CN111975785A

CN111975785A - Robot calling system and device

Info

Publication number: CN111975785A
Application number: CN202010939088.9A
Authority: CN
Inventors: 祁建业
Original assignee: Shanghai Yogo Robot Co Ltd
Current assignee: Shanghai Yogo Robot Co Ltd
Priority date: 2020-09-09
Filing date: 2020-09-09
Publication date: 2020-11-24

Abstract

The invention discloses a robot calling system and a robot calling device. The method comprises the steps that a calling option is displayed through a second interaction module, then a user action aiming at the calling option is generated through a first interaction module, a control module responds to the user action to generate a calling instruction and sends the calling instruction to a server, then a feedback message of the server and/or a called robot is received, and a message prompt instruction corresponding to the feedback message is generated according to user setting so as to drive the second interaction module to display the message prompt instruction according to the user setting. The invention enables the user to obtain the service of the robot in the shortest time, and simultaneously enables the robot to simply find the position of the user, thereby improving the working efficiency; meanwhile, the calling device is simple and easy to use, a user can issue a task through clicking or voice, the completion progress of the task can be reminded in real time, and the user can conveniently schedule.

Description

Robot calling system and device

[ technical field ] A method for producing a semiconductor device

The invention relates to the field of robots, in particular to a robot calling system and device.

[ background of the invention ]

With the rapid development of the robot industry, various service robots emerge endlessly, and the robots are widely applied in life and work. For example, a delivery robot used for transporting articles in a building is usually deployed at a fixed place in the building, when a user in the building needs robot delivery service, the user needs to go to the robot for order placement, which not only takes a long time, but also in a scene with a large usage amount, the user is difficult to obtain the working state of the robot, and often causes that the user waits too long time, which affects the working efficiency of the user. In other due scenes, the robot can be provided with own positioning, but the positioning mainly depends on satellites, Bluetooth, UWB and the like to determine the position by means of electromagnetic waves, and the positioning is inaccurate indoors due to complex environment, a plurality of obstacles and signal obstruction, so that the robot cannot quickly and accurately reach the position where the robot provides service.

[ summary of the invention ]

The invention provides a robot calling system and a robot calling device, which solve the technical problems.

The technical scheme for solving the technical problems is as follows: a robot calling system comprises a power supply module, a control module, a wireless communication module, a first interaction module and a second interaction module,

the power supply module is used for supplying power to the whole machine and managing a power supply mode;

the first interaction module is used for generating a user action aiming at the calling option;

the control module is used for responding to the user action to generate a corresponding calling instruction and sending the calling instruction to a server through the wireless communication module; receiving a feedback message of the server and/or the called robot through the wireless communication module, and generating a message prompt instruction corresponding to the feedback message according to user setting;

the second interaction module is used for providing at least one calling option and displaying the feedback message according to the message prompt instruction.

In a preferred embodiment, the power supply module includes an electric storage unit connected to the control module through a conversion circuit, and a state of electric storage detection unit, a state of charge detection unit, and a charge management unit electrically connected to the electric storage unit, respectively,

the electric power storage state detection unit is used for detecting the real-time state of the electric power storage unit, and the real-time state comprises any one or more of electric quantity, charge state, temperature, current and voltage;

the charging state detection unit is used for detecting the charging state of the electric power storage unit, and the charging state comprises charging duration, charging and discharging times and/or charging speed;

the charging management unit is used for charging the electric storage unit by adopting a corresponding charging curve according to the real-time state of the electric storage unit and adjusting the charging curve according to the charging state, wherein the charging curve comprises charging voltages in different time periods.

In a preferred embodiment, the wireless communication module includes any one or more of a 2G communication module, a 3G communication module, a 4G communication module, an NB-IoT communication module, a Wifi communication module, and a bluetooth communication module.

In a preferred embodiment, the wireless communication module is used for sending the call instruction to a server by using an NB-IoT communication mode based on an MQTT protocol, and receiving a feedback message of the server and/or the called robot by using a server push mode based on NB-IoT.

In a preferred embodiment, the second interaction module comprises one or more of an indicator light, a voice device and a vibration device.

In a preferred embodiment, the second interaction module is specifically configured to provide different call options and display different feedback messages through a brightness mode, a blinking mode, a color change mode of the indicator light, a voice broadcast content of the voice device, and/or a vibration mode of the vibration device.

