CN112731931A - Robot navigation method, device, robot and storage medium - Google Patents
Robot navigation method, device, robot and storage medium Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
Abstract
The embodiment of the application discloses a robot navigation method, a robot navigation device, a robot and a storage medium. Wherein, the method comprises the following steps: responding to the navigation instruction, driving on the selected navigation route, and detecting whether to enter a preset navigation site of the selected navigation route in the driving process; if so, controlling the robot to accurately align to the navigation site and acquiring the position information of entering the current navigation site; calling the navigation information of the current navigation site for broadcasting according to the position information; and if the navigation information is detected to be completely broadcasted, continuing to drive to the next navigation site direction of the current navigation site according to the selected navigation route. According to the technical scheme, the navigation task executed by the robot can be flexibly configured.
Description
Technical Field
The present disclosure relates to computer technologies, and in particular, to a method, an apparatus, a device, and a storage medium for guiding a robot.
Background
With the increasingly wide application of automatic tasks such as navigation in the field of robots, how to more intelligently and flexibly configure explanation contents is an important problem. At present, the robot controlling the fixed position usually explains the navigation station with the fixed position, and the method is single, the flexibility is poor, and improvement is urgently needed.
Disclosure of Invention
The embodiment of the application provides a robot navigation method, a device, equipment and a storage medium, which can flexibly configure navigation tasks executed by a robot.
In a first aspect, an embodiment of the present application provides a robot navigation method, including:
responding to the navigation instruction, driving on the selected navigation route, and detecting whether to enter a preset navigation site of the selected navigation route in the driving process;
if so, controlling the robot to accurately align to the navigation site and acquiring the position information of entering the current navigation site;
calling the navigation information of the current navigation site for broadcasting according to the position information;
and if the navigation information is detected to be completely broadcasted, continuing to drive to the next navigation site direction of the current navigation site according to the selected navigation route.
In a second aspect, an embodiment of the present application provides a robot navigation apparatus, including:
the driving module is used for responding to the navigation instruction and driving on the selected navigation route;
the detection module is used for detecting whether the vehicle enters a preset navigation site of a selected navigation route or not in the running process;
the driving module is further used for controlling the robot to accurately align to the navigation station if the detection module detects that the preset navigation station enters the selected navigation route;
the position acquisition module is used for acquiring position information entering a current navigation site;
the language broadcasting module is used for calling the navigation information of the current navigation site for broadcasting according to the position information;
and the driving module is further used for continuing driving towards the next navigation site of the current navigation site according to the selected navigation route if the navigation information is detected to be completely broadcasted.
In a third aspect, an embodiment of the present application provides a robot, including:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a robotic navigation method as described in any of the embodiments of the present application.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the program, when executed by a processor, implements the robot navigation method according to any embodiment of the present application.
The embodiment of the application provides a robot navigation method, a robot navigation device, a robot and a storage medium, wherein the robot responds to a navigation instruction, runs on a selected navigation route, and detects whether to enter a preset navigation site of the selected navigation route in the running process; if so, controlling the robot to accurately align to the navigation site and acquiring the position information of entering the current navigation site; calling the navigation information of the current navigation site for broadcasting according to the position information; and if the navigation information is detected to be completely broadcasted, continuing to drive to the next navigation site direction of the current navigation site according to the selected navigation route. According to the technical scheme, the navigation task executed by the robot can be flexibly configured.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present application, nor do they limit the scope of the present application. Other features of the present application will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
fig. 1 is a first flowchart of a robot navigation method according to an embodiment of the present disclosure;
fig. 2A is a second flowchart of a robot navigation method according to a second embodiment of the present disclosure;
fig. 2B is a schematic view of an interface for configuring a robot navigation route according to a second embodiment of the present disclosure;
fig. 2C is a schematic interface diagram of a configuration robot navigation site according to a second embodiment of the present disclosure;
fig. 2D is a schematic interface diagram of a configuration robot navigation element provided in the second embodiment of the present application;
fig. 3 is a third flow diagram of a robot navigation method according to a third embodiment of the present application;
fig. 4 is a schematic structural diagram of a robot navigation device according to a fourth embodiment of the present disclosure;
fig. 5 is a block diagram of a robot for implementing a robot navigation method according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. 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 application.
