CN113050623B - Control method and system of robot, electronic equipment and storage medium - Google Patents

Control method and system of robot, electronic equipment and storage medium Download PDF

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Publication number
CN113050623B
CN113050623B CN202110178813.XA CN202110178813A CN113050623B CN 113050623 B CN113050623 B CN 113050623B CN 202110178813 A CN202110178813 A CN 202110178813A CN 113050623 B CN113050623 B CN 113050623B
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China
Prior art keywords
robot
catering
target
dining
bracelet
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CN202110178813.XA
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Chinese (zh)
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CN113050623A (en
Inventor
李奇
万永辉
唐旋来
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Shanghai Keenlon Intelligent Technology Co Ltd
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Shanghai Keenlon Intelligent Technology Co Ltd
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Priority to CN202110178813.XA priority Critical patent/CN113050623B/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The embodiment of the invention discloses a control method and system of a robot, electronic equipment and a storage medium. Wherein the method comprises the following steps: responding to a starting instruction of a catering robot, and sending starting prompt information to a target bracelet associated with the catering robot; acquiring the current position of the catering robot, and determining whether the catering robot reaches a target position currently according to a preset running path of the catering robot; if yes, sending arrival prompt information to the target bracelet; determining whether to respond to a robot pause instruction of the target bracelet within preset time, if so, controlling the dining robot to stay at the target position for a user to take meals and/or take dishes from the dining robot. The state of the dining robot is reminded and operated through the bracelet, so that a user can conveniently acquire the state of the robot, omission of running information of the robot is avoided, and the control efficiency of the robot is improved.

Description

Control method and system of robot, electronic equipment and storage medium
Technical Field
The embodiment of the invention relates to an artificial intelligence technology, in particular to a control method and system of a robot, electronic equipment and a storage medium.
Background
Intelligent robots have been increasingly used in many areas of life, bringing great convenience to people's life. For example, an intelligent robot may be applied in a restaurant for serving meals.
In the prior art, after a kitchen worker places a meal on a robot, the kitchen worker issues a command for starting meal delivery to the robot, so that the robot goes to a dining table, and a waiter can directly take the meal for a guest at the dining table. However, during the delivery of the robot, the attendant cannot get to the specific progress/status of the delivery of the robot (e.g., whether to begin delivering the meal and the robot's position at that moment), resulting in the situation where the robot has arrived at the table without the attendant having previously taken the meal. Accurate butt joint of the robot and an attendant is difficult to realize, manpower and time are wasted, and control efficiency of the robot is affected.
Disclosure of Invention
The embodiment of the invention provides a control method, a control system, electronic equipment and a storage medium for a robot, so as to improve the control efficiency of the robot.
In a first aspect, an embodiment of the present invention provides a control method of a robot, which is applied to a server, where the method includes:
responding to a starting instruction of a catering robot, and sending starting prompt information to a target bracelet associated with the catering robot;
Acquiring the current position of the catering robot, and determining whether the catering robot reaches a target position currently according to a preset running path of the catering robot;
if yes, sending arrival prompt information to the target bracelet;
determining whether to respond to a robot pause instruction of the target bracelet within preset time, if so, controlling the dining robot to stay at the target position for a user to take meals and/or take dishes from the dining robot.
In a second aspect, an embodiment of the present invention further provides a method for controlling a robot, where the method is applied to a target bracelet, and the method includes:
receiving departure prompt information sent by a server;
receiving arrival prompt information sent by a server;
and responding to a robot pause instruction sent by a user to the target bracelet, and sending the robot pause instruction to the server so that the server can control the dining robot to stay at the target position.
In a third aspect, the embodiment of the invention also provides a control system of the robot, wherein the system comprises a server, and a robot and a target bracelet which are respectively in communication connection with the server;
the server is used for executing the following method:
Responding to a starting instruction of a catering robot, and sending starting prompt information to a target bracelet associated with the catering robot;
acquiring the current position of the catering robot, and determining whether the catering robot reaches a target position currently according to a preset running path of the catering robot;
if yes, sending arrival prompt information to the target bracelet;
determining whether to respond to a robot pause instruction of the target bracelet within preset time, if so, controlling the dining robot to stay at the target position for a user to take meals and/or take dishes from the dining robot;
the target bracelet is used for executing the following method:
receiving departure prompt information sent by a server;
receiving arrival prompt information sent by a server;
and responding to a robot pause instruction sent by a user to the target bracelet, and sending the robot pause instruction to the server so that the server can control the dining robot to stay at the target position.
