CN110271008B - Control method and device and service robot - Google Patents
Control method and device and service robot Download PDFInfo
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- CN110271008B CN110271008B CN201910719291.2A CN201910719291A CN110271008B CN 110271008 B CN110271008 B CN 110271008B CN 201910719291 A CN201910719291 A CN 201910719291A CN 110271008 B CN110271008 B CN 110271008B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The application provides a control method, a control device and a service robot. The method is applied to a mobile service robot, the service robot comprises an article storage bin, and the method comprises the following steps: judging whether the goods which are not taken away are left in the goods storage bin; if so, sending prompt information to a user to prompt the user that the unremoved articles are left in the article storage bin; if not, closing the bin door of the article storage bin. In the embodiment of the application, whether the unremoved articles are left in the article storage bin is judged; if yes, sending prompt information to a user to prompt the user that the articles which are not taken away are left in the article storage bin. The user can be reminded in time that the articles which are not taken away are left in the article storage bin, and the user experience is improved.
Description
Technical Field
The application relates to the field of robots, in particular to a control method, a control device and a service robot.
Background
In recent years, the service robot market has been kept growing faster. More and more hotels and shopping malls use service robots. The service robot may guide the user or may carry goods for the user. The service robot greatly reduces the labor cost. However, when the existing service robot transports goods, it is impossible to sense whether the goods inside the service robot are all taken away by the user, and further it is impossible to remind the user that the goods which are not taken away exist, which brings very poor experience to the user.
Disclosure of Invention
In view of this, an object of the embodiments of the present application is to provide a control method, a control device, and a service robot, so as to solve the problem that "the service robot cannot sense whether all internal commodities have been taken away by a user, and cannot remind the user that there are not yet taken commodities, so that very poor experience is brought to the user".
In order to solve the above technical problem, the embodiment of the present application is implemented as follows:
in a first aspect, an embodiment of the present application provides a control method, which is applied to a movable service robot, where the service robot includes an article storage bin, and the method includes: judging whether the goods which are not taken away are left in the goods storage bin; if so, sending prompt information to a user to prompt the user that the unremoved articles are left in the article storage bin; if not, closing the bin door of the article storage bin.
In the application, whether the articles which are not taken away are left in the article storage bin is judged; if yes, sending prompt information to a user to prompt the user that the articles which are not taken away are left in the article storage bin. The user can be reminded in time that the articles which are not taken away are left in the article storage bin, and the user experience is improved.
With reference to the technical solution provided by the first aspect, in some possible implementation manners, if yes, sending a prompt message to a user to prompt the user that an unremoved article is left in the article storage bin, where the prompt message includes: if yes, first prompt information is sent to a terminal corresponding to the user to prompt the user that the articles which are not taken away are left in the article storage bin.
In this application, leave the article that not take away when judging the inside of article storage compartment, directly send first prompt information to user's terminal, it is more intelligent, user's degree of experience is better.
With reference to the technical solution provided by the first aspect, in some possible implementations, after the if, closing the door of the article storage bin, the method further includes: and sending second prompt information to a terminal corresponding to the user to prompt that all the articles in the article storage bin are taken away by the user.
In the application, after the user takes out the articles and closes the bin door, second prompt information is sent to the terminal of the user to prompt that the articles in the article storage bin of the user are all taken away, so that the user is more attentive, and the experience of the user is enhanced.
With reference to the technical solution provided by the first aspect, in some possible implementation manners, the service robot further includes a display screen and/or a speaker, and if so, sends a prompt message to a user to prompt the user that an article that has not been taken away is left in the article storage bin, including: if yes, displaying prompt text information on the display screen and/or playing prompt sound information through the loudspeaker to prompt the user that the articles which are not taken away are left in the article storage bin.
In the application, the user can be prompted at the first time through the display screen and/or the loudspeaker, the user is prevented from walking far away, and poor experience is brought to the user.
With reference to the technical solution provided by the first aspect, in some possible implementation manners, if not, closing a door of the article storage bin includes: if not, after waiting for the preset time, closing the bin door of the article storage bin.
