CN111469126A

CN111469126A - Method and device for controlling robot and robot

Info

Publication number: CN111469126A
Application number: CN202010271483.4A
Authority: CN
Inventors: 支涛; 肖夏; 高志宇
Original assignee: Beijing Yunji Technology Co Ltd
Current assignee: Beijing Yunji Technology Co Ltd
Priority date: 2020-04-08
Filing date: 2020-04-08
Publication date: 2020-07-31

Abstract

The application provides a method, a device and a robot for controlling the robot, wherein the robot comprises an article storage bin and a recovery bin, and the method comprises the following steps: acquiring a recovery signal; and recovering the articles from the storage bin to the recovery bin according to the recovery signal. The method for controlling the robot can reduce manpower and improve the working efficiency of the robot.

Description

Method and device for controlling robot and robot

Technical Field

The application relates to the field of robots, in particular to a method and a device for controlling a robot and the robot.

Background

At present, robots are widely applied to various aspects of human production and life, wherein the object-conveying robot plays an important role in human daily life. People can transport various articles through the delivery robot, for example, in a hotel, the delivery robot can be used to deliver articles such as meals, snacks and the like purchased by a guest to a guest room. However, if the article conveyed by the existing article conveying robot is not taken away in time, the article left in the article conveying robot needs to be taken away through manual operation, and then the article conveying robot can continue to take the article and convey the article. Therefore, the object conveying robot in the prior art reduces the work efficiency of the object conveying robot due to the fact that the left objects need to be recovered manually.

Disclosure of Invention

An object of the embodiment of the present application is to provide a method for controlling a robot, so as to solve the technical problem that the work efficiency of a robot for delivering articles is low because the left articles need to be recovered manually in the prior art.

In a first aspect, an embodiment of the present application provides a method for controlling a robot, where the robot includes a storage bin and a recovery bin, and the method includes: acquiring a recovery signal; and recycling the articles from the storage bin to the recycling bin according to the recycling signal.

Consequently, the robot in this application embodiment is through acquireing the recovery signal, then retrieve article to retrieving the storehouse in from putting the thing storehouse according to retrieving the signal to realized that the robot is automatic to be retrieved and has been put the interior article of leaving over of thing storehouse, need not the manpower and retrieve, reduced the waste of manpower, the robot can continue to carry out the work of sending the thing next time after automatic retrieving, has improved the work efficiency of robot.

In one possible embodiment, the robot further comprises an input device; wherein the acquiring a recovery signal comprises: acquiring the recovery signal through the input device.

Therefore, this application embodiment is through setting up input device on the robot, and the user can directly retrieve the signal through input device input, makes the robot retrieve and leave over article, simple structure, convenient operation.

In one possible embodiment, the recovery signal is preset information satisfying a condition for starting recovery.

Therefore, in the embodiment of the application, after the robot meets the preset starting recovery condition, the robot automatically starts recovery without additional operation of a user, so that the high automation of recovery is realized, and the user experience is improved.

In one possible embodiment, the preset information is an indication information for canceling delivery; wherein the acquiring a recovery signal comprises: and acquiring the recovery signal sent by the user terminal.

Therefore, the robot in the embodiment of the application can automatically recycle the article with the cancelled order after the article receiver cancels the delivery, so that the robot does not need to deliver the article to a specified place, and the working efficiency of the robot is improved.

In one possible embodiment, the start recovery condition is that the article is not removed within a predetermined time after the robot arrives at the designated location.

Therefore, in the embodiment of the application, the articles are not taken away in the preset time after the robot reaches the appointed place, the robot automatically recovers the articles and continues to send the articles for the next time, the waiting time is shortened, and the working efficiency of the robot is improved.

In one possible embodiment, the robot further comprises a recovery device; the retrieving the article from the storage bin to the retrieval bin according to the retrieval signal includes: and the articles are recovered from the storage bin to the recovery bin through the recovery device.

Therefore, the robot in the embodiment of the application is recovered by the recovery device, the structure is simple, and the operation is convenient.

In a second aspect, the present application further provides a device for controlling a robot, the robot includes a storage bin and a recycling bin, the device includes: an acquisition unit configured to acquire a recovery signal; and the processing unit is used for recovering the articles from the storage bin to the recovery bin according to the recovery signal.