In a fourth aspect, an embodiment of the present invention further provides a control device for a robot, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the control method for a robot according to the first and second aspects when executing the program.
In a fifth aspect, embodiments of the present invention also provide a storage medium containing computer executable instructions, which when executed by a computer processor, are used to perform the method of controlling a robot according to the first and second aspects.
According to the embodiment of the invention, the dining robot is determined to start delivering the meal by receiving the starting instruction of the dining robot. The method comprises the steps of determining a target bracelet associated with the catering robot, sending prompt information to the target bracelet, and enabling staff wearing the target bracelet to know the state of the catering robot in real time, so that the staff can reach a target position in time and meet the catering robot. After the dining robot reaches the end point, prompt information is sent to the target bracelet again, if the staff does not get enough to get the meal, a pause instruction can be sent to the dining robot through the target bracelet, so that the dining robot waits at the target position, and the situation that the dining robot leaves the target position after the staff does not get the meal is avoided. Compared with the prior art, the embodiment of the invention solves the problems that in the prior art, a worker cannot timely determine the state of the robot and cannot conveniently control the robot under the condition of releasing hands, effectively improves the control efficiency of the robot, and provides convenience for users.
Drawings
Fig. 1 is a flow chart of a control method of a robot according to a first embodiment of the present invention;
fig. 2 is a flow chart of a control method of a robot in a second embodiment of the invention;
fig. 3 is a flow chart of a control method of a robot in a third embodiment of the present invention;
fig. 4 is a flow chart of a control method of a robot in a fourth embodiment of the invention
Fig. 5 is a block diagram of a control device of a robot in a fifth embodiment of the present invention;
fig. 6 is a schematic flow chart of a control device of a robot in a seventh embodiment of the present invention;
fig. 7 is a schematic flow chart of a control device of a robot in an eighth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flow chart of a control method of a robot according to an embodiment of the present invention, where the method may be performed by a control device of a robot, and the device is configured on a server, where the control device is applicable to situations such as meal delivery, disc collection and/or guidance by using the robot. As shown in fig. 1, the method specifically includes the following steps:
Step 110, responding to a starting instruction of the catering robot, and sending starting prompt information to a target bracelet associated with the catering robot.
The dining robot can be applied to a restaurant, kitchen staff can place cooked meals on the dining robot, a meal delivery control on the dining robot is triggered, the dining robot delivers to a target dining table where a guest is located, and the process of taking and delivering the meals by a server is omitted. Before the dining robot starts working, the dining robot is placed in a kitchen or before a kitchen meal taking port. After the kitchen staff places the meal on the dining robot, the meal delivery control on the dining robot can be triggered, so that the dining robot starts to deliver the meal.
After receiving the triggering operation of the staff, the catering robot determines to start meal delivery and sends a start instruction to the background server. When a staff touches a meal sending control on the catering robot, a destination of the catering robot can be input or selected, and the position information of the destination can be included in a starting instruction of the catering robot. The restaurant robot can store layout information of a restaurant in advance, a travel path of the restaurant robot can be generated based on a preset path planning algorithm according to the current position of the restaurant robot and the position information of a destination, and the end point of the travel path can be set as the destination. The background server responds to a starting instruction of the catering robot, and determines the destination of the catering robot according to the starting instruction. The dining robot can transmit the driving path to the background server and store the driving path in association with the number of the dining robot. The data transmission can be carried out between the background server and the catering robot through the MQTT (Message Queuing Telemetry Transport, message queue telemetry transmission). Each catering robot can be associated with at least one bracelet device, one bracelet device can be associated with at least one catering robot, and the association relation between the catering robots and the bracelet devices can be stored in advance. For example, the connection of the dining robot and the bracelet device may be made via bluetooth. After responding to a starting instruction of the catering robot, acquiring a robot number of the catering robot from the starting instruction, searching a target bracelet associated with the catering robot, and sending starting prompt information to the target bracelet. The prompting information can be vibration prompting information and/or voice prompting information, the departure prompting information can comprise information such as a robot number of the catering robot and a driving path of the catering robot, the target bracelet receives the departure prompting information, vibrates and displays data contents such as the robot number and the driving path, and a user wearing the target bracelet can know that the catering robot begins to send meals in time.
In this embodiment, optionally, in response to a start instruction of the dining robot, sending start prompt information to a target bracelet associated with the dining robot includes: responding to a starting instruction of the catering robot, and acquiring task information of the catering robot; the task information comprises identity information of the dining robot and a preset running path; determining a target bracelet associated with the catering robot according to the identity information of the catering robot; and sending departure prompt information to the target bracelet to inform a user that the dining robot starts to send food and the target position of the dining robot.
