CN112327854A - Path blocking processing method and robot - Google Patents
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Abstract
The invention discloses a path blocking processing method and a robot. Wherein, the method comprises the following steps: if the robot detects an obstacle, stopping traveling, sending a first reminding signal to the external environment of the robot, and simultaneously monitoring whether the obstacle exists in real time; if the obstacle is monitored to still exist, sending a second reminding signal to the external environment and/or a server side connected with the robot, and meanwhile, continuously monitoring whether the obstacle exists in real time; and if the obstacle is still detected to exist, interrupting the current task and switching to execute a subsequent task. The automatic and intelligent path blocking processing scheme is high, on one hand, the influence of the robot on advancing due to the blocking of the obstacle is avoided, on the other hand, the execution of tasks is prevented from being delayed due to the fact that the robot waits for a long time due to the blocking of the obstacle, and the processing efficiency of robot operation and obstacle removal is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a path blocking processing method and a robot.
Background
In the prior art, with the continuous development of artificial intelligence technology, the autonomous navigation routing algorithm of the robot is mature day by day, and a common method is to convert a robot work site into an electronic map which can be automatically identified by the robot navigation algorithm through operations such as map building and the like. The navigation algorithm generates a path according to the electronic map, the departure place and the destination. However, the navigation algorithm cannot sense real-time changes of the working site of the robot, and if an obstacle appears on a path generated by the navigation algorithm due to human or other factors, the robot encounters a block on the way to a destination, thereby causing a blockage in the working process of the robot. In the prior art, a technical scheme for solving the problem of blockage in the operation process of the robot with low cost and high efficiency does not exist.
Disclosure of Invention
In order to solve the technical defects in the prior art, the invention provides a path blocking processing method, which comprises the following steps:
the method comprises the following steps that a robot executing a current task detects whether an obstacle exists in a current path in real time in the process of traveling;
if the obstacle is detected, stopping traveling, sending a first reminding signal to the external environment of the robot, and simultaneously monitoring whether the obstacle exists in real time;
if the obstacle is monitored to still exist within the first monitoring time, sending a second reminding signal to the external environment and/or a server side connected with the robot, and meanwhile, continuously monitoring whether the obstacle exists in real time;
and if the obstacle is monitored to still exist within the second monitoring time, interrupting the current task, switching to execute a subsequent task, returning to the current path after the subsequent task is executed, and continuously executing the interrupted current task.
Optionally, the detecting, by the robot executing the current task, whether an obstacle exists in the current path in real time during the traveling process includes:
determining a current path corresponding to the current task;
when the robot travels along the current path, monitoring whether the obstacle exists in a preset detection distance of the robot in real time in the traveling direction of the current path.
Optionally, if the obstacle is detected, the moving is suspended, a first reminding signal is sent to an external environment of the robot, and meanwhile, whether the obstacle exists is monitored in real time, including:
if the obstacle is detected within the preset detection distance, stopping traveling and detecting the obstacle type of the obstacle;
generating a first reminder signal comprising a first audible and visual warning if the type of obstacle is human or animal.
Optionally, if the obstacle is detected, the robot stops traveling, sends a first reminding signal to an external environment of the robot, and simultaneously monitors whether the obstacle exists in real time, further including:
presetting first reminding time of the first reminding signal, and continuously sending the first reminding signal to the external environment within the first reminding time;
presetting the first monitoring time, and monitoring whether the obstacle still exists in the first monitoring time.
Optionally, if it is monitored that the obstacle still exists within the first monitoring time, sending a second reminding signal to the external environment and/or a server connected to the robot, and continuously monitoring whether the obstacle exists in real time, including:
if the obstacle is monitored to still exist within the first monitoring time, generating a second reminding signal containing a second audible and visual alarm, wherein the audible and visual frequency, the sound volume and the brightness of the second audible and visual alarm are higher than those of the first audible and visual alarm;
and or generating a second reminding signal containing a help-seeking signal, wherein the help-seeking signal is a help-seeking mail or help-seeking information sent to the server.
Optionally, if it is monitored that the obstacle still exists within the first monitoring time, sending a second reminding signal to the external environment and/or a server connected to the robot, and continuously monitoring whether the obstacle exists in real time, further including:
presetting second reminding time and/or second reminding times of the second reminding signal, continuously sending a second sound light warning to the external environment within the first reminding time, and/or sending the distress signal according to preset sending frequency until the second reminding times are reached;
and presetting the second monitoring time, and monitoring whether the obstacle still exists in the second monitoring time.