In this application, after the user took out commodity and waited for preset time, closed article storage compartment's door again, avoided the hand of getting the thing at the user not yet taken out the condition from article storage compartment and closed the door and cause the injury to the user.
With reference to the technical solution provided by the first aspect, in some possible implementation manners, before the determining whether an unremoved item is left in the item storage bin, the method further includes: receiving an instruction of the user to open a bin gate; judging whether the information in the instruction is consistent with preset information or not; and if so, opening the bin door.
In the application, before the door is opened, whether the information in the instruction for opening the door by the user is consistent with the preset information or not can be judged, and if so, the door is opened, so that the safety is improved.
With reference to the technical solution provided by the first aspect, in some possible implementation manners, the determining whether an unremoved article is left in the article storage bin includes: judging whether the distance between the user and the user exceeds a preset distance or not; if yes, judging whether the goods which are not taken away are left in the goods storage bin.
In the application, when the distance between the user and the storage bin is judged to exceed the preset distance, whether the goods which are not taken away are left in the storage bin is judged. The problem that when a user takes articles, the service robot is always in the process of judging whether the articles which are not taken away are left in the article storage bin or not is solved, and the service robot consumes too fast power.
With reference to the technical solution provided by the first aspect, in some possible implementation manners, the determining whether an unremoved article is left in the article storage bin includes: judging whether the time for opening the bin door exceeds preset time or not; if yes, judging whether the goods which are not taken away are left in the goods storage bin.
In the application, when the time for judging the opening of the bin door exceeds the preset time, whether the articles which are not taken away are left in the article storage bin is judged. The problem that when a user takes articles, the service robot is always in the process of judging whether the articles which are not taken away are left in the article storage bin or not is solved, and the service robot consumes too fast power.
In a second aspect, an embodiment of the present application provides a control device, which is applied to a mobile service robot, where the service robot includes an article storage bin, and the device includes: the judging module is used for judging whether the goods which are not taken away are left in the goods storage bin; the prompting module is used for sending prompting information to a user if the article storage bin is in the storage state, so as to prompt the user that the article which is not taken away is left in the article storage bin; and the execution module is used for closing the bin door of the article storage bin if the storage bin is not closed.
In a third aspect, an embodiment of the present application provides a service robot, including: the device comprises a body, an article storage bin arranged on the body, a detection device arranged in the body, a processor and a memory, wherein the processor is connected with the memory; the detection device is used for detecting the articles in the article storage bin; the memory is used for storing programs; the processor is configured to invoke a program stored in the memory, to perform the method according to the embodiments of the first aspect and/or provided in combination with some possible implementations of the embodiments of the first aspect.
In a fourth aspect, embodiments of the present application provide a storage medium having stored thereon a computer program, which, when executed by a processor, performs a method as provided in the above-described first aspect embodiment and/or in connection with some possible implementations of the above-described first aspect embodiment.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart illustrating steps of a control method according to an embodiment of the present disclosure.
Fig. 2 is a flowchart illustrating steps of another control method according to an embodiment of the present disclosure.
Fig. 3 is a block diagram of a control device according to an embodiment of the present disclosure.
Fig. 4 is a block diagram of a service robot according to an embodiment of the present disclosure.
Icon: 10-a service robot; 11-a processor; 12-a detection device; 13-a memory; 14-a communication module; 15-a distance detector; 16-a display; 17-loudspeaker.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the prior art, more and more hotels and shopping malls use service robots, and the service robots can guide users and can also transport goods for the users. The service robot greatly reduces the labor cost. However, when the existing service robot transports goods, it is impossible to sense whether the goods inside the service robot are all taken away by the user, and further it is impossible to remind the user that the goods which are not taken away exist, which brings very poor experience to the user.
In view of the above problems, the present inventors have studied and researched to provide the following embodiments to solve the above problems.