Specifically, the background server responds to a starting instruction sent by the catering robot, and task information of the catering robot is obtained from the starting instruction. The task information refers to related information of a current meal delivery task of the dining robot, for example, the task information may include identity information of the dining robot, a preset running path and the like, and the identity information may include information such as a robot number and a robot name. Searching for a target bracelet associated with the catering robot from the prestored association relation between the catering robot and the bracelet equipment, for example, searching for the associated target bracelet through a number. Sending departure prompt information to the target bracelet, vibrating the target bracelet, informing a wearing user of the target bracelet, and starting food delivery by the catering robot. The robot number and the running path of the catering robot can be displayed to inform the wearing user of the target bracelet, and information such as the target position and the expected arrival time of the catering robot can be displayed, so that the wearing user of the target bracelet can arrive at the target position in time and is in butt joint with the catering robot. The target position can be a path end point or a certain path point in a path, and the robot can have a plurality of target positions in the process of delivering and/or receiving the food once and can stop at the plurality of target positions to finish the task. The beneficial effect that sets up like this lies in, and food and beverage robot and bracelet are connected to the backstage server, carries out the data transmission between food and beverage robot and the bracelet, according to food and beverage robot's robot serial number, can send the suggestion information of going out to the target bracelet, makes the user can accurately obtain food and beverage robot's the state of delivering, and need not carry out complicated operation of looking over to the target bracelet, can demonstrate simple operation on the bracelet, for example, let robot in situ latency increase 5 minutes to and let the robot return at once etc.. The long-time waiting of the dining robot after delivering the meal or the long-time waiting of the user is avoided, and the working efficiency of the robot is improved.
Step 120, acquiring the current position of the catering robot, and determining whether the catering robot reaches the target position according to the preset driving path of the catering robot.
The catering robot collects the current position of the catering robot in real time in the meal delivery process, and sends the current position information to the background server. For example, the robot may acquire the current position by matching with a preset map file through a point position command executed by the robot itself, and give the current position information to the background server. The background server obtains the current position of the catering robot, searches a preset running path of the catering robot according to the robot number of the catering robot, compares the current position of the catering robot with the preset running path, and determines whether the catering robot currently reaches a target position.
And 130, if so, sending arrival prompt information to the target bracelet.
If the dining robot is determined to reach the target position, the arrival prompt information is sent to the target bracelet, wherein the arrival prompt information can comprise the robot number, the current position and the like of the dining robot. The wearing user of the target bracelet can be prompted to go to the target position as soon as possible through vibration and be converged with the catering robot, and long-time waiting of the catering robot is avoided. The target bracelet reminds a waiter of taking a meal and task dynamic of the robot through vibration and/or voice, and vibration interaction is more suitable in a noisy meal delivery environment.
And 140, determining whether a robot pause instruction of the target bracelet is responded within a preset time, if so, controlling the dining robot to stay at the target position, and allowing a user to take meals and/or take dishes from the dining robot.
After the dining robot reaches the target position, the wearing user of the target bracelet can send out a robot pause instruction through the target bracelet within preset time. For example, the user may trigger a pause control on the target bracelet within 5 minutes after receiving the arrival prompt message, and send a robot pause instruction to the background server. The method comprises the steps that a robot pause instruction is sent to a background server, the background server receives the robot pause instruction sent by a target bracelet, a dining robot to be paused is determined, and the robot pause instruction is sent to the dining robot, so that the dining robot stays at a target position. The user may work during the time the robot is stationary, e.g. may take meals and/or take dishes from the robot, etc.
In this embodiment, optionally, determining whether to respond to the robot pause instruction of the target bracelet within the preset time, if yes, controlling the dining robot to stay at the target position includes: if a robot pause instruction sent by the target bracelet is received within a preset time, determining a catering robot associated with the target bracelet; and sending a robot pause instruction to the catering robot, and controlling the catering robot to stay at the target position.