Optionally, if it is monitored that the obstacle still exists within the second monitoring time, interrupting the current task, switching to executing a subsequent task, returning to the current path after the subsequent task is executed, and continuously executing the interrupted current task, where the method includes:
if the obstacle is monitored to still exist within the second monitoring time, marking the current position of the robot as an abnormal processing area, simultaneously interrupting the current task, and reading the subsequent task;
and switching to execute one or more subsequent tasks, returning to the abnormal processing area after the execution of one or more subsequent tasks is finished, and continuously executing the interrupted current task.
Optionally, if it is monitored that the obstacle still exists within the second monitoring time, interrupting the current task, switching to execute a subsequent task, returning to the current path after the subsequent task is executed, and continuously executing the interrupted current task, further including:
after the current task is interrupted, sending the area information of the abnormal processing area to other robots and/or operators;
and when the robot returns to the abnormal processing area, requesting the operator to assist in executing the interrupted current task, or sending the area information and the task information of the current task to other robots for execution.
The invention also proposes a robot for mobile navigation in space for performing various tasks, characterized in that it comprises:
a processor configured to receive a command to perform a task;
a navigation system configured to navigate the robot to a location at which a task is to be performed;
a signaling device configured to deliver a reminder signal or a warning signal to an operator;
a sensor for detecting an obstacle;
when the robot is in the process of running for executing the current task, the sensor detects that an obstacle exists in the current path, the robot stops running, the signal device sends out a first reminding signal, and meanwhile, the sensor monitors whether the obstacle exists in real time;
if the obstacle is monitored to still exist within the first monitoring time, sending a second reminding signal to the external environment and/or a server side connected with the robot, and meanwhile, continuously monitoring whether the obstacle exists in real time;
and if the obstacle is monitored to still exist within the second monitoring time, interrupting the current task, switching to execute a subsequent task, returning to the current path after the subsequent task is executed, and continuously executing the interrupted current task.
The present invention also proposes a computer-readable storage medium having stored thereon a path blocking processing program which, when executed by a processor, implements the steps of the path blocking processing method according to any one of the above.
By implementing the path blocking processing method and the robot, whether the obstacle exists in the current path or not is detected in real time in the process of traveling through the robot executing the current task; then, if the obstacle is detected, stopping traveling, sending a first reminding signal to the external environment of the robot, and simultaneously monitoring whether the obstacle exists in real time; if the obstacle is monitored to still exist within the first monitoring time, sending a second reminding signal to the external environment and/or a server side connected with the robot, and meanwhile, continuously monitoring whether the obstacle exists in real time; and if the obstacle is monitored to still exist within the second monitoring time, interrupting the current task, switching to execute a subsequent task, returning to the current path after the subsequent task is executed, and continuously executing the interrupted current task. The automatic and intelligent path blocking processing scheme is high, on one hand, the influence of the robot on advancing due to the blocking of the obstacle is avoided, on the other hand, the execution of tasks is prevented from being delayed due to the fact that the robot waits for a long time due to the blocking of the obstacle, and the processing efficiency of robot operation and obstacle removal is improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a flowchart of a path blocking processing method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a second embodiment of a path blocking processing method according to the present invention;
fig. 3 is a flowchart of a path blocking processing method according to a third embodiment of the present invention;
fig. 4 is a flowchart of a fourth embodiment of a path blocking processing method of the present invention;
fig. 5 is a flowchart of a fifth embodiment of the path blocking processing method of the present invention;
fig. 6 is a flowchart of a path blocking processing method according to a sixth embodiment of the present invention;
fig. 7 is a flowchart of a path blocking processing method according to a seventh embodiment of the present invention;
fig. 8 is a flowchart of an eighth embodiment of the path blocking processing method of the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
Example one
Fig. 1 is a flowchart of a path blocking processing method according to a first embodiment of the present invention. A method of path blocking handling, the method comprising:
s1, detecting whether the obstacle exists in the current path in real time in the process of the robot executing the current task;
s2, if the obstacle is detected, stopping traveling, sending a first reminding signal to the external environment of the robot, and simultaneously monitoring whether the obstacle exists in real time;
s3, if the obstacle is monitored to still exist in the first monitoring time, sending a second reminding signal to the external environment and/or a server side connected with the robot, and meanwhile, continuously monitoring whether the obstacle exists in real time;
and S4, if the obstacle is monitored to still exist in the second monitoring time, interrupting the current task, switching to execute a subsequent task, returning to the current path after the subsequent task is executed, and continuously executing the interrupted current task.