Referring to fig. 1, an embodiment of the present application provides a control method for a mobile service robot. The service robot has wide application, is mainly applied to places such as hotels, markets, hospitals and the like, and is used for maintaining, monitoring, transporting commodities and the like. The control method provided by the application is mainly applied to the service robot for transporting commodities. In this embodiment, the service robot includes an article storage compartment to facilitate transportation of goods, and the service robot has a movable capability. The mobile capability of the service robot can be realized, for example, as follows. The service robot is provided with a navigation system and a control system, wherein the navigation system is used for setting navigation information for a user, and the control system is used for controlling the service robot to move according to the navigation information. Since the focus of the invention is not on how to make the service robot mobile, only one way of making the service robot mobile is described here in a simple example. It is understood that the manner of making the service robot have the movable capability may also be in other manners, and is not limited thereto. The following description focuses on a control method of a service robot for a goods-taking link of a consignee when the service robot delivers goods to the corresponding consignee, the control method includes: step S101, step S102, and step S103.
Step S101: and judging whether the article storage bin has articles which are not taken away.
The service robot in this application embodiment is used for transporting commodity, and when the user needs commodity, the trade company places commodity in service robot's article storage compartment, and service robot arrives the user according to appointed circuit, and the user opens the door of service robot's article storage compartment, takes out commodity. The service robot judges whether the article storage bin has articles which are not taken away.
In one embodiment, the service robot may start execution of the determination command when the user opens the storage door, in determining whether or not there is an article that has not been removed in the article storage.
As still another embodiment, the service robot further includes a distance detector for detecting a distance to the human body. Before judging whether the article storage bin has the article which is not taken away, judging whether the distance between the article storage bin and a user exceeds a preset distance, and if the distance exceeds the preset distance, executing an instruction for judging whether the article storage bin has the article which is not taken away. For ease of understanding, the following detailed description is provided. Generally, when a user takes an article, the user leaves the article after considering that the article has been completely taken out. The step of judging whether the distance between the user and the step of the method exceeds the preset distance is to judge whether the user finishes the action of taking the article. When the distance between the service robot and the user exceeds the preset distance, the fact that the user finishes the action of taking the articles and leaves the article storage bin can be indicated, at the moment, whether the articles which are not taken away exist in the article storage bin or not is judged, and the fact that the service robot always stays in the process of judging whether the articles which are not taken away exist in the article storage bin or not when the user takes the articles is avoided, so that the service robot consumes too fast power, and bad experience is brought to the user.
Wherein, the preset distance can be 2 meters, 5 meters or 10 meters. The present application is not limited thereto.
In the following, a specific example is described, in which after the user opens the door, the service robot detects the distance to the user by the distance detector. For example, the preset distance set inside the service robot is 4 meters, and when the distance detector detects that the distance between the service robot and the user exceeds 4 meters, the service robot starts to judge whether articles which are not taken away by the user exist in the article storage bin.
As another embodiment, before determining whether there is an article that has not been removed in the article storage bin, it is determined whether the opening time of the bin door of the article storage bin exceeds a preset time, and if the opening time exceeds the preset time, an instruction for determining whether there is an article that has not been removed in the article storage bin is executed. For ease of understanding, the following detailed description is provided. Generally, when a user opens the bin door to take articles, the time is short, and the articles can be taken out in 2-3 seconds generally. If more items are purchased, it may take 5-10 seconds. The time for the user to remove the item is relatively short. The step of judging whether the door opening time exceeds the preset time is to judge whether the user finishes the action of taking articles. When the opening time of the bin door exceeds the preset time, the situation that the user finishes the action of taking the articles and prepares to leave the bin door can be shown, and at the moment, whether the articles which are not taken away exist in the article storage bin is judged, so that the situation that the service robot is always in the process of judging whether the articles which are not taken away exist in the article storage bin when the user takes the articles is avoided, the service robot consumes too fast power, and bad experience is brought to the user.
The preset time may be 5 seconds or 10 seconds, or 20 seconds or 1 minute. The present application is not limited thereto.
In the following, a specific example will be described, in which the service robot determines the door opening time of the article storage compartment after the user opens the door. For example, the preset time set inside the service robot is 12 seconds, and when the service robot detects that the door opening time exceeds 12 seconds, the service robot starts to judge whether articles which are not taken away by the user exist in the article storage bin.