In a third aspect, the present application further provides a robot, which includes a storage bin, a recycling bin, and a control device, where the control device is configured to execute the method for controlling the robot according to the first aspect or any optional implementation manner of the first aspect.

In one possible embodiment, the robot further comprises a recycling device for recycling the items from the storage bin to the recycling bin.

In a possible embodiment, the recycling bin is arranged below the storage bin, the recycling device is an isolation tray, the isolation tray is arranged between the storage bin and the recycling bin and used for receiving the articles, and the isolation tray is used for being opened downwards or closed upwards under the control of the control device.

In a fourth aspect, the present application provides a storage medium having a computer program stored thereon, where the computer program is executed by a processor to perform the method according to the first aspect or any optional implementation manner of the first aspect.

In a fifth aspect, the present application provides a storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the method according to the second aspect or any optional implementation manner of the second aspect.

In a sixth aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is running, the machine-readable instructions when executed by the processor performing the method of the first aspect or any of the alternative implementations of the first aspect.

In a seventh aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is running, the machine-readable instructions when executed by the processor performing the method of the second aspect or any of the alternative implementations of the second aspect.

In an eighth aspect, the present application provides a computer program product which, when run on a computer, causes the computer to perform the method of the first aspect or any possible implementation manner of the first aspect.

In a ninth aspect, the present application provides a computer program product which, when run on a computer, causes the computer to perform the method of the second aspect or any possible implementation of the second aspect.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

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 of a method for controlling a robot according to an embodiment of the present disclosure;

fig. 2 is a block diagram of a structure of an apparatus for controlling a robot according to an embodiment of the present disclosure;

fig. 3 is a structural diagram of a robot according to an embodiment of the present disclosure;

fig. 4 is a block diagram of an electronic device according to an embodiment of the present disclosure.

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: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Referring to fig. 1, fig. 1 is a flowchart illustrating a method for controlling a robot 300 according to an embodiment of the present application, where the robot 300 includes a storage compartment 310 and a recycling compartment 320, and the method illustrated in fig. 1 includes:

step 110: a recovery signal is acquired.

It should be understood that the manner in which the robot 300 acquires the recovery signal is not limiting.

Wherein, the robot 300 is provided with an input device, and the robot 300 obtains the recovery signal through the input device. Specifically, the user inputs a recycling instruction through the input device, the recycling instruction is a recycling signal, and the robot 300 recycles the articles from the storage bin 310 to the recycling bin 320 after receiving the recycling instruction.

In addition, the recovery signal may also be preset information that satisfies a condition for starting recovery.

Specifically, the preset information may be instruction information to cancel delivery. That is, the user sends instruction information to cancel the transportation at the user terminal, and the instruction information to cancel the transportation at this time is a recovery signal, and the robot 300 starts the recovery operation to recover the article from the storage bin 310 into the recovery bin 320 upon receiving the instruction information to cancel the transportation sent from the user terminal. The recovery signal, which is the instruction information for canceling the transportation, may be transmitted directly from the user terminal to the robot 300, or may be transmitted from the user terminal to the server, and then transmitted from the server to the robot 300. The user terminal may be a receiver of the corresponding article or a sender of the corresponding article, that is, the instruction information for canceling the transportation may be sent by the article receiver, for example, a guest in a hotel; or by an item issuer, such as a hotel staff. The user terminal can send the recovery instruction directly besides the instruction information of canceling the delivery. Upon receiving the retrieval command, the robot 300 starts a retrieval operation to retrieve the article from the storage bin 310 into the retrieval bin 320.

In addition, the recycling signal is preset information satisfying a start recycling condition, wherein the start recycling condition may be that the robot 300 has not taken the article within a predetermined time after arriving at a designated location. That is, a predetermined time, for example, 1 minute, 3 minutes, or 5 minutes, is set for the robot 300, and when the robot 300 arrives at a predetermined place, for example, the door of a room of a hotel guest, and an article is not taken away after the predetermined time, the robot 300 starts a collecting operation to collect the article from the storage bin 310 to the collecting bin 320, and then continues the next delivery work.

In reality, the article taking is often missed, that is, although the user performs the article taking operation, all the articles in the storage compartment 310 are not taken away, and a part of the articles are left in the storage compartment 310. Therefore, in some embodiments, the robot 300 may be set to automatically perform a recycling operation after each fetching, so as to recycle the missing articles.