In this embodiment, first, during the course of a robot performing a current task, detecting whether an obstacle exists in a current path in real time, wherein it is determined whether an obstacle exists in front of the current path and whether the obstacle obstructs normal traveling of the current robot, if it is determined that the obstacle may be caused, the obstacle is regarded as the obstacle in this embodiment, and if it is determined that the obstacle may not be caused, the obstacle is ignored, and the robot continues to travel along the current path; then, if the obstacle is detected, stopping traveling, sending a first reminding signal to the external environment of the robot, and simultaneously monitoring whether the obstacle exists or not in real time, wherein whether the obstacle influences the current traveling of the robot along the current path or not is continuously monitored, and if the obstacle influences the current traveling of the robot, the obstacle is determined to still exist; if the obstacle is monitored to still exist within the first monitoring time, a second reminding signal is sent to the external environment and/or a server side connected with the robot, and meanwhile, whether the obstacle exists is continuously monitored in real time, wherein the second reminding signal is different from the first reminding signal in two aspects, namely, a reminding mode is adopted, the first reminding signal of the embodiment is only limited to remind the external environment around the robot or remind the obstacle within the distance range, and the second reminding signal of the embodiment is added to send a helping signal to the server side or a cloud side in a remote communication mode on the basis of the first reminding signal, so that the possibility that the obstacle is removed is further improved; if the obstacle is monitored to still exist within the second monitoring time, interrupting the current task, switching to execute a subsequent task, returning to the current path after the subsequent task is executed, and continuously executing the interrupted current task, wherein in order to avoid the robot waiting for a long time for the obstacle to be removed, in the embodiment, after waiting twice, interrupting the current task, and switching to execute the subsequent task, and meanwhile, in order to avoid the interrupted task not being executed, in the embodiment, returning to the current path after the subsequent task is executed, and continuously executing the interrupted current task.
Specifically, for example, when the robot encounters an obstacle that cannot be bypassed on a travel path during a task, the robot automatically stops at the original place to wait, and if the obstacle still does not disappear after a certain time, the robot actively sends a help-seeking signal, such as a continuous buzzer, a mail sent to a rescue mailbox, and the like; the robot continues to wait after the help-seeking signal is sent out, if a person receives the help-seeking signal and clears the obstacle manually, and after the obstacle is cleared, the robot continues to move to the destination to execute a task.
The method has the advantages that whether the obstacle exists in the current path or not is detected in real time in the process of traveling through the robot executing the current task; then, if the obstacle is detected, stopping traveling, sending a first reminding signal to the external environment of the robot, and simultaneously monitoring whether the obstacle exists in real time; if the obstacle is monitored to still exist within the first monitoring time, sending a second reminding signal to the external environment and/or a server side connected with the robot, and meanwhile, continuously monitoring whether the obstacle exists in real time; and if the obstacle is monitored to still exist within the second monitoring time, interrupting the current task, switching to execute a subsequent task, returning to the current path after the subsequent task is executed, and continuously executing the interrupted current task. The automatic and intelligent path blocking processing scheme is high, on one hand, the influence of the robot on advancing due to the blocking of the obstacle is avoided, on the other hand, the execution of tasks is prevented from being delayed due to the fact that the robot waits for a long time due to the blocking of the obstacle, and the processing efficiency of robot operation and obstacle removal is improved.
Example two
Fig. 2 is a flowchart of a second embodiment of the method for processing path blocking according to the present invention, and based on the above embodiment, the method for detecting whether an obstacle exists in a current path in real time during a traveling process of the robot that executes a current task includes:
s11, determining a current path corresponding to the current task;
s12, when the robot travels along the current path, in the traveling direction of the current path, monitoring whether the obstacle exists in the preset detection distance of the robot in real time.
In this embodiment, first, a current path corresponding to the current task is determined; then, when the robot travels along the current path, whether the obstacle exists in a preset detection distance of the robot is monitored in real time in the traveling direction of the current path.