In a preferred embodiment, the control module is specifically configured to acquire a click action of an operator by capturing an IO state change of a first interaction module that generates the user action, generate a corresponding call instruction, generate an IO flipping instruction corresponding to the feedback message according to user settings, and send the IO flipping instruction to a second interaction module to drive the second interaction module to display the feedback message.

A second aspect of the embodiments of the present invention provides a robot summoning device, including the above robot summoning system.

The invention provides a robot calling system and a robot calling device, which have the following beneficial effects compared with the prior art:

(1) when the robot is deployed, the whole place is scanned by the robot to obtain a place space layout diagram, then the calling device is installed at a preset position, such as the position of a user, the calling device is calibrated on the place space layout diagram, meanwhile, the calibrated position of the calling device on the place space layout diagram and the number of the calling device are correspondingly stored in the server, when the user uses the calling device, the server dispatches at least one robot according to the user requirement to be directly connected to the calibrated position corresponding to the calling device, so that the user can obtain the service of the robot in the shortest time, and meanwhile, the robot is enabled to simply find the position of the user, thereby improving the working efficiency;

(2) the calling device is simple and easy to use, a user can issue a task through clicking or voice, and meanwhile the calling device can remind the user of the completion progress of the task in real time, so that the user can conveniently schedule.

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.

[ description of the drawings ]

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a robot calling system provided in embodiment 1;

fig. 2 is a schematic structural diagram of a power supply module in the robot calling system according to embodiment 1 of the present invention;

fig. 3 is a schematic structural diagram of the robot calling apparatus provided in embodiment 2.

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. The terms "first", "second", "third", and the like used in the present invention do not limit data and execution order, but distinguish the same items or similar items having substantially the same function and action.

The robot of embodiments of the present invention may be configured in any suitable shape to perform a particular business function operation, for example, the robot of embodiments of the present invention may be a cleaning robot, a pet robot, a handling robot, a nursing robot, and the like. The cleaning robot includes, but is not limited to, a sweeping robot, a dust collecting robot, a mopping robot, a floor washing robot, and the like.

The robot generally includes a housing, a sensor unit, a drive wheel assembly, a memory assembly, and a controller. The housing may be substantially circular in shape, and in some embodiments, the housing may be substantially oval, triangular, D-shaped, cylindrical, or otherwise shaped.

The sensor unit is used for collecting some motion parameters of the robot and various data of the environment space. In some embodiments, the sensor unit comprises a lidar mounted above the housing at a mounting height above a top deck height of the housing, the lidar being for detecting an obstacle distance between the robot and an obstacle. In some embodiments, the sensor unit may also include an Inertial Measurement Unit (IMU), a gyroscope, a magnetic field meter, an accelerometer or speedometer, an optical camera, and so forth.

The driving wheel component is arranged on the shell and drives the robot to move on various spaces, and in some embodiments, the driving wheel component comprises a left driving wheel, a right driving wheel and an omnidirectional wheel, and the left driving wheel and the right driving wheel are respectively arranged on two opposite sides of the shell. The left and right drive wheels are configured to be at least partially extendable and retractable into the bottom of the housing. The omni-directional wheel is arranged at the position, close to the front, of the bottom of the shell and is a movable caster wheel which can rotate 360 degrees horizontally, so that the robot can flexibly steer. The left driving wheel, the right driving wheel and the omnidirectional wheel are arranged to form a triangle, so that the walking stability of the robot is improved. Of course, in some embodiments, the driving wheel component may also adopt other structures, for example, the omni wheel may be omitted, and only the left driving wheel and the right driving wheel may be left to drive the robot to normally walk.

In some embodiments, the robot is further configured with a cleaning component and/or a storage component that is mounted within the receiving slot to accomplish cleaning tasks, delivery tasks, and the like.

The controller is respectively and electrically connected with the left driving wheel, the right driving wheel, the omnidirectional wheel and the laser radar. The controller is used as a control core of the robot and is used for controlling the robot to walk, retreat and some business logic processing.

In some embodiments, the controller may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a single chip, ar (acorn riscmachine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, the controller may be any conventional processor, controller, microcontroller, or state machine. A controller may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP, and/or any other such configuration.