Specifically, a camera or a weight sensor may be disposed in the storage compartment 310 to detect whether the articles in the storage compartment 310 are taken away or missing; in addition, the storage compartment 310 of the robot 300 may further include a compartment door for taking articles, and the robot 300 may determine whether the articles in the storage compartment 310 are taken away by determining whether the compartment door is opened, and in particular, a sensor may be disposed at the compartment door.

It should be understood that the robot 300 may be a housekeeping robot 300, a program-controlled robot 300, a search and rescue robot 300, or the like. That is, the specific type of the robot 300 may be set according to actual needs, and the embodiment of the present application is not limited thereto.

Step 120: the items are retrieved from the storage compartment 310 to the retrieval compartment 320 according to the retrieval signal.

Specifically, the robot 300 further includes a recycling device, and the robot 300 recycles the article from the storage bin 310 into the recycling bin 320 through the recycling device according to the recycling signal after acquiring the recycling signal.

It should be understood that the recycling device may be a robot disposed between the recycling bin 320 and the storage bin 310, or may be a belt conveyor penetrating the recycling bin 320 and the storage bin 310, and the specific structure of the recycling device is not limited in the embodiment of the present application.

In summary, the method for controlling the robot 300 can realize the operation of automatically recycling the articles by the robot 300, so that the robot 300 continues to perform the next article conveying operation after automatically recycling the articles, thereby improving the working efficiency of the robot 300 and reducing the waste of manpower.

Referring to fig. 2, fig. 2 shows a block diagram of a structure of an apparatus 200 for controlling a robot 300 according to an embodiment of the present application, wherein the robot 300 includes a storage bin 310 and a recycling bin 320, it should be understood that the apparatus 200 is capable of performing the steps related to the robot 300 in the above embodiments, and specific functions of the apparatus 200 may be referred to the above description, and detailed descriptions are appropriately omitted herein to avoid repetition. The device 200 includes at least one software function module that can be stored in a memory in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the device 200. Specifically, the apparatus 200 includes:

an acquisition unit 210 for acquiring a recovery signal;

the processing unit 220 is used for recycling the articles from the storage bin 310 to the recycling bin 320 according to the recycling signal.

Referring to fig. 3, fig. 3 shows a structural diagram of a robot 300 according to an embodiment of the present disclosure. The robot 300 includes a storage compartment 310, a recovery compartment 320, and a control device for performing the method of the controller robot 300 shown in fig. 1.

In one possible implementation, the robot 300 further includes a recycling device for recycling the items from the storage bin 310 to the recycling bin 320.

In one possible implementation, the recycling bin 320 is disposed below the storage bin 310, the recycling device is an isolation tray 330, the isolation tray 330 is disposed between the storage bin 310 and the recycling bin 320 for receiving the articles, and the isolation tray 330 is configured to be opened downward or closed upward under the control of the control device.

In the above implementation manner, the isolation tray 330 may be opened downwards so that the articles in the storage bin 310 fall into the recycling bin 320 under the action of gravity, after the articles fall into the recycling bin 320, the isolation tray 330 is closed upwards again, and the robot 300 continues to perform the next article sending operation. Adopt isolation tray 330 as recovery unit, simple structure has realized, and put the position relation that the storehouse 310 and the recovery storehouse 320 set up from top to bottom, also accords with robot 300's conventional design, is favorable to reducing robot 300's volume, improves the product and uses experience.

It should be appreciated that when items are placed in the storage compartment 310, the items are placed on the segregating tray 330, and when the segregating tray 330 is opened downward, the items naturally fall into the recovery compartment 320.

Specifically, the robot 300 further includes a motor, a rotation shaft is disposed at one side of the isolation tray 330, the rotation shaft is fixedly connected to an output shaft of the motor, and the rotation shaft is driven by the motor to rotate, so as to realize downward opening or upward closing of the isolation tray 330.

Referring to fig. 4, fig. 4 is a block diagram illustrating a structure of an electronic device according to an embodiment of the present disclosure. The embodiment of the application also provides an electronic device 400, and the electronic device 400 can be arranged in the robot 300.

Electronic device 400 may include a processor 410, a communication interface 420, a memory 430, and at least one communication bus 440. Wherein the communication bus 440 is used to enable direct connection communication of these components. In this embodiment, the communication interface 420 of the device in this application is used for performing signaling or data communication with other node devices. The processor 410 may be an integrated circuit chip having signal processing capabilities. The Processor 410 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit 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, or discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. The general purpose processor 410 may be a microprocessor or the processor 410 may be any conventional processor or the like.