Example one
Fig. 1 is a first flowchart of a robot navigation method according to an embodiment of the present disclosure, which is applicable to a case where a robot is used to perform a navigation task. The robot navigation method provided by the embodiment of the present application may be performed by the robot navigation apparatus provided by the embodiment of the present application, which may be implemented by software and/or hardware and integrated in a robot that performs the method; the navigation task comprises a driving task and a broadcasting task.
Referring to fig. 1, the method of the present embodiment includes, but is not limited to, the following steps:
and S110, responding to the navigation instruction, and driving on the selected navigation route.
The navigation instruction is an instruction for instructing the robot to execute a navigation task. The navigation route refers to a travel route of the robot when performing the navigation task, which includes a route name and a map associated with the navigation route.
In the embodiment of the present application, the navigation instruction may be issued by a user to the robot, may be issued by a server to the robot, or may be stored in a chip of the robot and generated by an external trigger. When the robot receives the navigation instruction, the selected navigation route can be obtained from the navigation instruction, or the pre-selected navigation route can be obtained locally, and then the robot can drive according to the actual road associated with the navigation route.
And S120, detecting whether the vehicle enters a preset navigation site of the selected navigation route or not in the running process, if so, executing S130, otherwise, returning to execute S120.
Wherein, the navigation site refers to a position where the robot performs a navigation task. The navigation sites in the embodiment of the application are navigation sites located in navigation routes, and one navigation route at least comprises one navigation site.
Optionally, in the embodiment of the application, a sign of the navigation station or a scan code (e.g., a two-dimensional code) of the navigation station may be preset around the selected navigation station, and an image capture device, such as a camera, may be configured in the robot. The robot can acquire an environment image in real time through the image acquisition device in the driving process, and judge whether the environment image contains a sign of a preset navigation station or a scanning code (such as a two-dimensional code) of the preset navigation station. If yes, the robot enters a preset navigation station of the selected navigation route, and then S130 is executed; if the environmental image does not contain the information, the robot does not enter the preset navigation station of the selected navigation route, the robot returns to the step S120 to continuously monitor the external environment information in real time through the image acquisition device until the environmental image acquired by the robot contains the indication board of the preset navigation station or the scanning code of the preset navigation station.
And S130, if so, controlling the robot to accurately align to the navigation site and acquiring the position information entering the current navigation site.
In the embodiment of the application, if the robot detects that the robot enters the preset navigation station of the selected navigation route, the robot stops driving, determines the direction of the current navigation station based on the environment image acquired by the image acquisition device, and turns to the direction of the current navigation station to accurately align the navigation station. At this time, although the robot has reached a certain preset navigation site on the navigation route, it may not know which navigation site has been reached, and needs to determine by acquiring the position information of the current navigation site that is entered. For example, the position information corresponding to each preset navigation site may be marked on the selected navigation route, and at this time, which navigation site the current navigation site is specific to can be determined by searching on the navigation route according to the obtained position information.
Optionally, in the embodiment of the application, there are many ways to acquire the position information of the robot entering the current navigation site, for example, if the current position information is recorded on a sign of the navigation site, the sign in the acquired environment image may be subjected to character recognition to determine the position information of the current navigation site; if the scanning code of the navigation site contains the current position information, the scanning code in the acquired environment image can be identified to determine the position information of the current navigation site. The positioning information of the robot can be used as the position information of the current navigation station, and the like.
And S140, calling the navigation information of the current navigation site to broadcast according to the position information.
