention
It can be one or more.
In practical application, when some subscriber terminal equipment for establishing communication connection with robot receives certain calling
When call request (referred to as the first call request) of person, it is based on the communication connection, robot can detecte the user terminal and connect
The first call request received, the detection such as may be implemented are as follows: the subscriber terminal equipment can turn first call request
It is sent to robot.At this point, robot can measure first call request with self-test starts timing, when timing reaches preset time ratio
When such as 10 seconds, if at this time first call request also not by response i.e. there are no user make answer or hang up this first
The movement of call request, then robot determines that first call request is not responded.
Further optionally, which can also start timing after receiving first call request, work as meter
If when reaching preset time user do not respond first call request also, at this point, subscriber terminal equipment can be by the first call
Request the event not responded by communication connection notice to robot.
Robot determines first call request corresponding first wait mention after determining that the first call request is not responded
Wake up user, and then executes the process to first user reminding to be reminded, first call request.
Under an optional way, which can be the corresponding callee of first call request.Its
In, in the present embodiment, determine that the process of the first user to be reminded is to obtain the process of the identity information of the first user to be reminded,
The effect of the identity information is the positioning of the subsequent position that first user to be reminded can be carried out based on the identity information.
In practical application, robot can obtain the identity information of the callee in the following way: above-mentioned user is whole
End equipment is when forwarding the first call request to robot, device identification or the subscriber terminal equipment by the subscriber terminal equipment
Corresponding user identifier carrying is sent to robot in first call request, thus, robot can be based on the equipment mark
Knowledge or user identifier obtain the identity information of callee.Wherein, which can be the corresponding use of subscriber terminal equipment
The telephone number at family, the device identification can be the mark such as equipment Serial Number of subscriber terminal equipment.
Robot is identified based on above equipment or user identifier determines that the process of callee's identity information may is that in machine
It can be previously stored with the corresponding relationship of user images feature and user identifier or device identification in device people, closed based on the correspondence
System, robot can determine user images feature corresponding with the user identifier received or device identification (referred to as with reference to user
Characteristics of image), this is the first user to be reminded i.e. identity information of callee with reference to user images feature.Wherein it is possible to
Understand, when robot can be shared for multiple users, i.e., robot can be established with multiple subscriber terminal equipments and be communicated
Can be previously stored with when connection, in robot the user images feature of the corresponding user of each subscriber terminal equipment with it is corresponding
User identifier or the corresponding relationship of device identification.Wherein, user images feature refers to and takes pictures in advance to user, from what is clapped
The user characteristics extracted in image can reflect face feature, the height feature, body of user in the user images feature
Contour feature etc..
After determining corresponding first user to be reminded of the first call request, robot is looked in current environment
The position that first user to be reminded orients the first user to be reminded is sought, to be moved to the position of first user to be reminded
It sets place and call reminding is carried out to first user to be reminded.
Specifically, the position of the first user to be reminded can be positioned according to the environmental map stored in robot.To be in
For in the scene of front yard, which can be sweeping robot, the family being previously stored in locating home environment in the robot
Front yard environmental map can wrap containing room layout information, obstacle position information etc. in the home environment map.
It therefore, can during positioning the position of the first user to be reminded according to the environmental map stored in robot
Path is looked for according to the room layout information determination for including in the environmental map with elder generation, in turn, looks for the mistake moved in path on edge
Cheng Zhong obtains the collected user images feature of user's acquisition device, by comparing collected user images feature and first
User to be reminded is corresponding to refer to user images feature, if collected user images feature refers to user images feature with this
Match, it is determined that collected the user images of the first user to be reminded, the position of first user to be reminded can be positioned at this time.
Wherein, user's acquisition device can be installed on the fuselage of robot, which can be commonly to take the photograph
As head, perhaps includes common camera and infrared camera or be infrared camera.When robot determines that first is to be reminded
When user's triggering carries out localization process to first user to be reminded, open user's acquisition device, thus robot according to
During looking for path movement, which carries out Image Acquisition, passes through the image processing apparatus pair in robot
Acquired image is identified, to determine whether to have collected the user images of some user, if having collected some use
Family image then therefrom extracts user images feature and compares with reference user images feature, to determine whether to collect
Be the first user to be reminded user images.