Specifically, the robot pause instruction sent by the target bracelet may include identification information such as a bracelet code and a task code of the target bracelet, and the task code may be used for a server to query a robot executing the task. The background server receives a robot pause instruction within a preset time, and determines a target bracelet which sends the pause instruction. Searching a restaurant robot associated with a target bracelet from the association relation between the pre-stored bracelet and the restaurant robot, sending a robot pause instruction to the restaurant robot, and controlling the restaurant robot to stay at the target position. For example, when the dining robot reaches the target position and the wearing user of the target bracelet has not reached yet, the wearing user of the target bracelet may trigger a pause control on the bracelet to cause the dining robot to wait in situ. Or, the wearing user of the target bracelet takes the meal from the dining robot at the target position, the meal taking time is long, and in order to avoid returning of the robot when the meal taking is not finished, a pause control can be triggered, so that the dining robot stays in place. The beneficial effect that sets up like this lies in, wears the user of target bracelet and can in time control food and beverage robot through the target bracelet, avoids food and beverage robot to arrive the target position earlier and does not wait for the user and leave after, and the target bracelet is worn on the wrist, makes things convenient for the user to control the operation. When the robot can not be returned in time when the attendant is busy, the robot is returned first, the robot is prevented from blocking a road, the bracelet is associated with the robot, the robot can be accurately controlled, and the control efficiency and the working efficiency of the robot are improved.
In this embodiment, optionally, after controlling the dining robot to stay at the target position, the method further includes: responding to a return instruction of the target bracelet, sending the return instruction to the catering robot, and controlling the catering robot to travel to a preset return position.
Specifically, the pause time of the dining robot after receiving the robot pause instruction may be preset, for example, the preset pause time is 10 minutes. After a user sends a robot pause instruction to the catering robot, the catering robot stays at the target position for 10 minutes, and after 10 minutes, the catering robot can automatically travel to a preset return position. The return position is a destination at which the dining robot returns, and may be a route start point of a preset travel route.
And the user can also determine whether the dining robot needs to return according to the operation of the user, after the dining robot pauses at the target position, the user can take the meal from the dining robot, and after the meal taking is finished, the user triggers a return control on the target bracelet and sends a return instruction to the background server. The return instruction can comprise identification information such as a bracelet code of a target bracelet, and the return instruction can also comprise a task code which is used for a server to inquire about the dining robot executing the task. The background server receives the return instruction, searches the catering robot associated with the target bracelet, sends the return instruction to the catering robot, and controls the catering robot to travel to a preset return position. The beneficial effect that sets up like this lies in, and the user can control the catering robot at any time and return through the target bracelet, can be when the waiter is busy can't in time come back to answer the robot, lets the robot return earlier, prevents that the robot from blocking up the way, and operation process is simple, effectively improves the control efficiency of robot.
According to the technical scheme, the catering robot is determined to begin delivering the meal by receiving the starting instruction of the catering robot. The method comprises the steps of determining a target bracelet associated with the catering robot, sending prompt information to the target bracelet, and enabling staff wearing the target bracelet to know the state of the catering robot in real time, so that the staff can reach a target position in time and meet the catering robot. After the dining robot reaches the end point, prompt information is sent to the target bracelet again, if the staff does not get enough to get the meal, a pause instruction can be sent to the dining robot through the target bracelet, so that the dining robot waits at the target position, and the situation that the dining robot leaves the target position after the staff does not get the meal is avoided. The embodiment of the invention solves the problems that in the prior art, a worker cannot determine the state of the robot in time and cannot conveniently control the robot, and effectively improves the control efficiency of the robot.
Example two
Fig. 2 is a flow chart of a control method of a robot according to a second embodiment of the present invention, which is further optimized based on the above embodiment, and the method may be executed by a control device of the robot. As shown in fig. 2, the method specifically includes the following steps:
Step 210, responding to a starting instruction of the catering robot, and acquiring task information of the catering robot; the task information comprises identity information of the dining robot and a preset running path.
Step 220, according to the identity information of the catering robot, task information of the catering robot is sent to a corresponding preset mobile terminal, the preset mobile terminal is used for determining a target bracelet associated with the catering robot, and the preset mobile terminal sends departure prompt information to the target bracelet to inform a user that the catering robot starts to send food and the target position of the catering robot.
The data connection between the background server and the bracelet device can be realized through a preset mobile terminal, for example, the preset mobile terminal can be a mobile phone and other devices. The background server can carry out data transmission with the mobile phone, and the mobile phone can carry out Bluetooth connection with the bracelet, so that data transmission is carried out. When the catering robot starts, the target bracelet vibrates to prompt the user that the catering robot starts to deliver the meal. The catering robot sends task information to the background server, wherein the task information can indicate that the catering robot starts to send food. After receiving the task information, the background server determines that the dining robot starts to send food, and sends the task information to a preset mobile terminal. There may be a plurality of mobile terminals, each mobile terminal may be connected to a bracelet device, and the background server may send the task information to a mobile terminal associated with the dining robot according to the dining robot number in the task information. The mobile terminal receives the task information, determines a target bracelet connected with Bluetooth of the mobile terminal, sends departure prompt information to the target bracelet, vibrates the target bracelet, informs a user wearing the target bracelet of starting food delivery of the food and beverage robot, and can display information such as a target position and expected arrival time of the food and beverage robot to prompt the user to arrive at the target position in time and meet the food and beverage robot.