In the embodiment of the application, after the position information of the current navigation site is acquired through the above steps, which navigation site the current navigation site is specific to can be determined according to the position information of the current navigation site, and the navigation information of the current navigation site is called to be broadcasted. Optionally, the navigation information of the current navigation site may be called from a local database, or may be called from a server. Which may include at least one of introduction information in the form of voice, video, picture, and text of the current navigation site.
And S150, detecting whether the broadcasting of the navigation information is finished, if so, executing S160, and if not, returning to execute S150.
In the embodiment of the present application, after the navigation information of the current navigation site is called for broadcasting, it needs to detect whether broadcasting of the navigation information is completed in real time or at regular time, and if it is detected that broadcasting of the navigation information is completed, S160 is executed. If the navigation information is detected not to be broadcast completely, returning to the S150 after the preset time to continuously detect whether the navigation information is broadcast completely until the navigation information is detected to be broadcast completely. The preset time can be set by the user.
And S160, if the navigation information is detected to be completely broadcasted, continuing to drive to the next navigation site direction of the current navigation site according to the selected navigation route.
In the embodiment of the application, when one navigation line comprises at least two navigation sites, if the navigation information of the current navigation site is detected to be played completely, the navigation line is driven to the next navigation site of the current navigation site according to the navigation line; and requesting navigation information corresponding to the next navigation site at the next navigation site. Optionally, if a navigation line includes a navigation site, after the navigation information of the navigation site is played at the position of the navigation site, it indicates that the navigation task of the navigation line is finished.
For example, in the embodiment of the present application, the specific form of the navigation information is broadcasted, and the navigation information may be determined by a navigation element, for example, the navigation element may be text + emoticon, text + picture, video, and a transitional word, where the transitional word is the last navigation element. Alternatively, the transition may be "go from everyone below to the next sight spot". And after the robot detects that the transitional words are played, pausing the broadcasting task in the navigation task at the current navigation site, controlling the robot to travel to the next navigation site of the current navigation site, and continuously broadcasting the navigation information corresponding to the next navigation site at the next navigation site.
Optionally, the robot includes a central control system. The central control system can control the hardware configuration required for executing the navigation task and cooperate with the execution of the navigation task. For example, if the navigation element is a video, the robot needs to play the video on the large screen, and the central control system can control the playing state of the large screen to perform the navigation task in a matching manner.
Optionally, the robot navigation method according to the embodiment of the present application may further include: and performing question-answer interaction with the user aiming at the navigation site. Specifically, the user can set the function of the robot to perform question-answer interaction with the user in the navigation task. When the robot detects that the navigation information corresponding to the navigation elements of the current navigation site is played, the robot can automatically trigger the question-answer interaction function to perform question-answer interaction with the user. And when the question posed by the user is not detected within the preset time, ending the question-answer interaction link.
Optionally, the function of the robot performing question-answer interaction with the user may also be performed on the way that the robot travels from the current navigation site to the next navigation site, or may be triggered by the user sending a preset command to the robot.
According to the technical scheme provided by the embodiment, the navigation system responds to the navigation instruction, runs on the selected navigation route, and detects whether the navigation system enters the preset navigation site of the selected navigation route or not in the running process; if so, controlling the robot to accurately align to the navigation site and acquiring the position information of entering the current navigation site; calling the navigation information of the current navigation site for broadcasting according to the position information; and if the navigation information is detected to be completely broadcasted, continuing to drive to the next navigation site direction of the current navigation site according to the selected navigation route. The method and the system perform a navigation task comprising a plurality of pre-navigation sites by responding to a navigation instruction. In the navigation process, rich anthropomorphic elements can be defined, and question-answer interaction links can be configured, so that the robot can introduce a plurality of navigation sites on one route like a plurality of visitors, the problems that the navigation elements are single and the navigation tasks are not modifiable in the prior art are solved, the embodiment of the application can realize continuous navigation of the plurality of navigation sites, and the navigation tasks executed by the robot can be flexibly configured.