Wherein, path is looked for according to the room layout information determination for including in environmental map, can be according to preset room
Between traversal order, be presently in position from robot, determine successively to path needed for the walking of each room；Be also possible to
Being presently in position from robot is initial position, determines and has traversed whole rooms with most short travel distance or most short travel time
Path.
Wherein, when by recognizing in certain framed user's image to the real-time identifying processing of robot acquired image progress
When the user images feature and reference user images characteristic matching that include, the first use to be reminded can be determined according to image-forming principle
Azimuth-range of the family apart from robot, moreover, can determine that robot is certainly at this time based on the positioning device installed in robot
The position of body, thus, in the azimuth-range for the user opposed robots to be reminded of position and first for knowing robot itself
On the basis of, the position of the first user to be reminded can be oriented.
Due to having a certain distance between robot position at this time and the position of the first user to be reminded, if should be away from
When from being greater than certain threshold value, robot can be mobile to the first user to be reminded according to the position of the first user to be reminded, when with
It, can be to first user's output incoming prompting message to be reminded, the incoming call when position of first user to be reminded reaches the threshold value
Prompting message can be the special sound of robot and voice mode output, such as: " owner has phone ".
In practical applications, it is possible that following situation: assuming that mobile phone is placed on family by user A, temporarily going out
It handles affairs, at this point, robot will be unable to during looking for user A according to searching path if someone calls user A on the phone
User A is found, because user A stays out at this time.In response to this, the embodiment of the invention also provides following optinal plans
It is handled:
If no-fix is to the position of the first user to be reminded, from the corresponding alternative prompting user of the first user to be reminded
Determine the second user to be reminded；
If orienting the position of the second user to be reminded according to the environmental map stored in robot, be moved to second to
The position of user is reminded to export the call reminding information to the second user to be reminded.
That is, can have to take the second best when can not find the first user to be reminded, other is looked for alternatively to remind use
Family is reminded.Optionally, alternative prompting user list can be arranged in each user in robot in advance, wherein sequentially comprising being somebody's turn to do
Each alternative prompting user of user and its reference user images feature.
As an example it is assumed that the first user to be reminded is the corresponding callee of the first call request --- user A, user
It successively include the reference user images feature of user B and user C in the corresponding alternative prompting user list of A.To if machine
People's no-fix then inquires the alternative prompting user list and therefrom determines user B to the position of user A, and then looks in basis
Identify whether the reference user images feature comprising user B is with fixed in the user images of camera acquisition during path is mobile
The position of position user B.If orienting the position of user B, it is moved at user B and call reminding is carried out to it, at this point, incoming call
Prompting message, which can be, reminds user A to have missed call.
To sum up, robot and subscriber terminal equipment, which are established, communicates to connect to receive the call request of subscriber terminal equipment, machine
Device people illustrates that user may not have found the call request, at this point, robot if it find that user does not respond the call request
It can determine the corresponding user to be reminded of call request, for example be callee.In turn, its local environment in conjunction with known to robot
And the moveable feature of robot, robot can be in the positions for orienting the user to be reminded according to stored environmental map
In the case where setting, it is moved at the position of user to be reminded with to user's output incoming prompting message to be reminded, to realize to this
The call reminding of user can answer or reply in time call.
Fig. 2 is the flow chart of another call handling method provided in an embodiment of the present invention, which can be with
It is executed by robot, as shown in Fig. 2, this method may include steps of:
201, robot and subscriber terminal equipment, which are established, communicates to connect, and detects that subscriber terminal equipment received first is logical
Words request.
If 202, the first call request is not responded, it is determined that whether the first call request is urgency traffic request, if so,
Then follow the steps 203.
203, corresponding first user to be reminded of the first call request is determined.
In practical application, since robot is in addition to that can be used to carry out call processing side provided in an embodiment of the present invention
Method can also be used to carry out the task of the robot inherently, for example sweeping robot needs to complete cleaning task.Therefore,
In order to avoid excessive interference robot executes task inherently, the reminding effect of important missed call is combined, or
In order to avoid robot influences robot and executes itself fastly as frequently executing electric quantity consumption caused by call handling method
Intrinsic task provides the prompting scheme only for urgency traffic request in the present embodiment.