Step 230, acquiring the current position of the catering robot, and determining whether the catering robot reaches the target position according to the preset driving path of the catering robot.
The catering robot acquires the current position of the catering robot in real time and sends the current position to the background server, and the background server can send the current state of the catering robot to the corresponding mobile terminal after determining that the catering robot reaches the target position, and the mobile terminal sends arrival prompt information to the target bracelet. The current state of the dining robot may include departure, in-flight, upcoming and arrived etc.
In this embodiment, optionally, before determining whether the dining robot currently reaches the target position according to the preset running path of the dining robot, the method further includes: comparing the current position of the dining robot with a preset running path; determining whether the dining robot is currently positioned at a preset running node of a preset running path according to the comparison result; if yes, sending a prompt message in running to the target bracelet to inform the user of the current position of the dining robot.
Specifically, the target bracelet can receive vibration reminding when the dining robot starts to send food and arrives at the destination, and also can receive vibration reminding in the running process of the dining robot. The catering robot sends the current position information of the catering robot to a background server, and the background server compares the current position information of the catering robot with a preset running path in real time. One or more travel nodes may be provided on the travel path in advance, for example, one travel node may be provided at a distance of 10 meters from the travel end point. And determining whether the catering robot is currently positioned on a preset running node of the preset running path according to a comparison result of the current position of the catering robot and the preset running path. If yes, sending the on-driving prompt information to a target bracelet associated with the dining robot. The in-flight prompt information may include the current location of the dining robot, the time when the target location is expected to be reached, and the like.
For example, the target position is a path end point, a position 10 m away from the end point is set as a running node, when the dining robot is 10 m away from the end point, the background server determines that the dining robot is about to reach the end point, sends about-to-reach information to the target bracelet, triggers a reminding unit of the target bracelet, the target bracelet vibrates, and a user can check the worn target bracelet to confirm that the dining robot is about to reach the end point. The beneficial effects that set up like this lie in, can in time remind the user when dining robot is about to reach the terminal point, through triggering vibrations and remind the unit, can make the user feel bracelet vibrations, in time reach target position and join with dining robot, reduce the latency of user or dining robot, improve the food delivery efficiency of robot.
In this embodiment, optionally, sending the running prompt information to the target bracelet includes: and sending current running information of the catering robot to a preset mobile terminal, and sending running prompt information to an associated target bracelet by the preset mobile terminal according to the current running information.
Specifically, when it is determined that the dining robot reaches the preset running node, the background server may send running prompt information to the associated target bracelet, or may send current meal delivery information of the dining robot to the mobile terminal. For example, the current meal delivery information of the dining robot may be current location information of the dining robot, time information of the expected arrival at the end point, and upcoming status information. After receiving the current meal delivery information sent by the background server, the mobile terminal sends running prompt information to a target bracelet connected with Bluetooth to inform a user of the current position of the catering robot. The beneficial effects of setting up like this are that, carry out the data transmission of backstage server and bracelet through mobile terminal, realize the four directions cooperation of dining robot, backstage, mobile terminal and bracelet, support the configurability that equipment was notified to adapt to more scenes, improve data transmission's precision.
And step 240, if so, sending arrival prompt information to the target bracelet.
Step 250, determining whether to respond to a robot pause instruction of the target bracelet within a preset time, if so, controlling the dining robot to stay at the target position for a user to take meals and/or take dishes from the dining robot.
The user triggers a pause control through the target bracelet and sends out a robot pause instruction. The target bracelet can directly send the robot pause instruction to the background server, can also send the robot pause instruction to the corresponding mobile terminal, and then the mobile terminal sends the pause instruction fed back by the target bracelet to the background server. The target bracelet can trigger a pause instruction in the running process of the robot, and the background server responds to the pause instruction in the running process to control the dining robot to pause in the working process or the returning process. In this embodiment, the user may also directly control the dining robot through a control on the robot.