Example two
Fig. 2A is a second flowchart of a robot navigation method according to a second embodiment of the present disclosure; fig. 2B is a schematic view of an interface for configuring a robot navigation route according to a second embodiment of the present disclosure; fig. 2C is a schematic interface diagram of a configuration robot navigation site according to a second embodiment of the present disclosure; fig. 2D is a schematic interface diagram of a configuration robot navigation element according to the second embodiment of the present application. The embodiment of the application is optimized on the basis of the embodiment, and specifically optimized as follows: a detailed explanation of the generation process of the navigation instruction is added. Optionally, the embodiment explains the specific process of performing the navigation task in detail.
Referring to fig. 2A-2D, the method of the present embodiment includes, but is not limited to, the following steps:
and S210, responding to the navigation instruction, and driving on the selected navigation route.
The navigation instruction of the embodiment is generated by the server according to a navigation route configured by a user in advance, a navigation site on the navigation route, and a navigation element of the navigation site, and the server sends the navigation instruction to the robot after generating the navigation instruction.
In the embodiment of the application, the user customizes and configures the navigation route, the navigation site, and the navigation element of the navigation site as the navigation parameter in advance on the configuration interface provided by the server, and the navigation parameter may be a string of characters, a string of codes, or a data packet. And the server generates a navigation instruction according to a preset format based on the navigation parameter configured by the user in a self-defined way. Fig. 2B is a schematic diagram of an interface for configuring a navigation route, which includes creating a route name, a map corresponding to an associated navigation route, and an associated central control system IOT. Optionally, the manner of associating the map corresponding to the navigation route may be to import the scanned map into the corresponding navigation route, or to associate the map corresponding to the navigation route by inputting a starting point of the navigation route and an end point of the navigation route. Fig. 2C is a schematic view of an interface for configuring a navigation site, which selects a starting point of a navigation route (e.g., navigation site No. 1 in fig. 2C), an end point of the navigation route (e.g., navigation site No. 6 in fig. 2C), and other navigation sites (e.g., navigation site No. 2-navigation site No. 5 in fig. 2C). Fig. 2D is a schematic interface diagram of a configuration navigation element, where one or more navigation elements are configured for each navigation site, and the navigation elements may be text + emoticons, text + pictures, videos, and transitional languages.
The server may send the navigation instruction to the robot after generating the navigation instruction. The navigation instructions are synchronized to the robot, for example, by a synchronization device. After receiving the navigation instruction, the robot analyzes the navigation instruction according to a preset format, and then a navigation route configured by a user, a navigation site on the navigation route, and navigation elements of the navigation site can be obtained. Optionally, the preset format may be any format, and optionally a json format.
Optionally, after receiving and analyzing the navigation instruction, the robot obtains a user-defined navigation route, a navigation site on the navigation route, and navigation elements of the navigation site. The tour route, the tour site, and the tour elements of the tour site may be stored in a local database. The navigation information associated with the navigation elements of the navigation site can also be stored in the database, which has the advantage that the required navigation route and navigation information can be quickly called when the navigation task is executed.
And S220, detecting whether the vehicle enters a navigation site on a navigation route which is configured by a user in a self-defined way in advance in the driving process, if so, executing S230, otherwise, returning to execute S220.
The user pre-customized configuration comprises voice input or interface operation.
In the embodiment of the present application, when the robot receives the navigation instruction, it travels on the selected navigation route in response to the navigation instruction. Meanwhile, whether the robot enters a navigation site on a navigation route which is configured by a user in a user-defined manner or not is detected in the driving process. If the robot is detected to enter a navigation site on a navigation route configured by a user in a user-defined manner, executing S230; if it is detected that the robot does not enter the navigation site on the navigation route configured by the user in a pre-defined manner, returning to S220 after a preset time to continue detecting whether the robot enters the navigation site on the navigation route configured by the user in a pre-defined manner until it is detected that the robot enters the navigation site on the navigation route configured by the user in a pre-defined manner. The preset time can be set by the user.