As a detection mode, a pressure sensor can be arranged in the article storage bin of the service robot, and the service robot judges whether articles which are not taken away are left in the article storage bin or not according to pressure information collected by the pressure sensor. For example, when no article is placed in the article storage bin, the pressure data collected by the pressure sensor is 0, and when the pressure data collected by the pressure sensor is greater than 0, it is indicated that an article is left in the article storage bin. Wherein, more accurate when for making the service robot judge, prevent error factor to the interference of service robot, can set up pressure compensation parameter, for example compensation parameter is 0.01 kg, when pressure data that pressure sensor gathered is greater than 0.01 kg, explains that article have been left over to the inside of article storage compartment.
As another detection mode, a camera may be disposed inside the article storage bin of the service robot, and the service robot determines whether an article that is not taken away is left inside the article storage bin according to image information acquired by the camera. For example, an image of the inside of the article storage compartment when there is no article is stored in advance. When judging whether the interior of the article storage bin is provided with articles which are not taken away, only judging whether the currently acquired image information is consistent with the pre-stored image, if so, indicating that no articles are left in the interior of the article storage bin. If not, it indicates that the inside of the storage bin has left the unremoved items.
In other embodiments, other devices may be used to determine whether an unremoved object is left inside the storage compartment, such as an infrared sensor. The present application is not limited thereto.
When it is determined that the unremoved article remains inside the article storage bin, step S102 is performed.
Step S102: and sending prompt information to the user to prompt the user that the unremoved goods are left in the goods storage bin.
When the service robot detects that articles are left in the article storage bin through the steps, prompt information is sent to the user to remind the user to return to take away the left articles.
As a prompting mode, the service robot sends first prompting information to a terminal corresponding to a user so as to prompt the user that the inside of the article storage bin is left with articles which are not taken away.
At present, the mode of ordering and purchasing commodities by a user is through terminals such as a mobile phone and a tablet personal computer, for example, when the user purchases commodities to a foreground by dialing a telephone. When a merchant places commodities inside the service robot, the mobile phone number of a user can be stored in the service robot, and when the service robot judges that articles which are not taken away are left inside the article storage bin, a short message is sent to the mobile phone number stored inside to prompt the user that the articles which are not taken away are left inside the article storage bin. Certainly, the service robot may also include a communication module inside, and when it is determined that an article that has not been taken away is left inside the article storage bin, the information may be sent to a merchant, and the merchant sends a short message to the mobile phone number of the user. The present application is not limited thereto. For example, many hotels and shopping malls currently have their own APPs (Application programs), and a user logs in the APPs corresponding to the hotel and the shopping mall where the user is located to complete ordering. When the service robot judges that the inside of article storage bin leaves the article that has not taken away, can be directly with prompt message routing to user terminal's APP to the inside of suggestion user article storage bin leaves over the article that has not taken away.
In this application embodiment, leave the article that has not taken away when judging the inside of article storage compartment, directly send first prompt information to user's terminal, it is more intelligent, user's degree of experience is better.
As yet another way of prompting, the service robot includes a display screen and/or a speaker; the text information is displayed on the display screen, and/or the prompt sound information is played through the loudspeaker to prompt a user that the articles which are not taken away are left in the article storage bin.
The text information on the display screen can be words such as 'commodity not taken away', 'not taken away yet', 'left over', and the prompt sound information played through the loudspeaker comprises voices such as 'commodity not taken away', 'not taken away yet', 'left over', and the like. When the service robot includes both the display screen and the speaker, the prompt sound information played by the speaker may be content corresponding to the text information content displayed on the display screen, for example, "there is no article taken away" displayed on the display screen, and "there is no article taken away" played by the speaker at the same time. Of course, the prompt sound information played by the loudspeaker can be different from the text information content displayed on the display screen. For example, when the display screen shows that the user is not finished, the loudspeaker also plays the functions of 'leaving the left, please leave the step for detection', and the like. The present application is not limited thereto. Can the very first time point out the user through display screen and speaker, avoid the user to walk far away, bring not good experience for the user.