According to the embodiment of the invention, the dining robot is determined to start delivering the meal by receiving the starting instruction of the dining robot. The target bracelet associated with the catering robot is determined through the mobile terminal, prompt information is sent to the target bracelet, and a worker wearing the target bracelet can know the state of the catering robot in real time, so that the target position is reached in time and the catering robot is converged. After the catering robot reaches the end point, prompt information is sent to the target bracelet again, if the staff is busy, a pause instruction can be sent to the catering robot through the target bracelet, so that the catering robot waits at the target position, and the situation that the catering robot leaves the target position after the staff does not finish taking the meal is avoided. The embodiment of the invention solves the problems that in the prior art, a worker cannot determine the state of the robot in time and cannot conveniently control the robot, and effectively improves the control efficiency of the robot.
Example III
Fig. 3 is a schematic flow chart of a control method of a robot according to a third embodiment of the present invention, which is further optimized based on the above embodiment, and the method may be executed by a control device of the robot. As shown in fig. 3, the method specifically includes the following steps:
step 310, in response to a starting instruction of the catering robot, starting prompt information is sent to a target bracelet associated with the catering robot.
Step 320, acquiring the current position of the catering robot, and determining whether the catering robot reaches the target position according to the preset driving path of the catering robot.
And 330, if yes, sending arrival prompt information to the target bracelet.
Step 340, if the robot pause instruction of the target bracelet is not received within the preset time, controlling the dining robot to stay at the target position according to the preset meal taking time, so that the user can take and/or receive dishes from the dining robot within the preset meal taking time.
After the dining robot reaches the target position, a user can determine whether to control the dining robot to stay in place within a preset time. If the wearing user of the target bracelet does not trigger the pause control of the bracelet within the preset time, the background server determines that the robot pause instruction sent by the target bracelet is not received within the preset time. The robot can stay at the target position according to the preset meal taking time length, and wait for a user to take a meal. For example, the preset meal taking time period is 10 minutes, the user considers that 10 minutes are enough for taking a meal, and the dining robot does not need to stop for additional time, so that the user needs to finish taking the meal within 10 minutes by selecting not to trigger the pause control and stopping the dining robot at the target position for 10 minutes.
In this embodiment, optionally, if the robot pause instruction of the target bracelet is not received within the preset time, controlling the dining robot to stay at the target position according to the preset meal taking duration, further includes: determining whether the residence time of the dining robot at the target position exceeds a preset meal taking duration; if yes, a return instruction is sent to the catering robot, and the catering robot is controlled to travel to a preset return position.
Specifically, if the target bracelet does not send a robot pause instruction, the time that the catering robot stays at the target position is preset meal taking time. The background server monitors the stay time of the catering robot at the target position in real time, and determines whether the stay time of the catering robot at the target position exceeds the preset meal taking time. If yes, determining that the catering robot does not stay any more, and sending a return instruction to the catering robot to enable the catering robot to travel from the target position to a preset return position. The beneficial effect that sets up like this lies in, and the backstage server can automatic control dining robot stop or return, does not need the user to operate, reduces the operating procedure to the robot, improves the work efficiency of robot and to the control efficiency of robot.
According to the embodiment of the invention, the dining robot is determined to start delivering the meal by receiving the starting instruction of the dining robot. The method comprises the steps of determining a target bracelet associated with the catering robot, sending prompt information to the target bracelet, and enabling staff wearing the target bracelet to know the state of the catering robot in real time, so that the staff can reach a target position in time and meet the catering robot. After the dining robot reaches the end point, the dining robot stays according to the preset meal taking time, and automatically returns when the meal taking time reaches, so that the operation process of a user is reduced, and the control time of the robot is saved. The embodiment of the invention solves the problems that in the prior art, a worker cannot determine the state of the robot in time and cannot conveniently control the robot, and effectively improves the control efficiency of the robot.
Example IV
Fig. 4 is a flow chart of a control method of a robot according to a fourth embodiment of the present invention, where the method may be performed by a target bracelet in a situation where the robot is used for delivering, receiving, and/or guiding food. As shown in fig. 4, the method specifically includes the following steps:
step 410, receiving departure prompt information sent by the server.