In some embodiments, during the movement of the robot, the controller uses SLAM (simultaneous localization and mapping) technology to construct a map and a position according to the environmental data. The controller instructs the robot to completely traverse an environmental space through a full coverage path planning algorithm based on the established map and the position of the robot. For example, during the robot traversal, the sensor unit acquires an image of a traversal region, wherein the image of the traversal region may be an image of the entire traversal region or an image of a local traversal region in the entire traversal region. The controller generates a map from the image of the traversal area, the map having indicated an area that the robot needs to traverse and coordinate locations at which obstacles located in the traversal area are located. After each location or area traversed by the robot, the robot marks that the location or area has been traversed based on the map. Meanwhile, after the calling device is installed at a preset position, such as the position of a user, the calling device is calibrated on a formed area map, namely a site space layout map, and the calibrated position of the calling device on the site space layout map and the number of the calling device are correspondingly stored in a server. It will be appreciated that the controller may also identify traversed locations or areas, or identify obstacles, in a variety of ways to develop a control strategy that meets product needs.

Referring to fig. 1, a schematic structural diagram of a robot summoning system according to embodiment 1 of the present invention is provided, as shown in fig. 1, including a power supply module 100, a control module 200, a wireless communication module 300, a first interaction module 400 and a second interaction module 500,

the power supply module 100 is used for supplying power to the whole machine and managing a power supply mode;

the first interaction module 400 is used for generating a user action for a summoning option;

the control module 200 is configured to generate a corresponding call instruction in response to the user action, and send the call instruction to a server through the wireless communication module 300; receiving a feedback message of the server and/or the called robot through the wireless communication module 300, and generating a message prompt instruction corresponding to the feedback message according to user setting;

the second interactive module 500 is configured to provide at least one of the call options, and display the feedback message according to the message prompt instruction.

The embodiment provides a robot calling system, which includes scanning a whole site through a robot to obtain a site space layout diagram when the robot is deployed, installing a calling device including the calling system at a preset position, such as a user position, calibrating the position of the calling device on the site space layout diagram, and storing the calibrated position of the calling device on the site space layout diagram and the number of the calling device in a server correspondingly. When a user uses the calling system, a calling option is firstly displayed through the second interaction module 500, then the user generates a user action for the calling option through the first interaction module 400, the control module 200 responds to the user action to generate a corresponding calling instruction, and the calling instruction is sent to a server through the wireless communication module 300. The server dispatches at least one robot according to the user requirement to a calibration position corresponding to the calling device, and simultaneously the server and/or the called robot send feedback messages to the calling system, wherein the feedback messages comprise dispatching results of the robot and real-time states of the called robot, the control module 200 receives the feedback messages through the wireless communication module 300 at the moment and generates message prompt instructions corresponding to the feedback messages according to user settings, and the second interaction module 500 displays the feedback messages according to the message prompt instructions, so that the user can obtain service of the robot in the shortest time, the robot can find the user position easily, the task completion progress of the user can be reminded in real time, and the user can carry out time arrangement conveniently.

In a specific embodiment, the call options include robots of different specifications, namely robots equipped with storage bins of different sizes, and the number of idle robots of different specifications, which can be selected by a user. Firstly, the second interaction module 500 displays the robots with different specifications, then the user selects a robot with a certain specification through the first interaction module 400, the control module 200 generates a corresponding call instruction, and sends the call instruction to the server through the wireless communication module 300. After the server inquires the idle number of the specification robot and returns the idle number to the second interaction module for display, the user selects the required number of the specification robot again through the first interaction module 400, generates a calling instruction and sends the calling instruction to the server. After the server selects and dispatches the idle robot, the server sends a feedback message, such as the dispatch result of the robot and the real-time state of the called robot, to the calling system, and at this time, the control module 200 generates a message prompt instruction corresponding to the feedback message according to the user setting, so as to drive the second interaction module 500 to display.

In another embodiment, the calling options further include preset commodity types and real-time quantities of different types of commodities in a robot container, the second interaction module 500 displays the commodity types and real-time quantities that can be directly delivered to a user by the robot, the user selects a certain quantity of commodities through the first interaction module 400, the control module 200 generates a corresponding calling instruction, and the calling instruction is sent to the server through the wireless communication module 300. After the server selects the target robot container and selects the target robot from the idle robots to dispatch, feedback information, such as the dispatching result of the robot and the real-time state of the called robot, is sent to the calling system, and at this time, the control module 200 generates a message prompt instruction corresponding to the feedback information according to user setting so as to drive the second interaction module 500 to display.