It is understood that in other embodiments, the service robot may also display only text information on the display screen to prompt the user that the inside of the article storage bin is left with articles that have not been taken away; or only playing prompt sound information through the loudspeaker to prompt the user that the articles which are not taken away are left in the article storage bin. The present application is also not limited thereto.
As another prompting method, an indicator light is arranged on the service robot. When the service robot detects that articles are left in the article storage bin, the indicating lamp emits red light to remind a user that the articles which are not taken out are left in the article storage bin. Optionally, the color of the light emitted by the indicator light when the service robot detects that the article is left in the article storage bin may be other colors, such as yellow and orange. And when the service robot detects that the article to be taken is not left in the article storage bin, the indicating lamp can emit green light. Through setting up the pilot lamp, the user can confirm whether remain in the article storage compartment and have not got the article according to the luminous colour of pilot lamp to promote user experience.
When it is judged that no article remains inside the article storage compartment, step S103 is executed.
Step S103: closing the door of the goods storage bin.
When the goods are judged not to be left in the goods storage bin, the user is indicated that all the goods are taken away, and at the moment, the service robot closes the bin door of the goods storage bin and returns to the merchant.
As a way of closing the door, the service robot may automatically close the door when it is determined that no article is left in the article storage bin. Of course, the user may click a button for closing the door on the service robot after taking the commodity, and the service robot executes the action for closing the door when receiving the instruction for closing the door.
As another way of closing the door, the service robot waits for a predetermined time before closing the door of the article storage bin when it is determined that no article remains in the article storage bin. After the user takes out the commodity, whether the commodity storage bin has the commodity that has not been taken out by oneself, at this moment, if directly close the door, can cause the injury to the user, for example press from both sides and hinder the finger. Therefore, when the service robot judges that no article is left in the article storage bin, the service robot waits for a preset time and then closes the bin door of the article storage bin. The preset time may be 5 seconds or 10 seconds. The present application is not limited thereto. As an example, after the user takes out the article, the service robot waits for 3 seconds after determining that no article is left in the article storage compartment, and closes the compartment door of the article storage compartment.
The above steps are described as a complete example, when the service robot reaches the designated position, the user opens the door, the service robot detects that the door opening time exceeds the preset time, the preset time is 10 seconds, and then whether the unremoved articles are left in the article storage bin is judged through the image information acquired by the camera. When the acquired image information is inconsistent with the pre-stored image, the prompt information is directly sent to the APP of the user terminal so as to prompt the user that the article which is not taken away is left in the article storage bin. And judging whether the articles which are not taken away are left in the article storage bin or not through the image information acquired by the camera. And if the goods are not left in the goods storage bin, closing the bin door of the goods storage bin after waiting for the preset time, and returning to the merchant.
In the embodiment of the application, whether the unremoved articles are left in the article storage bin is judged; if yes, sending prompt information to a user to prompt the user that the articles which are not taken away are left in the article storage bin. The user can be reminded in time that the articles which are not taken away are left in the article storage bin, and the user experience is improved.
Optionally, after closing the door of the storage bin, the method further comprises: and sending prompt information to the user to prompt the user that all the articles in the article storage bin are taken away.
Correspondingly, the step of sending the prompt information to the user may be sending a second prompt information to a terminal corresponding to the user to prompt the user that all articles in the article storage bin are taken away; or the text information can be displayed on the display screen and/or the prompt sound information can be played through the loudspeaker to prompt the user that all the articles in the article storage bin are taken away; it can also be a way of indicating lamp to prompt the user that the goods in the goods storage bin are all taken away.
For example, when sending the second prompt information to the terminal corresponding to the user, sending a short message to the mobile phone number of the user or directly sending the prompt information to the APP of the user terminal may be used to prompt that all the articles in the article storage bin are taken away by the user.