Specifically, when robot determines above-mentioned first call request not by user response, first call is first determined
Whether request is urgency traffic request, requests if it is urgency traffic, then subsequent prompting treatment process is executed, on the contrary, such as
Fruit is not urgency traffic request, and robot can end processing.
Schematically illustrate below some robots determine the first call request whether be urgency traffic request mode:
In optional way 1, if the corresponding caller of the first call request is located in pre-set user list, it is determined that first
Call request is urgency traffic request.Wherein, it is i.e. above-mentioned can to preset emergency user list in robot by each user
Pre-set user list can store the information such as name, the telephone number of emergency user of user setting in the list.To,
It can store pair of the user identifier of user or the device identification of subscriber terminal equipment and the pre-set user list in robot
It should be related to.After determining that the first call request is not responded, robot can be based on the user carried in first call request
Mark or device identification obtain corresponding pre-set user list, and then determine the surname for the caller for including in first call request
Whether name, telephone number are located in the pre-set user list, if there is in the pre-set user list, then it is assumed that this is first logical
Words request is that urgency traffic is requested.
In optional way 2, if receiving the N not responded in the preset time before receiving the first call request
A second call request, and the first call request and N number of second call request correspond to same callee, it is determined that first is logical
Words request is that urgency traffic is requested, N >=1.
The value of N can be preset, it is assumed that N=2, and assume that the corresponding callee of the first call request is user
A, then the realization process of the optional way may is that robot (claims in certain T1 reception to the call request corresponding to user A
For the second call request), and determine that second call request is not responded, at this point, robot judges that second call request is
It is no to be requested for urgency traffic.Assuming that above-mentioned preset time is T, and assume that robot is existed based on the message registration discovery being locally stored
User A does not receive N number of call request in T duration before the T1 moment, it is determined that second call request at the T1 moment is not
Urgency traffic request, ends processing.Later, robot receives the second call request corresponding to user A at the T2 moment again, and
Determine that second call request is not responded, at this point, robot judges whether second call request is urgency traffic request.It is false
It is asked if robot finds in the T duration before the T2 moment that user A does not receive N number of call based on the message registration that is locally stored
It asks, it is determined that second call request at the T2 moment is not urgency traffic request, is ended processing.Later, robot is at the T3 moment
The call request (referred to as the first call request) corresponding to user A is received again, and determines that first call request is not responded,
At this point, robot judges whether first call request is urgency traffic request.Assuming that robot is based on the call being locally stored
Record discovery in T duration before the T3 moment user A have been received that N number of call request, it is determined that the of the T3 moment
One call request is urgency traffic request.
The implementation can be corresponding in practical application, and user A is repeatedly received in such as half an hour within a short period of time
The case where to call request.In addition, in practical application, the case where user A receives multiple call requests within a short period of time, is often
It may be same user B subsequenct call user A more times, certainly, be also not excluded for multiple other users and all call within a short period of time
The possibility of user A.
It, can be in turn when determining the first call request is urgency traffic request for above-mentioned optional way 1 and 2
Determine that corresponding first user to be reminded of the first call request is the corresponding callee of the first call request.
In optional way 3, if receiving the N not responded in the preset time before receiving the first call request
A second call request, it is determined that the first call request is urgency traffic request, N >=1.
The difference of the optional way and aforementioned optional way 2 is, is defined in optional way 2 if receiving first
The callee of N number of second call request not responded received in certain time before call request and the first call
The callee of request is identical, then it is assumed that and the first call request is urgency traffic request, and in the method, not to this N+1
Whether the call request responded, which corresponds to same callee, is clearly limited, and is the equal of that a kind of rough identification is urgent
The mode of call.
In optional way 4, if receiving the N not responded in the preset time before receiving the first call request
A second call request, and the first call request and N number of second call request correspond to same call person, it is determined that the first call
Request is that urgency traffic is requested, N >=1.