Illustratively, the user sets a navigation route through voice input or interface operation, wherein the navigation route includes at least one navigation site. The user sends a navigation instruction to the robot through the server. The robot receives the navigation instruction, analyzes the navigation route, the navigation site and the navigation elements of the navigation site contained in the navigation instruction, then runs on the analyzed navigation route, and detects whether to enter the navigation site on the navigation route configured by the user in advance in the running process, namely whether to enter the analyzed navigation site.
And S230, if so, controlling the robot to accurately align to the navigation site and acquiring the position information entering the current navigation site.
And S240, determining the navigation elements of the current navigation site according to the position information.
The navigation element refers to a specific explaining task executed by the robot when executing the navigation task, and may be, for example, text, pictures, music, actions, Internet of Things (IOT) instruction codes, expressions, videos, transitional phrases, and the like.
In the embodiment of the application, when the robot receives a navigation instruction for executing a navigation task, the navigation element corresponding to the navigation site at the position, which is configured in advance by the user, is determined according to the position information of the navigation site. Alternatively, the navigation element of the navigation site at the position may be directly obtained from the parsing result of the navigation instruction.
And S250, calling navigation information corresponding to the navigation elements to broadcast.
In the embodiment of the application, after the navigation element of the current navigation site is determined, if the navigation information corresponding to the navigation element of the current navigation site is stored in the local database, the navigation information is called from the local database; or the navigation information corresponding to the navigation element of the current navigation site can be downloaded from the internet or the server. And then broadcasting according to the navigation information corresponding to the navigation element.
And S260, detecting whether the broadcasting of the navigation information is finished, if so, executing S270, and if not, returning to execute S260.
And S270, if the navigation information is detected to be completely broadcasted, continuing to drive to the next navigation site direction of the current navigation site according to the selected navigation route.
According to the technical scheme provided by the embodiment, the navigation instruction is responded, and the vehicle runs on the selected navigation route; detecting whether a navigation site on a navigation route which is configured by a user in a user-defined manner in advance enters a driving process; if so, controlling the robot to accurately align to the navigation site and acquiring the position information of entering the current navigation site; determining navigation elements of the current navigation site according to the position information; calling navigation information corresponding to the navigation elements for broadcasting; and if the navigation information is detected to be completely broadcasted, continuing to drive to the next navigation site direction of the current navigation site according to the selected navigation route. According to the method and the system, the user can configure the navigation route, the navigation sites and the navigation elements of the navigation sites based on the server, and then the robot is controlled to execute the continuous navigation tasks of the navigation sites according to the configuration of the user, so that the flexibility of the robot in executing the navigation tasks is further improved.
EXAMPLE III
Fig. 3 is a third flowchart of a robot navigation method according to a third embodiment of the present application. The embodiment of the application is optimized on the basis of the embodiment, and specifically optimized as follows: a detailed explanation of the determination process of the navigation condition is added. Optionally, the present embodiment explains the process of executing the control signal by the robot in detail.
Referring to fig. 3, the method of the present embodiment includes, but is not limited to, the following steps:
and S310, starting.
And S320, detecting whether the current environment has the navigation condition, if so, executing S330, otherwise, returning to the step S320.
Optionally, the navigation condition of the current environment includes at least one of: the map of the navigation route is a map preset in the robot or a map customized in advance according to a user; the robot is successfully positioned currently; the navigation information corresponding to the navigation line and the navigation element is downloaded; the navigation function is started safely; the current position of the robot is the starting point of the navigation route.
In an embodiment of the present application, when the robot receives a command to execute a navigation task, it is further required to check the runtime environment, and check whether the current runtime environment has navigation conditions, for example: whether a map associated with the navigation route is correct (i.e. whether the map is a map preset in the robot or a map pre-defined by a user), whether a positioning system of the robot is started successfully, whether navigation information required for performing a navigation task is downloaded completely, whether a navigation function of the robot is started safely, and whether the current position of the robot is a starting point of the navigation route is detected. The detecting whether the current position of the robot is the starting point of the navigation route means that when the robot starts to execute the navigation task, whether the current position of the robot is the first navigation site in the navigation route needs to be detected. If the current position of the robot is the first navigation station in the navigation route, the broadcasting task is started to be executed; if the current position of the robot is not the first navigation site in the navigation route, the robot needs to travel to the first navigation site first.