Optionally, in this embodiment, a current path corresponding to the current task is determined, and when the obstacle is encountered, whether other selectable paths are available is determined;
optionally, in this embodiment, if the robot does not have any other selectable path when encountering the obstacle, the robot is monitored in real time whether the obstacle exists within a preset detection distance of the robot;
optionally, in this embodiment, whether the obstacle exists within a preset detection distance of the robot is monitored in real time, where the preset distance may be an effective detection distance of the robot to the obstacle, that is, when the robot detects the obstacle, the robot stops traveling.
The method has the advantages that the current path corresponding to the current task is determined; then, when the robot travels along the current path, whether the obstacle exists in a preset detection distance of the robot is monitored in real time in the traveling direction of the current path. The detection scheme of the barrier is provided for realizing a path blocking processing scheme with higher automation and intelligence degree, on one hand, the influence on the advancing of the robot due to the blocking of the barrier is avoided, on the other hand, the execution of tasks delayed due to the long-time waiting of the robot due to the blocking of the barrier is avoided, and the processing efficiency of the robot in operation and barrier removal is improved.
EXAMPLE III
Fig. 3 is a flowchart of a third embodiment of a method for processing a path block according to the present invention, where based on the above embodiments, if the obstacle is detected, the method suspends the travel, sends a first warning signal to the external environment of the robot, and simultaneously monitors whether the obstacle exists in real time, and includes:
s21, if the obstacle is detected within the preset detection distance, stopping traveling and detecting the obstacle type of the obstacle;
s22, if the obstacle type is human or animal, generating a first reminding signal containing a first acousto-optic warning.
In this embodiment, first, if the obstacle is detected within the preset detection distance, the traveling is suspended, and the obstacle type of the obstacle is detected; generating a first reminder signal comprising a first audible and visual warning if the type of obstacle is human or animal.
Optionally, in this embodiment, if the obstacle is detected within the preset detection distance, the robot stops traveling, detects the obstacle type of the obstacle, and at the same time, recognizes the body type and the posture of the robot itself, and determines whether the obstacle can pass through by adjusting the posture;
alternatively, in the present embodiment, if the obstacle cannot be passed through by adjusting the posture, the travel is suspended, and the obstacle type of the obstacle is detected, wherein the obstacle type may be divided into an autonomously movable object, such as a human being or an animal, and an autonomously immovable object, such as cargo scattered on the ground, etc.;
optionally, in this embodiment, if the obstacle type is a human or an animal, the first warning signal including the first audible and visual warning is generated, and it is understood that, in this embodiment, on the basis of determining the obstacle type, the corresponding audible and visual warning type may also be determined, for example, an audible and visual warning for an animal is issued for an animal, and a language warning for a human is issued.
The method has the advantages that the method stops traveling and detects the obstacle type of the obstacle by recognizing that the obstacle is detected within the preset detection distance; generating a first reminder signal comprising a first audible and visual warning if the type of obstacle is human or animal. The front processing scheme aiming at the barrier is provided for realizing a path blocking processing scheme with higher automation and intelligence degree, on one hand, the influence on the advancing of the robot due to the blocking of the barrier is avoided, on the other hand, the execution of tasks delayed due to the long-time waiting of the robot due to the blocking of the barrier is avoided, and the processing efficiency of the robot in operation and removal of roadblocks is improved.
Example four
Fig. 4 is a flowchart of a fourth embodiment of the method for processing path congestion according to the present invention, where based on the above embodiments, if the obstacle is detected, the method suspends the travel, sends a first warning signal to the external environment of the robot, and simultaneously monitors whether the obstacle exists in real time, and further includes:
s23, presetting first reminding time of the first reminding signal, and continuously sending the first reminding signal to the external environment within the first reminding time;
and S24, presetting the first monitoring time, and monitoring whether the obstacle still exists in the first monitoring time.
In this embodiment, first, a first reminding time of the first reminding signal is preset, and the first reminding signal is continuously sent to the external environment within the first reminding time; then, the first monitoring time is preset, and whether the obstacle still exists is monitored in the first monitoring time.
Optionally, in this embodiment, the first reminding time may be determined according to the type of the obstacle, for example, for an object which is difficult to remind, a longer reminding time is adopted, and for an object which is not visually sensitive, a longer sound reminding time is adopted;
optionally, in this embodiment, the first reminding signal is continuously sent to the external environment within the first reminding time, where the sending direction of the first reminding signal may be sent towards a traveling direction or an obstacle, or may be sent towards a nearby operator.