The difference of the optional way and aforementioned optional way 2 is, is defined in optional way 2 if receiving first
The callee of N number of second call request not responded received in certain time before call request and the first call
The callee of request is identical, then it is assumed that and the first call request is urgency traffic request, and in the method, it is also assumed that this N+
If 1 call request not responded corresponds to same call person, it is determined that the first call request is urgency traffic request.
The implementation can be corresponding in practical application, and user A repeatedly divides in such as half an hour within a short period of time
The case where not making a phone call to multiple users in family.
Thus optionally, under optional way 3 and 4, corresponding first user to be reminded of the first call request is determined, it can
To realize are as follows: select the first user to be reminded from the first call request and the corresponding callee of N number of second call request.Than
Such as, a callee can be selected at random from the first call request and the corresponding callee of N number of second call request to make
For the first user to be reminded, or select called number is most in this N+1 times call request callee as first to
Remind user, or the selected corresponding callee of first call request finally called as the first user to be reminded, or
Person selectes in this N+1 times call request first called callee as first user to be reminded.
It is all according to the call request not responded received in certain time in above-mentioned optional way 2,3 and 4
Number carries out the judgement of urgency traffic request, on this basis, can also be further combined with therein in an alternative embodiment
The call waiting time of call request not responded each judged, because in practical application, if some user A has urgency
Thing looks for another user B, which not only can repeatedly make a phone call to user B in a short time, and while making a phone call every time can all be waited
User B is waited to answer to longer time.
204, the position of the first user to be reminded is positioned according to the environmental map stored in robot.
If 205, orienting the position of the first user to be reminded, the position of the first user to be reminded is moved to first
User's output incoming prompting message to be reminded.
If 206, no-fix is to the position of the first user to be reminded, used from the corresponding alternative prompting of the first user to be reminded
The second user to be reminded is determined in family.
If 207, orienting the position of the second user to be reminded according to the environmental map stored in robot, it is moved to
The position of two users to be reminded is to second user's output incoming prompting message to be reminded.
For ease of understanding, first combine practical application scene to the prompting treatment process of the urgency traffic request in the present embodiment
It is illustrated:
Such as, it is assumed that afternoon Saturday 14:05 robot have received first time mother call father access failure words ask
It asks, the access failure words request that mother calls father is had received respectively again in 14:07 and 14:09 later, when the waiting called three times
Between be respectively 21 seconds, 17 seconds and 25 seconds, reached urgency traffic request standard, so that the call request of 14:09 is confirmed as
Urgency traffic request.And then robot can to target prompting, user --- father be found according to environmental map: by general
The image of logical camera acquisition in room member and its user images feature identify, to look for father and mention
It wakes up.If found less than father, the corresponding alternative prompting user list of available father is alternatively mentioned with sequentially finding other
Awake user reminds.Optionally, during searching, if it find that the door in some room was closed, it can star at this time
Infrared camera scans the room, if it find that the user images feature of user and the target of required searching remind use in the room
The reference user images characteristic matching of family father, then robot can be reminded on room doorway by voice, such as: " owner,
It calls.", and can also attempt to collision room door to be reminded.
For another example: on Monday night 22:21 receives the access failure words request that first time mother calls father, in 22:25 and
22:26 has received the access failure words request that mother calls grandfather and grandmother respectively again, this call waiting time difference several times
For 15 seconds, 19 seconds, 21 seconds, reaches the standard of urgency traffic request, need promptly to be reminded.Robot will start commonly at this time
Camera and infrared camera can find the room for having the i.e. bright light of illumination in family by common camera first, know
Whether there is the target that can be promptly reminded to remind user in other bright light room, if there is no bright light room or in bright light
Target is not found in room and reminds user, then dark room can be found again by infrared camera.
There are the two to illustrate and reminds user than as the aforementioned it is found that positioning target according to the environmental map of storage in robot
When the position of first user to be reminded, room traversal order can be determined according to the brightness case of ambient brightness, each room
And it determines and opens which kind of camera carries out user images acquisition.It, can be according to preset room such as when daytime
Between traversal order successively look for each room, at this point it is possible to preferentially use common camera, encountering special circumstances such as room door
When closing, it can switch to using infrared camera.It, can be based on the brightness acquisition dress being arranged in robot when at night
The brightness for acquiring each room is set, so as to the room of first traversal bright light, common camera can be used at this time, and in bright light
After room does not find target prompting user, dark room can be traversed again, infrared camera can be used at this time.