In the embodiment of the present application, after receiving the navigation instruction, first detecting whether the current environment has the navigation condition, and if the current environment has the navigation condition, executing S330; if the current environment does not have the navigation condition, waiting for the server to configure the navigation condition for the robot, and returning to S320 after a preset time to continuously detect whether the current environment has the navigation condition until detecting that the current environment has the navigation condition. The preset time can be set by the user.
And S330, if the current environment has the navigation condition, responding to the navigation instruction and driving on the selected navigation route.
And S340, detecting whether the vehicle enters a preset navigation station of the selected navigation route or not in the running process, if so, executing S350, otherwise, returning to execute S340.
And S350, if so, controlling the robot to accurately align to the navigation site and acquiring the position information entering the current navigation site.
And S360, calling the navigation information of the current navigation site to broadcast according to the position information.
And S370, in the process of calling the navigation information of the current navigation site for broadcasting, if a control signal sent by a signal source is received, suspending broadcasting of the navigation information and executing a control event corresponding to the control signal.
The generation mode of the control signal sent by the signal source can be generated by a Bluetooth remote controller, an emergency stop button, an electronic skin, an IOT central control, a three-screen continuous click, a global floating window and the like. The control event corresponding to the control signal may be starting the navigation task, ending the navigation task, pausing the navigation task, resuming the navigation task, skipping the current navigation element, skipping the current navigation site. In the embodiment of the application, which control signal corresponds to which control event is not specifically limited, and may be set by a user or configured by a manufacturer when the robot leaves a factory.
In the specific embodiment of the present application, when the communication layer of the robot receives a certain control signal sent by the signal source, the signal abstraction adaptation layer of the robot is used to configure a control event corresponding to the control signal, and then the event processing layer of the robot executes the configured control event. The advantage of such an arrangement is that the way of decoupling upper layer service and specific signals is used, and the problem that the hardware configuration of the signal source is too complex due to the fact that the robot responds to various signal sources is solved, so that when the signal source is added to the robot, the robot is simple and easy to operate.
And S380, detecting whether the broadcasting of the navigation information is finished, if so, executing S390, and if not, returning to execute S380.
And S390, if the navigation information is detected to be completely broadcasted, continuing to drive to the next navigation site direction of the current navigation site according to the selected navigation route.
According to the technical scheme provided by the embodiment, whether the current environment has the navigation condition is detected; if the current environment has the navigation condition, responding to the navigation instruction and driving on the selected navigation route; detecting whether a preset navigation site of a selected navigation route is entered or not in a driving process; if so, controlling the robot to accurately align to the navigation site and acquiring the position information of entering the current navigation site; calling the navigation information of the current navigation site for broadcasting according to the position information; in the process of calling the navigation information of the current navigation site for broadcasting, if a control signal sent by a signal source is received, the broadcasting of the navigation information is suspended, and a control event corresponding to the control signal is executed; and if the navigation information is detected to be completely broadcasted, continuing to drive to the next navigation site direction of the current navigation site according to the selected navigation route. The robot executes the navigation task under the condition that the current environment has the navigation condition, so that the condition of inaccurate navigation caused by abnormity in the process of executing the navigation task is avoided. In addition, in the navigation process, the user can control the robot to pause, continue or skip the execution of the navigation task through the control signal sent by the signal source so as to improve the flexibility of the robot in executing the navigation task.