The target bracelet is worn on the wrist of the user, information transmitted by the server can be received at any time, and the server can transmit the state of the dining robot to the target bracelet. After receiving the triggering operation of the staff, the catering robot determines to start meal delivery and sends a start instruction to the background server. When a staff touches a meal sending control on the catering robot, a destination of the catering robot can be input or selected, and the position information of the destination can be included in a starting instruction of the catering robot. The restaurant robot can store layout information of a restaurant in advance, a travel path of the restaurant robot can be generated based on a preset path planning algorithm according to the current position of the restaurant robot and the position information of a destination, and the end point of the travel path can be set as the destination. The background server responds to a starting instruction of the catering robot, and determines the destination of the catering robot according to the starting instruction. The dining robot can transmit the driving path to the background server and store the driving path in association with the number of the dining robot. Each catering robot can be associated with at least one bracelet device, one bracelet device can be associated with at least one catering robot, and the association relation between the catering robots and the bracelet devices can be stored in advance. After the server responds to the starting instruction of the catering robot, the robot number of the catering robot is obtained from the starting instruction, a target bracelet associated with the catering robot is searched, and starting prompt information is sent to the target bracelet. The prompting information can be vibration prompting information and/or voice prompting information, the departure prompting information can comprise information such as a robot number of the catering robot and a driving path of the catering robot, the target bracelet receives the departure prompting information, vibrates and displays data contents such as the robot number and the driving path, and a user wearing the target bracelet can know that the catering robot begins to send meals in time.
Step 420, receiving the arrival prompt information sent by the server.
The catering robot walks according to a preset path, determines the current position of the catering robot in real time, and transmits the current position to the server. The background server obtains the current position of the catering robot, searches a preset running path of the catering robot according to the robot number of the catering robot, compares the current position of the catering robot with the preset running path, and determines whether the catering robot currently reaches a target position. When the dining robot reaches the target position, the server sends arrival prompt information to the target bracelet, wherein the arrival prompt information can comprise the robot number, the current position and the like of the dining robot. The wearing user of the target bracelet can be prompted to go to the target position as soon as possible through vibration and be converged with the catering robot, and long-time waiting of the catering robot is avoided.
And 430, responding to a robot pause instruction sent by a user to the target bracelet, and sending the robot pause instruction to a server for the server to control the dining robot to stay at the target position.
After receiving the arrival prompt information, the target bracelet can send out a robot pause instruction through the target bracelet within preset time by a wearing user of the target bracelet. The target bracelet sends a robot pause instruction to a background server, and the background server receives the robot pause instruction sent by the target bracelet, determines a catering robot to be paused, and sends the robot pause instruction to the catering robot so that the catering robot stays at a target position. The user may work during the time the robot is stationary, e.g. may take meals and/or take dishes from the robot, etc.
According to the embodiment of the invention, through data transmission between the target bracelet and the server, a user can conveniently control the catering robot through the target bracelet, the operation steps of the user on the catering robot are reduced, the user is effectively prevented from missing relevant information of the robot through the vibration, voice and other prompt information of the target bracelet, and the control efficiency of the user on the catering robot is improved.
Example five
Fig. 5 is a block diagram of a control device for a robot according to a fifth embodiment of the present invention, where the control method for a robot according to any embodiment of the present invention may be implemented and configured on a server, and the control device has functional modules and beneficial effects corresponding to the implementation method. As shown in fig. 5, the apparatus specifically includes:
the departure information sending module 501 is configured to send departure prompt information to a target bracelet associated with a dining robot in response to a start departure instruction of the dining robot;
the current position obtaining module 502 is configured to obtain a current position of the dining robot, and determine whether the dining robot currently reaches a target position according to a preset travel path of the dining robot;
an arrival information sending module 503, configured to send arrival prompt information to the target bracelet if it is determined that the dining robot currently arrives at the target position;
And the robot pause module 504 is configured to determine whether to respond to a robot pause instruction of the target bracelet within a preset time, and if yes, control the dining robot to stay at the target position, so that a user can take a meal and/or receive a dish from the dining robot.
Optionally, the departure information sending module 501 includes:
the system comprises a task information acquisition unit, a processing unit and a processing unit, wherein the task information acquisition unit is used for responding to a starting instruction of a catering robot and acquiring task information of the catering robot; the task information comprises identity information of the dining robot and a preset running path;
the target bracelet determining unit is used for determining a target bracelet associated with the catering robot according to the identity information of the catering robot;
and the meal starting notification unit is used for sending a start prompt message to the target bracelet so as to notify a user that the food and beverage robot starts meal delivery and the target position of the food and beverage robot.
Optionally, the departure information sending module 501 further includes:
the mobile terminal receiving unit is used for sending the task information of the catering robot to a corresponding preset mobile terminal according to the identity information of the catering robot after responding to a starting instruction of the catering robot, determining a target bracelet associated with the catering robot by the preset mobile terminal, sending starting prompt information to the target bracelet by the preset mobile terminal, and informing a user that the catering robot starts to send meals and the target position of the catering robot.