Through this embodiment, whether robot is urgency traffic request by identification call request, thus for urgent logical
Words request, can be in conjunction with its known local environment of robot and the moveable feature of robot, and robot can be according to having deposited
The environmental map of storage orients the case where position of corresponding user to be reminded is requested in urgency traffic, and is moved to user to be reminded
Position to export urgent call reminding information to user to be reminded, to realize to the urgent call reminding of the user, make it
It can answer or reply in time call.
Fig. 3 is the flow chart of another call handling method provided in an embodiment of the present invention, which can be with
It is executed by robot, as shown in figure 3, this method may include steps of:
301, robot and subscriber terminal equipment, which are established, communicates to connect, and detects that subscriber terminal equipment received first is logical
Words request.
302, determine whether to respond the first call request within a preset time, if response, terminates, otherwise, execute step
303。
303, determine whether the first call request is urgency traffic request, if it is not, 304 are thened follow the steps, if so, holding
Row step 305.
304, it determines corresponding first user to be reminded of the first call request, and determines whether to meet the first user to be reminded
The interruption-free condition of setting, if satisfied, then terminating；If not satisfied, thening follow the steps 306.
305, corresponding first user to be reminded of the first call request is determined.
306, the position of the first user to be reminded is positioned according to the environmental map stored in robot.
If 307, orienting the position of the first user to be reminded, the position of the first user to be reminded is moved to first
User's output incoming prompting message to be reminded.
The case where interruption-free condition can be set in user is described in the present embodiment, which refers to that user can be with
Robot in the case where specific period, the specific band of position is arranged to be not required to carry out it call reminding, such as at night
The time of rest, at study, etc..
In the present embodiment, when robot determine the first call request be urgency traffic request when, at this point, regardless of first to
It reminds whether user is provided with interruption-free condition, can all carry out urgent call reminding to it, that is to say, that even if currently meeting the
The interruption-free condition of one user to be reminded also ignores the interruption-free condition.
In the present embodiment, even if the first call request is not urgency traffic request, the first call request is not meant that yet
It does not need to carry out call reminding.It specifically, can be into if it is urgency traffic request that robot, which determines the first call request not,
And judge whether corresponding first user to be reminded of first call request is provided with interruption-free condition and currently whether meets
The interruption-free condition can also carry out call reminding for the first user to be reminded, on the contrary if being unsatisfactory for interruption-free condition
Ground not will do it call reminding if meeting interruption-free condition.Wherein, interruption-free condition may include the interruption-free time, exempt from
Bother region.
Optionally, if the receiving time of the first call request is not located at the first user to be reminded corresponding interruption-free time,
Then robot determines that the first call request is unsatisfactory for the interruption-free condition of the first user to be reminded, then can execute according to environment
The step of position of figure the first user to be reminded of positioning.
Optionally, behind the position for orienting the first user to be reminded, if the position of the first user to be reminded is not located at
The corresponding interruption-free region of one user to be reminded, then robot execute be moved to the position of the first user to be reminded with to first to
The step of reminding user's output incoming prompting message.
It is worth noting that the execution timing of step 304 is using the interruption-free time as interruption-free condition in the present embodiment
For.It, in step 304 can be first when interruption-free condition includes interruption-free time and interruption-free region in practical application
It is made whether that the judgement for meeting for the first interruption-free time set by user to be reminded executes if being unsatisfactory for the interruption-free time
The step of positioning the position of the first user to be reminded, and then execute the position whether to be located at first to be reminded set by user
The judgement in interruption-free region is executed mobile to the first user to be reminded and is sent a telegram here if not being located at the interruption-free region
The step of prompting.
Through this embodiment, the call reminding requested urgency traffic on the one hand may be implemented, on the other hand, for non-tight
Anxious call request, can also call according to the interruption-free condition of user setting, to the interruption-free condition for not meeting user setting
Request is reminded to user in time.