Example four
Fig. 4 is a schematic structural diagram of a robot navigation apparatus according to a fourth embodiment of the present disclosure, and as shown in fig. 4, the apparatus 400 may include:
a driving module 410 for driving on the selected navigation route in response to the navigation instruction;
the detection module 420 is configured to detect whether the vehicle enters a preset navigation site of a selected navigation route during a driving process;
the driving module 410 is further configured to control the robot to accurately align with a navigation site if the detection module detects that the preset navigation site enters the selected navigation route;
a location obtaining module 430, configured to obtain location information of entering a current navigation site;
the language broadcasting module 440 is used for calling the navigation information of the current navigation site for broadcasting according to the position information;
the driving module 410 is further configured to continue driving towards a next navigation site of the current navigation site according to the selected navigation route if it is detected that the navigation information is completely broadcasted.
Optionally, the navigation instruction is generated by the server according to a navigation route configured by a user in advance, a navigation site on the navigation route, and a navigation element of the navigation site, and the server sends the navigation instruction to the robot after generating the navigation instruction.
Further, the detecting module 420 may be specifically configured to: and detecting whether the navigation site on the navigation route is entered into in a driving process, wherein the navigation site is configured by a user in a pre-defined manner, and the user in the pre-defined manner comprises voice input or interface operation.
Further, the language broadcast module 440 may specifically be configured to: determining navigation elements of the current navigation site according to the position information; and calling the navigation information corresponding to the navigation element for broadcasting.
Further, the robot navigation device may further include: a control event execution module;
and the control event execution module is used for pausing the broadcasting of the navigation information and executing the control event corresponding to the control signal if the control signal sent by the signal source is received in the process of calling the navigation information of the current navigation site for broadcasting.
Further, the driving module 410 may be further specifically configured to: and if the current environment has the navigation condition, responding to the navigation instruction and driving on the selected navigation route.
Further, the current environment having navigation conditions includes at least one of: the map of the navigation route is a map preset in the robot or a map customized in advance according to a user; the robot is successfully positioned currently; the navigation information corresponding to the navigation circuit and the navigation element is downloaded; the navigation function is safely started; the current position of the robot is the starting point of the navigation route.
The robot navigation device provided by the embodiment can be applied to the robot navigation method provided by any of the above embodiments, and has corresponding functions and beneficial effects.
EXAMPLE five
According to an embodiment of the present application, there is also provided a robot and a readable storage medium.
As shown in fig. 5, is a block diagram of a robot navigation method according to an embodiment of the present application. A robot is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Robots may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. Preferably, the robot of the embodiment of the present application may be a robot apparatus. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 5, the robot includes: one or more processors 510, memory 520, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the robot, including instructions stored in or on the memory to display graphical information of the GUI on an external input/output device (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 5, one processor 510 is taken as an example.
The memory 520, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the robot navigation method in the embodiment of the present application (for example, the driving module 410, the detection module 420, the position acquisition module 430, and the language announcement module 440 shown in fig. 4). The processor 510 executes various functional applications of the server and data processing, i.e., implements the robot navigation method in the above-described method embodiments, by executing non-transitory software programs, instructions, and modules stored in the memory 520.
The memory 520 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the robot, and the like. Further, the memory 520 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 520 optionally includes memory located remotely from the processor 510, which may be connected to the robot over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The robot of the robot navigation method may further include: an input device 530 and an output device 540. The processor 510, the memory 520, the input device 530, and the output device 540 may be connected by a bus or other means, and the bus connection is exemplified in fig. 5.