The method has the advantages that the first reminding time of the first reminding signal is preset, and the first reminding signal is continuously sent to the external environment within the first reminding time; then, the first monitoring time is preset, and whether the obstacle still exists is monitored in the first monitoring time. The obstacle reminding processing scheme is provided for realizing a path blocking processing scheme with higher automation and intelligence degree, on one hand, the influence on the advancing of the robot due to the obstacle blocking is avoided, on the other hand, the execution of tasks delayed due to the long-time waiting of the robot due to the obstacle blocking is avoided, and the processing efficiency of robot operation and obstacle removal is improved.
EXAMPLE five
Fig. 5 is a flowchart of a fifth embodiment of the method for processing path blocking according to the present invention, where based on the above embodiments, if it is monitored that the obstacle still exists within the first monitoring time, the method sends a second warning signal to the external environment and/or the server connected to the robot, and continuously monitors whether the obstacle exists in real time, and includes:
s31, if the obstacle is monitored to still exist in the first monitoring time, generating a second reminding signal containing a second audible and visual alarm, wherein the audible and visual frequency, the volume and the brightness of the second audible and visual alarm are higher than those of the first audible and visual alarm;
s32, and/or generating a second reminding signal containing a help seeking signal, wherein the help seeking signal is a help seeking mail and/or help seeking information sent to the server.
In this embodiment, first, if it is recognized that the obstacle still exists within the first monitoring time, a second warning signal including a second audible and visual warning is generated, where an audible and visual frequency, and/or a volume, and/or a brightness of the second audible and visual warning is higher than that of the first audible and visual warning; and or generating a second reminding signal containing a help-seeking signal, wherein the help-seeking signal is a help-seeking mail or help-seeking information sent to the server.
Optionally, in this embodiment, a second warning signal is generated, where the sound-light frequency, and/or volume, and/or brightness of the second light warning is higher than that of the first light-light warning, for example, the second light warning may be a beep with longer duration, higher sound volume, and higher sound frequency;
optionally, in this embodiment, the help signal is a help-seeking mail and/or help-seeking information sent to the server, where the help-seeking mail and/or help-seeking information may be sent to a handheld terminal of an operator, or a help-seeking mail is sent to the server, or a help-seeking information is sent to a cloud;
optionally, in this embodiment, after the rescue information or the confirmation mail is sent and before the second reminding time, if the obstacle is removed, the obstacle-cleared information or the obstacle-cleared mail corresponding to the rescue information or the confirmation mail is sent again.
The method has the advantages that if the obstacle is monitored to still exist within the first monitoring time, a second reminding signal containing a second sound-light warning is generated, wherein the sound-light frequency, the sound volume and the brightness of the second sound-light warning are higher than those of the first sound-light warning; and or generating a second reminding signal containing a help-seeking signal, wherein the help-seeking signal is a help-seeking mail or help-seeking information sent to the server. The processing scheme of rearmounted warning is provided for realizing a route jam processing scheme with higher automation and intelligent degree, avoids on the one hand because of the barrier blocks the influence of advancing to the robot, and on the other hand avoids causing the robot to wait for a long time and delay the execution of task because of the barrier blocks, has improved the handling efficiency of robot operation and removal roadblock.
EXAMPLE six
Fig. 6 is a flowchart of a sixth embodiment of the method for processing path blocking according to the present invention, where based on the above embodiments, if it is monitored that the obstacle still exists within the first monitoring time, a second warning signal is sent to the external environment and/or the server connected to the robot, and meanwhile, whether the obstacle exists is continuously monitored in real time, the method further includes:
s33, presetting second reminding time and/or second reminding times of the second reminding signal, continuously sending the second sound light warning to the external environment within the first reminding time, and/or sending the distress signal according to preset sending frequency until the second reminding times are reached;
and S34, presetting the second monitoring time, and monitoring whether the obstacle still exists in the second monitoring time.
In this embodiment, first, a second reminding time and/or a second reminding number of times of the second reminding signal are preset, and the second sound light warning is continuously sent to the external environment within the first reminding time, and/or the distress signal is sent according to a preset sending frequency until the second reminding number of times is reached; then, the second monitoring time is preset, and whether the obstacle still exists is monitored in the second monitoring time.