The communication processing device of one or more embodiments of the invention described in detail below.Those skilled in the art can
To understand, the step of these communication processing devices can be used commercially available hardware component instructed by this programme configured come
It constitutes.
Fig. 4 is a kind of structural schematic diagram of communication processing device provided in an embodiment of the present invention, which can
To be located in robot, which can be sweeping robot.As shown in figure 4, the device include: connection establishment module 11,
Call detection module 12, position determination module 14, reminds processing module 15 at user's determining module 13.
Connection establishment module 11 is communicated to connect for establishing with subscriber terminal equipment.
Call detection module 12, for detecting received first call request of the subscriber terminal equipment.
User's determining module 13, if not responded for first call request, it is determined that first call request
Corresponding first user to be reminded.
Position determination module 14, for positioning first use to be reminded according to the environmental map stored in the robot
The position at family.
Processing module 15 is reminded, if orienting the position of the described first user to be reminded for the position determination module,
The position of the described first user to be reminded is then moved to described first user's output incoming prompting message to be reminded.
Optionally, user's determining module 13 can be also used for: if first call request is not responded, it is determined that
Whether first call request is urgency traffic request；If first call request is urgency traffic request, it is determined that institute
State corresponding first user to be reminded of the first call request.
Optionally, user's determining module 13 specifically can be used for: if the corresponding caller of first call request
In pre-set user list, it is determined that first call request is urgency traffic request, alternatively, if receiving described the
N number of second call request not responded, and first call request are received in preset time before one call request
Corresponding to same callee with N number of second call request, it is determined that first call request is urgency traffic request,
N≥1.At this point it is possible to determine that corresponding first user to be reminded of first call request is corresponding for first call request
Callee.
Optionally, user's determining module 13 specifically can be used for: if before receiving first call request
Preset time in receive N number of second call request not responded, it is determined that first call request be urgency traffic
Request, N >=1, alternatively, if received in the preset time before receiving first call request do not responded it is N number of
Second call request, and first call request and N number of second call request correspond to same call person, it is determined that institute
The first call request is stated as urgency traffic request.At this point it is possible to from first call request and N number of second call request
The described first user to be reminded is selected in corresponding callee.
Optionally, the position determination module 14 specifically can be used for: according to the room cloth for including in the environmental map
Path is looked in office's information determination；Along it is described look for path and move during, obtain the collected user of user's acquisition device
Characteristics of image；If the user images feature is corresponding with the described first user to be reminded to refer to user images characteristic matching,
Position the position of the described first user to be reminded.
Optionally, user's determining module 13 can be also used for: if 14 no-fix of position determination module is to described first
The position of user to be reminded then determines the second use to be reminded from the corresponding alternative prompting user of the described first user to be reminded
Family.
Correspondingly, the position determination module 14 is also used to: positioning institute according to the environmental map stored in the robot
State the position of the second user to be reminded.
Correspondingly, the prompting processing module 15 is also used to: if position determination module 14 is stored according in the robot
Environmental map orient the position of the described second user to be reminded, then be moved to the position of the described second user to be reminded with right
Second user to be reminded exports the call reminding information.
Optionally, the position determination module 14 is specifically used for: if the receiving time of first call request is not located at
The first user to be reminded corresponding interruption-free time, then position the described first user's to be reminded according to the environmental map
Position.
Optionally, the prompting processing module 15 is specifically used for: if the position of first user to be reminded is not located at institute
The corresponding interruption-free region of the first user to be reminded is stated, then is moved to the position of the described first user to be reminded to described first
User's output incoming prompting message to be reminded.
Fig. 4 shown device can execute the call handling method of foregoing embodiments offer, and the present embodiment is not described in detail
Part, can refer to the related description to previous embodiment.The implementation procedure and technical effect of the technical solution are referring to aforementioned reality
The description in example is applied, details are not described herein.
The foregoing describe the built-in function of map creation device and structures, in a possible design, call processing dress
The structure set can be realized to be arranged as shown in figure 5, the robot may include: basic machine 21 in basic machine 21 for robot
On processor 22, memory 23, communication interface 24, moving type actuating mechanism 25.
Wherein, the memory 23, which is used to store, supports the robot to execute the call processing side provided in previous embodiment
The program of method, the processor 22 are configurable for executing the program stored in the memory 23.