The input device 530 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the navigated robot, such as a touch screen, keypad, mouse, track pad, touch pad, pointing stick, one or more mouse buttons, track ball, joystick, or other input device. The output device 540 may include a display device, an auxiliary lighting device (e.g., an LED), a haptic feedback device (e.g., a vibration motor), and the like. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), the internet, and blockchain networks.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
According to the technical scheme of the embodiment of the application, the navigation system responds to the navigation instruction, runs on the selected navigation route, and detects whether the navigation system enters the preset navigation site of the selected navigation route or not in the running process; if so, controlling the robot to accurately align to the navigation site and acquiring the position information of entering the current navigation site; calling the navigation information of the current navigation site for broadcasting according to the position information; and if the navigation information is detected to be completely broadcasted, continuing to drive to the next navigation site direction of the current navigation site according to the selected navigation route. The method and the system perform a navigation task comprising a plurality of pre-navigation sites by responding to a navigation instruction. In the navigation process, rich anthropomorphic elements can be defined, and question-answer interaction links can be configured, so that the robot can introduce a plurality of navigation sites on one route like a plurality of visitors, the problems that the navigation elements are single and the navigation tasks are not modifiable in the prior art are solved, the embodiment of the application can realize continuous navigation of the plurality of navigation sites, and the navigation tasks executed by the robot can be flexibly configured.
It should be noted that, in the embodiment of the robot navigation device, the units and modules included in the embodiment are merely divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the application.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present application can be achieved, and the present invention is not limited herein.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A robotic navigation method, comprising:
responding to the navigation instruction, driving on the selected navigation route, and detecting whether to enter a preset navigation site of the selected navigation route in the driving process;
if so, controlling the robot to accurately align to the navigation site and acquiring the position information of entering the current navigation site;
calling the navigation information of the current navigation site for broadcasting according to the position information;
and if the navigation information is detected to be completely broadcasted, continuing to drive to the next navigation site direction of the current navigation site according to the selected navigation route.
2. Robot navigation method according to claim 1,
the navigation instruction is generated by a server according to a navigation route which is pre-self-defined and configured by a user, a navigation site on the navigation route and navigation elements of the navigation site, and the server sends the navigation instruction to the robot after generating the navigation instruction.
3. The robot navigation method of claim 2, wherein the detecting whether the preset navigation site of the selected navigation route is entered during the traveling includes:
and detecting whether the navigation site on the navigation route is entered into in a driving process, wherein the navigation site is configured by a user in a pre-defined manner, and the user in the pre-defined manner comprises voice input or interface operation.
4. The robot navigation method according to claim 2, wherein invoking navigation information of a current navigation site for broadcasting according to the position information comprises:
determining navigation elements of the current navigation site according to the position information;
and calling the navigation information corresponding to the navigation element for broadcasting.
5. The robotic navigation method of claim 1, further comprising:
in the process of calling the navigation information of the current navigation site for broadcasting, if a control signal sent by a signal source is received, the broadcasting of the navigation information is suspended, and a control event corresponding to the control signal is executed.
6. A robot navigation method according to claim 1, wherein traveling on a selected navigation route in response to a navigation instruction, comprises:
and if the current environment has the navigation condition, responding to the navigation instruction and driving on the selected navigation route.
7. The robotic navigation method of claim 6, wherein the current environment with navigation conditions includes at least one of:
the map of the navigation route is a map preset in the robot or a map customized in advance according to a user;
the robot is successfully positioned currently;
the navigation information corresponding to the navigation circuit and the navigation element is downloaded;
the navigation function is safely started;
the current position of the robot is the starting point of the navigation route.
8. A robotic navigation device, comprising:
the driving module is used for responding to the navigation instruction and driving on the selected navigation route;
the detection module is used for detecting whether the vehicle enters a preset navigation site of a selected navigation route or not in the running process;
the driving module is further used for controlling the robot to accurately align to the navigation station if the detection module detects that the preset navigation station enters the selected navigation route;
the position acquisition module is used for acquiring position information entering a current navigation site;
the language broadcasting module is used for calling the navigation information of the current navigation site for broadcasting according to the position information;
and the driving module is further used for continuing driving towards the next navigation site of the current navigation site according to the selected navigation route if the navigation information is detected to be completely broadcasted.
9. A robot, characterized in that the robot comprises:
one or more processors;
storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the robotic navigation method of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the robot navigation method according to any one of claims 1-7.
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| CN202011540008.9A CN112731931A (en) | 2020-12-23 | 2020-12-23 | Robot navigation method, device, robot and storage medium |
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