Optionally, in this embodiment, the confirmation information may be sent to the handheld terminal of the operator according to the first sending frequency, or the help-seeking mail may be sent to the server according to the second sending frequency, or the help-seeking information may be sent to the cloud according to the third sending frequency;
optionally, in this embodiment, the confirmation information may be sent to the handheld terminal of the operator at a first sending frequency, and the distress mail may be sent to the server at intervals at a second sending frequency, or the distress information may be sent to the cloud at intervals at a third sending frequency;
optionally, in this embodiment, it is determined whether the number of times of sending the confirmation information to the handheld terminal of the operator according to the first sending frequency reaches the number of times of reminding, or it is determined whether the number of times of sending the distress mail to the server according to the second sending frequency reaches the number of times of reminding, or it is determined whether the number of times of sending the distress information to the cloud according to the third sending frequency reaches the number of times of reminding, and if the number of times of one or more of the reminders reaches the number of times of reminding, or it reaches the second detection time, the sending is not continued, so that information blocking is avoided.
The embodiment has the advantages that the second reminding time and/or the second reminding times of the second reminding signal are preset, the second sound light warning is continuously sent to the external environment within the first reminding time, and/or the distress signal is sent according to the preset sending frequency until the second reminding times are reached; then, the second monitoring time is preset, and whether the obstacle still exists is monitored in the second monitoring time. The method provides a second reminding sending scheme for realizing a path blocking processing scheme with higher automation and intelligence degree, on one hand, the influence on the advancing of the robot due to the blocking of the barrier is avoided, on the other hand, the execution of tasks delayed due to the long-time waiting of the robot due to the blocking of the barrier is avoided, and the processing efficiency of the robot in operation and removal of roadblocks is improved.
EXAMPLE seven
Fig. 7 is a flowchart of a seventh embodiment of the method for processing path congestion according to the present invention, where based on the above embodiments, if it is detected that the obstacle still exists within the second monitoring time, the current task is interrupted and switched to execute a subsequent task, and after the subsequent task is executed, the current task is returned to the current path and the interrupted current task is continuously executed, where the method includes:
s41, if the obstacle is monitored to still exist in the second monitoring time, marking the current position of the robot as an abnormal processing area, and simultaneously interrupting the current task and reading the subsequent task;
and S42, switching to execute one or more subsequent tasks, returning to the exception handling area after the execution of one or more subsequent tasks is finished, and continuously executing the interrupted current task.
In this embodiment, first, if it is detected that the obstacle still exists within the second monitoring time, the current position of the robot is marked as an abnormal processing area, and meanwhile, the current task is interrupted, and the subsequent task is read; and then, switching to execute one or more subsequent tasks, returning to the abnormal processing area after the execution of one or more subsequent tasks is finished, and continuously executing the interrupted current task.
For example, when the robot performs a task, on the way to a destination, if the front side encounters an obstacle, the robot firstly waits on site and sends out a warning signal so as to achieve the purpose of actively avoiding the obstacle when the front side obstacle is an animal or a human; continuously detecting whether the front obstacle still exists through the sensor, and continuing to move forward until the front obstacle reaches the destination if the front obstacle is detected to be absent at a certain subsequent time; if the front barrier still exists after waiting for a period of time, a help-seeking signal can be actively sent out, wherein the help-seeking signal comprises but is not limited to a mode of continuously buzzing with high sound, sending help-seeking information to a rescue mailbox or a mobile phone, sending the help-seeking information to a cloud service and the like; after the robot sends out a rescue signal, the robot still continues to wait in place and continuously detects whether a front obstacle exists or not; when the operator receives the help-seeking signal and the robot clears the front obstacle, the robot automatically detects that the front obstacle does not exist and then continues to move until the destination is reached; after the robot sends out the signal for asking for help, if the waiting time of the robot is overtime, the robot will give up the task actively and execute other tasks. After the robot has performed all other tasks, it will automatically go to the task exception handling area to perform the exception task handling process, for example, the blocked task is performed by the operator, and the task is performed by other types of robots.
The method has the advantages that if the obstacle is monitored to still exist within the second monitoring time, the current position of the robot is marked as an abnormal processing area, meanwhile, the current task is interrupted, and the subsequent task is read; and then, switching to execute one or more subsequent tasks, returning to the abnormal processing area after the execution of one or more subsequent tasks is finished, and continuously executing the interrupted current task. The task switching scheme after the waiting time-out is provided for realizing a path blocking processing scheme with higher automation and intelligence degree, on one hand, the influence on the advancing of the robot due to the blocking of the barrier is avoided, on the other hand, the execution of the task is prevented from being delayed due to the long-time waiting of the robot due to the blocking of the barrier, and the processing efficiency of the robot in working and removing the roadblocks is improved.