For another example, when the text information is displayed on the display screen and/or the prompt voice information is played through the speaker, the text information displayed on the display screen may be the characters of "the commodity has been taken out", "thank you for purchase", and the like, and/or the prompt voice information of "the commodity has been taken out", "thank you for purchase", and the like, is played through the speaker. It can be understood that, when the service robot includes both the display screen and the speaker, the prompt sound information played by the speaker may correspond to the text information displayed on the display screen, for example, when "the goods are taken out" is displayed on the display screen, the speaker plays "the goods are taken out". Of course, the prompt sound information played by the loudspeaker can be different from the text information content displayed on the display screen. For example, when the display screen displays "thank you for purchase", the loudspeaker also plays "thank you for patronage" and so on. The present application is not limited thereto.
For another example, when the article storage compartment is used as a pass-through indicator, the color of the indicator may be set to green to prompt the user that all the articles in the article storage compartment have been removed.
It should be explained that sending the user a prompt that the item has been completely removed may refer to the specific details in step 102, and for the sake of avoiding redundancy, the same parts may be referred to each other without redundant explanation.
In the embodiment of the application, after the user takes out the articles and closes the bin door, the prompt information is sent to the user to prompt the user that the articles in the article storage bin are all taken away, so that the user feels more confident and the experience of the user is enhanced.
Referring to fig. 2, optionally, before determining whether there is an article that has not been taken out from the interior of the article storage bin, that is, before the service robot performs step S101, in order to improve the safety, the method further includes: step S201-step S203.
Step S201: receiving an instruction of a user to open the bin gate.
First, when the service robot transports an item to a designated location, the user needs to verify the identity before opening the door.
Optionally, the display on the service robot prompts the user to input a password, and when the user purchases goods, the merchant sends a password to the user to open the door of the service robot. And after the user inputs the password on the service robot, the service robot receives the instruction of the user.
Optionally, the service robot may also store the identity information of the corresponding user in advance, for example, when the user is in a hotel, the user may register in the foreground through an identity card. The service robot prestores the identity card information of the user, when the service robot reaches the position of the appointed user, the user can directly brush the identity card, and the service robot receives the instruction of the user.
Optionally, an instruction of opening the door by the user may also be received through the APP, for example, when the service robot has reached the specified user position, a position information confirmation is sent to the terminal APP of the user. And the service robot receives the instruction fed back by the user.
Step S202: and judging whether the information in the instruction is consistent with the preset information.
After the service robot receives an instruction of opening the door of the user, whether the information in the instruction is consistent with preset information is judged.
For example, after the service robot receives a password input by the user, it is determined whether the password input by the user is consistent with a preset password for opening the door.
For another example, when the user swipes an identity card for verification, the service robot determines whether the user corresponding to the identity card is a user who purchases a commodity.
For another example, when the service robot sends the position information confirmation to the user terminal APP, the service robot determines whether the information fed back by the user is a confirmed instruction.
If yes, step S203 is executed.
Step S203: and opening the bin door.
That is, if the password input by the user is consistent with the preset password for opening the door, the door is opened. And if the user corresponding to the identity card is consistent with the user purchasing the commodity, opening the door. And if the service robot receives the confirmed instruction fed back by the user, opening the door.
It is understood that if the information in the command is inconsistent with the preset information, the door is not opened. When the information is wrong, the service robot can send out an error indication and prompt the user to perform verification again. In order to ensure the safety of the commodity, if the user fails in verification for three times, the service robot turns on the indicator lamp to give an alarm. And feeding back the error information to the merchant for processing.
Referring to fig. 3, based on the same inventive concept, the embodiment of the present application further provides a control device 100 applied to a mobile service robot.
The control device includes: a judging module 101, a prompting module 102 and an executing module 103.
The judging module 101 is configured to judge whether an unremoved article is left in the article storage bin. The prompting module 102 is configured to send a prompting message to a user if the storage space is empty, so as to prompt the user that the article left inside the article storage compartment is not taken away. The execution module 103 is used for closing the bin door of the article storage bin if the article storage bin is not closed.
Optionally, the prompting module 102 is further configured to send a first prompting message to a terminal corresponding to the user when it is determined that the article that has not been taken away is left in the article storage bin, so as to prompt the user that the article that has not been taken away is left in the article storage bin.