Described program includes one or more computer instruction, wherein one or more computer instruction is described
Processor 22 can be realized following steps when executing:
It is established and is communicated to connect with subscriber terminal equipment by the communication interface 24；
Detect received first call request of the subscriber terminal equipment；
If first call request is not responded, it is determined that corresponding first use to be reminded of first call request
Family；
The position of the described first user to be reminded is positioned according to the environmental map stored in the robot；
If orienting the position of the described first user to be reminded, controlling the moving type actuating mechanism 25 makes the robot
The position of the described first user to be reminded is moved to described first user's output incoming prompting message to be reminded.
Optionally, the processor 21 is also used to execute all or part of the steps in foregoing embodiments.
Wherein, processor 22, memory 23, communication interface 24 may be disposed inside basic machine 21, also can be set in
The surface of basic machine 21.Moving type actuating mechanism 25 realizes the walking function of robot on the ground.In addition, on basic machine 21
Be also provided with some basic modules of robot, such as clean component, sensor module, power supply module etc..
In addition, the embodiment of the invention provides a kind of computer readable storage mediums for storing computer instruction, when described
When computer instruction is executed by processor, causing the processor to execute includes movement below:
Establish the communication connection between robot and subscriber terminal equipment；
Detect received first call request of the subscriber terminal equipment；
If first call request is not responded, it is determined that corresponding first use to be reminded of first call request
Family；
The position of the described first user to be reminded is positioned according to the environmental map stored in the robot；
If orienting the position of the described first user to be reminded, the position of the described first user to be reminded is moved to right
First user's output incoming prompting message to be reminded.
In addition, the processor can also be caused to execute above-mentioned each reality when the computer instruction is executed by processor
Apply program involved in the call handling method in example.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of required general hardware platform is added, naturally it is also possible to which reality is come in conjunction with by way of hardware and software
It is existing.Based on this understanding, substantially the part that contributes to existing technology can be to calculate in other words for above-mentioned technical proposal
The form of machine product embodies, and it wherein includes the meter of computer usable program code that the present invention, which can be used in one or more,
The computer journey implemented in calculation machine usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of sequence product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable map generating devices to produce
A raw machine, so that being generated by the instruction that the processor of computer or other programmable map generating devices executes for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable map generating devices with spy
In the computer-readable memory for determining mode floor, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions can also be loaded into computer or other programmable map generating devices, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (14)
1. a kind of call handling method, which is characterized in that be applied to robot, which comprises
The robot and subscriber terminal equipment, which are established, to be communicated to connect；
The robot detects received first call request of the subscriber terminal equipment；
If first call request is not responded, it is determined that corresponding first user to be reminded of first call request；
The position of the described first user to be reminded is positioned according to the environmental map stored in the robot；
If orienting the position of the described first user to be reminded, the position of the described first user to be reminded is moved to described
First user's output incoming prompting message to be reminded.
2. if the method according to claim 1, wherein first call request is not responded, really
Determine corresponding first user to be reminded of first call request, comprising:
If first call request is not responded, it is determined that whether first call request is urgency traffic request；
If first call request is urgency traffic request, it is determined that corresponding first use to be reminded of first call request
Family.
3. according to the method described in claim 2, it is characterized in that, whether the determination first call request is urgent logical
Words request, comprising:
If the corresponding caller of first call request is located in pre-set user list, it is determined that first call request is
Urgency traffic request, alternatively,
If receiving N number of second call not responded in the preset time before receiving first call request to ask
It asks, and first call request and N number of second call request correspond to same callee, it is determined that described first is logical
Words request is that urgency traffic is requested, N >=1.
4. according to the method described in claim 3, it is characterized in that, the determination first call request corresponding first to
Remind user, comprising:
Determine that corresponding first user to be reminded of first call request is the corresponding callee of first call request.
5. according to the method described in claim 2, it is characterized in that, whether the determination first call request is urgent logical
Words request, comprising:
If receiving N number of second call not responded in the preset time before receiving first call request to ask
It asks, it is determined that first call request is that urgency traffic is requested, N >=1, alternatively,
If receiving N number of second call not responded in the preset time before receiving first call request to ask
It asks, and first call request and N number of second call request correspond to same call person, it is determined that first call
Request is that urgency traffic is requested.