Example eight
Fig. 8 is a flowchart of an eighth embodiment of the method for processing path congestion according to the present invention, where based on the above embodiments, if it is detected that the obstacle still exists within the second monitoring time, the current task is interrupted and switched to execute a subsequent task, the current path is returned after the subsequent task is executed, and the interrupted current task is continuously executed, and the method further includes:
s43, after the current task is interrupted, sending the area information of the abnormal processing area to other robots and/or operators;
and S44, when the robot returns to the abnormal processing area, requesting the operator to assist in executing the interrupted current task, or sending the area information and the task information of the current task to other robots for execution.
In this embodiment, first, after the current task is interrupted, the area information of the exception handling area is sent to other robots and/or operators; then, when the robot returns to the abnormal processing area, the operator is requested to assist in executing the interrupted current task, or the area information and the task information of the current task are sent to other robots to be executed.
Optionally, in this embodiment, after the current task is interrupted, the area information of the exception handling area is sent to other robots and/or operators in an idle state;
optionally, in this embodiment, after the current task is interrupted, the area information of the exception handling area is sent to other robots and/or operators which are in an idle state and closest to the current task;
optionally, in this embodiment, after the current task is interrupted, the area information of the abnormal processing area is sent to other robots that can pass over or through the obstacle.
The method has the advantages that after the current task is interrupted, the area information of the abnormal processing area is sent to other robots and/or operators; then, when the robot returns to the abnormal processing area, the operator is requested to assist in executing the interrupted current task, or the area information and the task information of the current task are sent to other robots to be executed. The method provides a task transfer scheme for realizing a path blocking processing scheme with higher automation and intelligence degree, on one hand, the influence of barrier blocking on the advancing of the robot is avoided, on the other hand, the execution of tasks is prevented from being delayed due to the fact that the robot waits for a long time due to the barrier blocking, and the processing efficiency of robot operation and barrier removal is improved.
Example nine
Based on the above embodiments, the present invention also provides a robot for moving navigation in space to perform various tasks, the robot comprising:
a processor configured to receive a command to perform a task;
a navigation system configured to navigate the robot to a location at which a task is to be performed;
a signaling device configured to deliver a reminder signal or a warning signal to an operator;
a sensor for detecting an obstacle;
when the robot is in the process of running for executing the current task, the sensor detects that an obstacle exists in the current path, the robot stops running, the signal device sends out a first reminding signal, and meanwhile, the sensor monitors whether the obstacle exists in real time;
if the obstacle is monitored to still exist within the first monitoring time, sending a second reminding signal to the external environment and/or a server side connected with the robot, and meanwhile, continuously monitoring whether the obstacle exists in real time;
and if the obstacle is monitored to still exist within the second monitoring time, interrupting the current task, switching to execute a subsequent task, returning to the current path after the subsequent task is executed, and continuously executing the interrupted current task.
It should be noted that the device embodiment and the method embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment, and technical features in the method embodiment are correspondingly applicable in the device embodiment, which is not described herein again.
Example ten
Based on the above embodiment, the present invention further provides a computer-readable storage medium, on which a path blocking processing program is stored, and when being executed by a processor, the path blocking processing program implements the steps of the path blocking processing method according to any one of the above embodiments.
It should be noted that the media embodiment and the method embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment, and technical features in the method embodiment are correspondingly applicable in the media embodiment, which is not described herein again.
It should be noted that, in this document, 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 like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A method of path blocking processing, the method comprising:
the method comprises the following steps that a robot executing a current task detects whether an obstacle exists in a current path in real time in the process of traveling;
if the obstacle is detected, stopping traveling, sending a first reminding signal to the external environment of the robot, and simultaneously monitoring whether the obstacle exists in real time;
if the obstacle is monitored to still exist within the first monitoring time, sending a second reminding signal to the external environment and/or a server side connected with the robot, and meanwhile, continuously monitoring whether the obstacle exists in real time;
and if the obstacle is monitored to still exist within the second monitoring time, interrupting the current task, switching to execute a subsequent task, returning to the current path after the subsequent task is executed, and continuously executing the interrupted current task.