Optionally, the prompting module 102 is further configured to send a second prompting message to a terminal corresponding to the user after the door of the storage bin is closed when it is determined that the unremoved article is not left in the storage bin, so as to prompt the user that all the articles in the storage bin are removed.
Optionally, the prompting module 102 is further configured to display a prompting text message on the display screen and/or play a prompting voice message through the speaker when it is determined that the article that has not been taken away is left in the article storage bin, so as to prompt the user that the article that has not been taken away is left in the article storage bin.
Optionally, the executing module 103 is further configured to, when it is determined that an unremoved article is not left in the article storage bin, wait for a preset time, and then close a bin door of the article storage bin.
Optionally, the control device further comprises a receiving module 104. The receiving module 104 is configured to receive an instruction of the user to open the door. The judging module 101 is further configured to judge whether information in the instruction is consistent with preset information. The execution module 103 is further configured to open the door when it is determined that the information in the instruction is consistent with the preset information.
Optionally, the determining module 101 is further configured to determine whether a distance between the user and the determining module exceeds a preset distance; if yes, judging whether the goods which are not taken away are left in the goods storage bin.
Optionally, the judging module 101 is further configured to judge whether the time for opening the door exceeds a preset time; if yes, judging whether the goods which are not taken away are left in the goods storage bin.
Referring to fig. 4, based on the same inventive concept, a service robot 10 is further provided in the embodiment of the present application. The service robot 10 is movable for transporting the item. The method comprises the following steps: the device comprises a body, an article storage bin arranged on the body, a processor 11 arranged in the body, a detection device 12 and a memory 13, wherein the processor 11 is connected with the memory 13.
The detecting device 12 is used for detecting the articles in the article storage bin. The detection device 12 may be a pressure sensor, a camera, or an infrared sensor.
The memory 13 is used to store programs.
The processor 11 is used for calling the program stored in the memory and executing the method. For example, the processor 11 is configured to determine whether an unremoved article is left in the article storage bin, and if yes, send a prompt message to a user to prompt the user that the unremoved article is left in the article storage bin; if not, closing the bin door of the article storage bin.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Optionally, the service robot 10 further includes a communication module 14 for communicating with other devices. The communication module 14 may be a WIFI module, a ZigBee module, a 3G module, a 4G module, or other transmission modules satisfying the condition. The present application is not limited thereto.
Optionally, the service robot 10 further includes a distance detector 15 for detecting a distance to the human body.
Optionally, the service robot further comprises a display 16 and/or a speaker 17.
Based on the same inventive concept, embodiments of the present application further provide a storage medium having a computer program stored thereon, where the computer program is executed by a processor to perform the method provided in the above embodiments.
The storage medium may be any available medium that can be accessed by a computer or a data storage device including one or more integrated servers, data centers, and the like. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. A control method applied to a mobile service robot including an article storage bin, the service robot being used to transport an article, the method comprising, when the service robot reaches a designated position:
judging whether the goods which are not taken away are left in the goods storage bin;
if so, sending prompt information to a user to prompt the user that the unremoved articles are left in the article storage bin;
if not, closing a bin door of the article storage bin;
wherein, judge whether the inside of commodity storage storehouse leaves the commodity that has not taken away, include: judging whether the distance between the user and the user exceeds a preset distance or not; if yes, judging whether the interior of the article storage bin is provided with articles which are not taken away, and/or judging whether the time for opening the bin door exceeds the preset time; if yes, judging whether the goods which are not taken away are left in the goods storage bin.
2. The control method according to claim 1, wherein if yes, sending a prompt message to a user to prompt the user that an unremoved item is left inside the item storage compartment, comprising:
if yes, first prompt information is sent to a terminal corresponding to the user to prompt the user that the articles which are not taken away are left in the article storage bin.
3. The method of claim 2, wherein after said if not, closing a door of said storage bin, said method further comprises:
and sending second prompt information to a terminal corresponding to the user to prompt that all the articles in the article storage bin are taken away by the user.