6. according to the method described in claim 5, it is characterized in that, the determination first call request corresponding first to
Remind user, comprising:
It is to be reminded that described first is selected from first call request and the corresponding callee of N number of second call request
User.
7. method according to any one of claim 1 to 6, which is characterized in that described to be stored according in the robot
Environmental map position the position of the described first user to be reminded, comprising:
Path is looked for according to the room layout information determination for including in the environmental map；
Along it is described look for path and move during, obtain the collected user images feature of user's acquisition device；
If the user images feature is corresponding with the described first user to be reminded to refer to user images characteristic matching, institute is positioned
State the position of the first user to be reminded.
8. the method according to the description of claim 7 is characterized in that the method also includes:
If no-fix to the position of the described first user to be reminded, is used from the corresponding alternative prompting of the described first user to be reminded
The second user to be reminded is determined in family；
If orienting the position of the described second user to be reminded according to the environmental map stored in the robot, it is moved to institute
The position of the second user to be reminded is stated to export the call reminding information to the described second user to be reminded.
9. the method according to claim 1, wherein described fixed according to the environmental map stored in the robot
The position of position first user to be reminded, comprising:
If the receiving time of first call request is not located at the described first user to be reminded corresponding interruption-free time, root
The position of the described first user to be reminded is positioned according to the environmental map.
10. the method according to claim 1, wherein the position for being moved to the described first user to be reminded
To described first user's output incoming prompting message to be reminded, comprising:
If the position of first user to be reminded is not located at the corresponding interruption-free region of the described first user to be reminded, move
To the position of the described first user to be reminded to described first user's output incoming prompting message to be reminded.
11. the method according to claim 1, wherein the artificial sweeping robot of the machine.
12. a kind of communication processing device, which is characterized in that be applied to robot, comprising:
Connection establishment module is communicated to connect for establishing with subscriber terminal equipment；
Call detection module, for detecting received first call request of the subscriber terminal equipment；
User's determining module, if not responded for first call request, it is determined that first call request is corresponding
First user to be reminded；
Position determination module, for positioning the position of the described first user to be reminded according to the environmental map stored in the robot
It sets；
Processing module is reminded to move if orienting the position of the described first user to be reminded for the position determination module
To the position of the described first user to be reminded to described first user's output incoming prompting message to be reminded.
13. a kind of robot characterized by comprising basic machine, the processor being arranged on the basic machine store
Device, communication interface, moving type actuating mechanism；
The memory is for storing one or more computer instruction, wherein one or more computer instruction is by institute
State realization when processor executes:
It is established and is communicated to connect by the communication interface and subscriber terminal equipment；
Detect received first call request of the subscriber terminal equipment；
If first call request is not responded, it is determined that corresponding first user to be reminded of first call request；
The position of the described first user to be reminded is positioned according to the environmental map stored in the robot；
If orienting the position of the described first user to be reminded, controlling the moving type actuating mechanism is moved to the robot
The position of first user to be reminded is to described first user's output incoming prompting message to be reminded.
14. a kind of computer readable storage medium for storing computer instruction, which is characterized in that when the computer instruction is located
When managing device execution, causing the processor to execute includes movement below:
Establish the communication connection between robot and subscriber terminal equipment；
Detect received first call request of the subscriber terminal equipment；
If first call request is not responded, it is determined that corresponding first user to be reminded of first call request；
The position of the described first user to be reminded is positioned according to the environmental map stored in the robot；
If orienting the position of the described first user to be reminded, the position of the described first user to be reminded is moved to described
First user's output incoming prompting message to be reminded.
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| CN201810746847.2A CN110177330A (en) | 2018-07-09 | 2018-07-09 | Call handling method, device, robot and storage medium |
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|---|---|---|---|
| CN201810746847.2A CN110177330A (en) | 2018-07-09 | 2018-07-09 | Call handling method, device, robot and storage medium |
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| CN110177330A true CN110177330A (en) | 2019-08-27 |
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