2. The method for processing the path blockage according to claim 1, wherein the robot executing the current task detects whether the obstacle exists on the current path in real time during the traveling process, and the method comprises the following steps:
determining a current path corresponding to the current task;
when the robot travels along the current path, monitoring whether the obstacle exists in a preset detection distance of the robot in real time in the traveling direction of the current path.
3. The method for processing the path blockage according to claim 2, wherein the step of stopping the travel and sending a first reminding signal to the external environment of the robot if the obstacle is detected, and simultaneously monitoring whether the obstacle exists in real time comprises the steps of:
if the obstacle is detected within the preset detection distance, stopping traveling and detecting the obstacle type of the obstacle;
generating a first reminder signal comprising a first audible and visual warning if the type of obstacle is human or animal.
4. The method according to claim 3, wherein if the obstacle is detected, the method suspends the travel, sends a first warning signal to an external environment of the robot, and simultaneously monitors whether the obstacle exists in real time, and further comprising:
presetting first reminding time of the first reminding signal, and continuously sending the first reminding signal to the external environment within the first reminding time;
presetting the first monitoring time, and monitoring whether the obstacle still exists in the first monitoring time.
5. The method for processing the path blocking according to claim 4, wherein if it is monitored that the obstacle still exists within the first monitoring time, sending a second reminding signal to the external environment and/or a server connected to the robot, and simultaneously, continuously monitoring whether the obstacle exists in real time includes:
if the obstacle is monitored to still exist within the first monitoring time, generating a second reminding signal containing a second audible and visual alarm, wherein the audible and visual frequency, the sound volume and the brightness of the second audible and visual alarm are higher than those of the first audible and visual alarm;
and or generating a second reminding signal containing a help-seeking signal, wherein the help-seeking signal is a help-seeking mail or help-seeking information sent to the server.
6. The method according to claim 5, wherein if it is monitored that the obstacle still exists within the first monitoring time, sending a second warning signal to the external environment and/or a server connected to the robot, and simultaneously, continuously monitoring whether the obstacle exists in real time, further comprising:
presetting second reminding time and/or second reminding times of the second reminding signal, continuously sending a second sound light warning to the external environment within the first reminding time, and/or sending the distress signal according to preset sending frequency until the second reminding times are reached;
and presetting the second monitoring time, and monitoring whether the obstacle still exists in the second monitoring time.
7. The method according to claim 6, wherein if it is detected that the obstacle still exists within the second monitoring time, interrupting the current task, switching to execute a subsequent task, returning to the current path after the subsequent task is executed, and continuously executing the interrupted current task, includes:
if the obstacle is monitored to still exist within the second monitoring time, marking the current position of the robot as an abnormal processing area, simultaneously interrupting the current task, and reading the subsequent task;
and switching to execute one or more subsequent tasks, returning to the abnormal processing area after the execution of one or more subsequent tasks is finished, and continuously executing the interrupted current task.
8. The method according to claim 7, wherein if it is detected that the obstacle still exists within a second monitoring time, the current task is interrupted and switched to execute a subsequent task, and the current path is returned after the subsequent task is executed, and the interrupted current task is continuously executed, further comprising:
after the current task is interrupted, sending the area information of the abnormal processing area to other robots and/or operators;
and when the robot returns to the abnormal processing area, requesting the operator to assist in executing the interrupted current task, or sending the area information and the task information of the current task to other robots for execution.
9. A robot for moving navigation in space to perform various tasks, the robot comprising:
a processor configured to receive a command to perform a task;
a navigation system configured to navigate the robot to a location at which a task is to be performed;
a signaling device configured to deliver a reminder signal or a warning signal to an operator;
a sensor for detecting an obstacle;
when the robot is in the process of running for executing the current task, the sensor detects that an obstacle exists in the current path, the robot stops running, the signal device sends out a first reminding signal, and meanwhile, the sensor monitors whether the obstacle exists in real time;
if the obstacle is monitored to still exist within the first monitoring time, sending a second reminding signal to the external environment and/or a server side connected with the robot, and meanwhile, continuously monitoring whether the obstacle exists in real time;
and if the obstacle is monitored to still exist within the second monitoring time, interrupting the current task, switching to execute a subsequent task, returning to the current path after the subsequent task is executed, and continuously executing the interrupted current task.
10. A computer-readable storage medium, having stored thereon a path blocking handler that, when executed by a processor, implements the steps of the path blocking processing method according to any one of claims 1 to 8.
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