4. The control method according to claim 1, wherein the service robot further comprises a display screen and/or a speaker, and if so, sending a prompt message to a user to prompt the user that an unremoved item is left inside the item storage compartment, comprising:
if yes, displaying prompt text information on the display screen and/or playing prompt sound information through the loudspeaker to prompt the user that the articles which are not taken away are left in the article storage bin.
5. The method of claim 1, wherein said closing the door of the storage compartment if not comprises:
if not, after waiting for the preset time, closing the bin door of the article storage bin.
6. The method of claim 1, wherein prior to said determining whether an unremoved item remains inside said storage compartment, said method further comprises:
receiving an instruction of the user to open a bin gate;
judging whether the information in the instruction is consistent with preset information or not;
and if so, opening the bin door.
7. A control device for a mobile service robot including an article storage compartment, the service robot being adapted to transport articles, the device comprising:
the judging module is used for judging whether the goods which are not taken away are left in the goods storage bin or not after the service robot reaches the designated position;
the prompting module is used for sending prompting information to a user when the fact that the objects which are not taken away are left in the object storage bin is judged so as to prompt the user that the objects which are not taken away are left in the object storage bin;
the execution module is used for closing the bin door of the article storage bin when the article which is not taken away is judged not to be left in the article storage bin;
the judging module is specifically used for judging whether the distance between the user and the judging module exceeds a preset distance; if yes, judging whether the interior of the article storage bin is provided with articles which are not taken away, and/or judging whether the time for opening the bin door exceeds the preset time; if yes, judging whether the goods which are not taken away are left in the goods storage bin.
8. A service robot, comprising: the device comprises a body, an article storage bin arranged on the body, a detection device arranged in the body, a processor and a memory, wherein the processor is connected with the memory;
the detection device is used for detecting the articles in the article storage bin;
the memory is used for storing programs;
the processor is configured to invoke a program stored in the memory to perform the method of any of claims 1-6.
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| CN201910719291.2A CN110271008B (en) | 2019-08-05 | 2019-08-05 | Control method and device and service robot |
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| CN201910719291.2A CN110271008B (en) | 2019-08-05 | 2019-08-05 | Control method and device and service robot |
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| CN111640258A (en) * | 2020-06-12 | 2020-09-08 | 北京云迹科技有限公司 | Mobile equipment control method, device and equipment |
| CN111860887A (en) * | 2020-07-09 | 2020-10-30 | 上海聚音信息科技有限公司 | Overdue medicine recovery system |
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| JP2001287183A (en) * | 2000-01-31 | 2001-10-16 | Matsushita Electric Works Ltd | Automatic conveyance robot |
| CN102509199A (en) * | 2011-09-26 | 2012-06-20 | 张春阳 | Method and system for registering e-commerce express |
| CN104166907A (en) * | 2014-07-18 | 2014-11-26 | 苏州市职业大学 | Date reminding and noting device |
| CN105844797A (en) * | 2016-03-26 | 2016-08-10 | 泉州市伍氏企业美食有限公司 | Intelligent automatic meal vender |
| CN105681475A (en) * | 2016-03-31 | 2016-06-15 | 上海上实龙创智慧能源科技股份有限公司 | Internet of things and Internet communication-based left item detection method and device |
| CN107730757B (en) * | 2016-11-16 | 2020-07-31 | 北京奥斯达兴业科技有限公司 | Parking lot management method and device |
| CN107239577A (en) * | 2017-06-30 | 2017-10-10 | 维沃移动通信有限公司 | A kind of information cuing method, terminal and computer-readable recording medium |
| CN107564200A (en) * | 2017-09-07 | 2018-01-09 | 深圳乐易住智能科技股份有限公司 | A kind of locker intelligence control system and method |
| CN107713400B (en) * | 2017-09-08 | 2020-04-21 | 杭州大聚科技有限公司 | Book borrowing system |
| CN109035610A (en) * | 2018-08-06 | 2018-12-18 | 深圳市沃特沃德股份有限公司 | Storage box and its storage method |
| CN109767572B (en) * | 2018-12-15 | 2022-07-12 | 深圳壹账通智能科技有限公司 | Method and device for storing mailings, computer equipment and storage medium |
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