The Memory 430 may be, but is not limited to, a Random Access Memory 430 (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 430 stores computer-readable instructions, which when executed by the processor 410, the electronic device 400 may perform the steps of the corresponding apparatus side of the embodiment of the method of fig. 1 described above. For example, in the case where the electronic device 400 is provided in the robot 300, the memory 430 stores therein computer-readable instructions, and when the computer-readable instructions are executed by the processor 410, the electronic device 400 may perform the various steps on the robot 300 side in the embodiment of the method of fig. 1 described above.

The electronic device 400 may further include a memory controller, an input-output unit, an audio unit, and a display unit.

The memory 430, the memory controller, the processor 410, the peripheral interface, the input/output unit, the audio unit, and the display unit are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components may be electrically coupled to each other via one or more communication buses 440. The processor 410 is used to execute executable modules stored in the memory 430, such as software functional modules or computer programs included in the electronic device 400.

The input and output unit is used for providing input data for a user to realize the interaction of the user and the server (or the local terminal). The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.

The audio unit provides an audio interface to the user, which may include one or more microphones, one or more speakers, and audio circuitry.

The display unit provides an interactive interface (e.g., a user interface) between the electronic device 400 and a user or for displaying image data to a user reference. In this embodiment, the display unit may be a liquid crystal display or a touch display. In the case of a touch display, the display can be a capacitive touch screen or a resistive touch screen, which supports single-point and multi-point touch operations. Supporting single-point and multi-point touch operations means that the touch display can sense touch operations from one or more locations on the touch display at the same time, and the sensed touch operations are sent to the processor 410 for calculation and processing.

It will be appreciated that the configuration shown in fig. 3 is merely illustrative and that electronic device 400 may include more or fewer components than shown in fig. 3 or have a different configuration than shown in fig. 3. The components shown in fig. 3 may be implemented in hardware, software, or a combination thereof.

A storage medium is provided having stored thereon a computer program which, when executed by a processor, performs the method of an embodiment.

The present application also provides a computer program product which, when run on a computer, causes the computer to perform the methods of the method embodiments.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system described above may refer to the corresponding process in the foregoing method, and will not be described in too much detail herein.

It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, 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.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, 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. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above description is only a preferred embodiment of the present application and is not intended to limit 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. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of controlling a robot, the robot comprising a storage compartment and a retrieval compartment, the method comprising:

acquiring a recovery signal;

and recycling the articles from the storage bin to the recycling bin according to the recycling signal.

2. A method of controlling a robot as claimed in claim 1, characterized in that the robot further comprises an input device;

wherein the acquiring a recovery signal comprises:

acquiring the recovery signal through the input device.

3. The method of controlling a robot according to claim 1, wherein the recovery signal is preset information satisfying a start recovery condition.

4. The method of controlling a robot according to claim 3, wherein the preset information is instruction information to cancel delivery;

wherein the acquiring a recovery signal comprises:

and acquiring the recovery signal sent by the user terminal.

5. A method of controlling a robot as claimed in claim 3, wherein the start recovery condition is that the article is not removed within a predetermined time after the robot reaches a specified location.

6. The method of controlling a robot of claim 1, wherein the robot further comprises a recovery device;

the retrieving the article from the storage bin to the retrieval bin according to the retrieval signal includes: and the articles are recovered from the storage bin to the recovery bin through the recovery device.

7. The utility model provides a device of control robot, its characterized in that, the robot is including putting the storehouse and retrieving the storehouse, the device includes:

an acquisition unit configured to acquire a recovery signal;

and the processing unit is used for recovering the articles from the storage bin to the recovery bin according to the recovery signal.

8. A robot comprising a storage compartment, a retrieval compartment, and a control device for performing the method of controlling a robot of any one of claims 1-6.

9. The robot of claim 8, further comprising a retrieval device for retrieving items from the storage bin to the retrieval bin.

10. The robot of claim 9, wherein the recycling bin is disposed below the storage bin, the recycling device is an isolation tray disposed between the storage bin and the recycling bin for receiving the articles, and the isolation tray is configured to open downward or close upward under the control of the control device.