Fig. 2 is a schematic structural diagram of a power supply module in a robot summoning system according to embodiment 1 of the present invention, and as shown in fig. 2, the power supply module 100 includes an electric storage unit 201 connected to the control module 200 through a conversion circuit 205, and an electric storage state detection unit 202, a charging state detection unit 203, and a charging management unit 204 electrically connected to the electric storage unit 201 respectively;

the electric power storage state detection unit 202 is configured to detect a real-time state of the electric power storage unit, where the real-time state includes any one or more of an electric quantity, a state of charge, a temperature, a current, and a voltage;

the charging state detection unit 203 is configured to detect a charging state of the power storage unit, where the charging state includes a charging duration, a charging and discharging frequency, and/or a charging speed;

the charging management unit 204 is configured to charge the power storage unit according to a real-time state of the power storage unit by using a corresponding charging curve, and adjust the charging curve according to the charging state, where the charging curve includes charging voltages in different time periods. In the above embodiment, the external adapter can directly supply power to the whole machine, and simultaneously charge the power storage unit 201, and when the external adapter is removed, the power storage unit 201 can continue to supply power to maintain the normal operation of the calling device.

In another preferred embodiment, the wireless communication module 300 includes any one or more of a 2G communication module, a 3G communication module, a 4G communication module, an NB-IoT communication module, a Wifi communication module, and a bluetooth communication module. The wireless communication module 300 is configured to send the call instruction to a server in an NB-IoT communication mode based on an MQTT protocol, and receive a feedback message of the server and/or the called robot in a server push mode based on the NB-IoT.

In a preferred embodiment, the control module 200 is specifically configured to acquire a click action of an operator by capturing an IO state change of the first interaction module 400 that generates the user action, generate a corresponding call instruction, generate an IO flipping instruction corresponding to the feedback message according to user settings, and send the IO flipping instruction to the second interaction module 500, so as to drive the second interaction module to display the feedback message 500. The second interactive module 500 comprises one or more of an indicator light 501, a voice device 502 and a vibration device 503, and different call options are provided and different feedback messages are displayed through a brightness mode, a flashing mode and a color change mode of the indicator light 501, voice broadcast contents of the voice device 502 and/or a vibration mode of the vibration device 503, such as canceling an audio prompt in a quiet environment and the like.

Fig. 3 is a schematic structural diagram of a robot summoning apparatus according to embodiment 2 of the present invention, and as shown in fig. 3, the robot summoning apparatus includes a housing and a robot summoning system disposed in the housing. In a preferred embodiment, in order to make the calling device more compact and beautiful, the first interaction module 200 may be a circular key disposed on the housing, and after the second interaction module 500 displays the calling option, the user generates a user action for the calling option by pressing the circular key. And the second interactive module 500 comprises one or more of an indicator light 501, a voice device 502 and a vibration device 503, the indicator light 501 may be an annular RGB-LED light arranged on the housing and surrounding the circular key, and the voice device 502 and the vibration device 503 may be arranged inside the housing, and different call options and different feedback messages are provided through a brightness mode, a flashing mode, a color change mode of the indicator light 501, voice broadcast contents of the voice device 502 and/or a vibration mode of the vibration device 503.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, 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 through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The 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.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.

Claims

1. A robot calling system is characterized by comprising a power supply module, a control module, a wireless communication module, a first interaction module and a second interaction module,

2. The robot calling system according to claim 1, wherein the power supply module includes an electric storage unit connected to the control module via a switching circuit, and an electric storage state detection unit, a charging state detection unit, and a charging management unit electrically connected to the electric storage unit, respectively,

3. The robotic call system as claimed in claim 1, wherein the wireless communication module comprises any one or more of a 2G communication module, a 3G communication module, a 4G communication module, an NB-IoT communication module, a Wifi communication module, and a bluetooth communication module.

4. The robot calling system according to claim 3, wherein the wireless communication module is configured to send the calling command to a server in NB-IoT communication mode based on MQTT protocol, and receive a feedback message from the server and/or the called robot in server push mode based on NB-IoT.

5. A robot summoning system according to any one of claims 1-4, wherein the second interaction module includes one or more of an indicator light, a voice device and a vibration device.

6. The robot summoning system of claim 5, wherein the second interaction module is specifically configured to provide different summoning options and display different feedback messages through a brightness mode, a blinking mode, a color change mode of the indicator light, a voice broadcast content of the voice device, and/or a vibration mode of the vibration device.

7. The robot summoning system according to claim 6, wherein the control module is specifically configured to obtain a click action of an operator by capturing an IO state change of a first interaction module that generates the user action, generate a corresponding summoning instruction, generate an IO flipping instruction corresponding to the feedback message according to user settings, and send the IO flipping instruction to a second interaction module, so as to drive the second interaction module to display the feedback message.

8. A robot summoning apparatus comprising the robot summoning system according to any one of claims 1 to 7.