Optionally, the apparatus further comprises:
the position comparison module is used for comparing the current position of the catering robot with a preset running path before determining whether the catering robot reaches a target position currently according to the preset running path of the catering robot;
the traveling node determining module is used for determining whether the catering robot is currently located at a preset traveling node of the preset traveling path according to the comparison result;
and the running information sending module is used for sending running prompt information to the target bracelet if the running information is yes so as to inform a user of the current position of the catering robot.
Optionally, the driving information sending module is specifically configured to:
and sending the current running information of the catering robot to a preset mobile terminal, and sending running prompt information to an associated target bracelet by the preset mobile terminal according to the current running information.
Optionally, the robot pausing module 504 is specifically configured to:
if a robot pause instruction sent by the target bracelet is received within a preset time, determining a catering robot associated with the target bracelet;
and sending the robot pause instruction to the catering robot, and controlling the catering robot to stay at the target position.
Optionally, the apparatus further comprises:
and the robot return module is used for responding to the return instruction of the target bracelet after controlling the catering robot to stay at the target position, sending the return instruction to the catering robot and controlling the catering robot to travel to a preset return position.
Optionally, the apparatus further comprises:
and the meal taking module is used for controlling the dining robot to stay at the target position according to the preset meal taking time length if the robot pause instruction of the target bracelet is not received within the preset time after the arrival prompt information is sent to the target bracelet, so that a user can take a meal and/or take a dish from the dining robot within the preset meal taking time length.
Optionally, the apparatus further comprises:
the meal taking time determining module is used for controlling the catering robot to stay at the target position according to the preset meal taking time length if the robot pause instruction of the target bracelet is not received within the preset time, and determining whether the stay time of the catering robot at the target position exceeds the preset meal taking time length;
and the return control module is used for sending a return instruction to the catering robot if the catering robot is in the preset return position, and controlling the catering robot to travel.
According to the embodiment of the invention, the dining robot is determined to start delivering the meal by receiving the starting instruction of the dining robot. The method comprises the steps of determining a target bracelet associated with the catering robot, sending prompt information to the target bracelet, and enabling staff wearing the target bracelet to know the state of the catering robot in real time, so that the staff can reach a target position in time and meet the catering robot. After the dining robot reaches the end point, prompt information is sent to the target bracelet again, if the staff does not get enough to get the meal, a pause instruction can be sent to the dining robot through the target bracelet, so that the dining robot waits at the target position, and the situation that the dining robot leaves the target position after the staff does not get the meal is avoided. The embodiment of the invention solves the problems that in the prior art, a worker cannot determine the state of the robot in time and cannot conveniently control the robot, and effectively improves the control efficiency of the robot.
Example six
The sixth embodiment of the invention also provides a control system of the robot, which comprises a server, and the robot and the target bracelet which are respectively in communication connection with the server; the system can also comprise a preset mobile terminal which can be respectively in communication connection with the server and the target bracelet.
The server is used for executing the following method:
responding to a starting instruction of a catering robot, and sending starting prompt information to a target bracelet associated with the catering robot;
acquiring the current position of the catering robot, and determining whether the catering robot reaches a target position currently according to a preset running path of the catering robot;
if yes, sending arrival prompt information to the target bracelet;
determining whether to respond to a robot pause instruction of the target bracelet within preset time, if so, controlling the dining robot to stay at the target position for a user to take meals and/or take dishes from the dining robot;
the target bracelet is used for executing the following method:
receiving departure prompt information sent by a server;
receiving arrival prompt information sent by a server;
and responding to a robot pause instruction sent by a user to the target bracelet, and sending the robot pause instruction to the server so that the server can control the dining robot to stay at the target position.
Example seven
Fig. 6 is a schematic structural diagram of a control device for a robot according to a seventh embodiment of the present invention. The control device of the robot may be a computer device and fig. 6 shows a block diagram of an exemplary computer device 600 suitable for use in implementing embodiments of the invention. The computer device 600 shown in fig. 6 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in FIG. 6, computer device 600 is in the form of a general purpose computing device. Components of computer device 600 may include, but are not limited to: one or more processors or processing units 601, a system memory 602, and a bus 603 that connects the different system components (including the system memory 602 and the processing units 601).
Bus 603 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Computer device 600 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 600 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 602 may include computer system readable media in the form of volatile memory such as Random Access Memory (RAM) 604 and/or cache memory 605. The computer device 600 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 606 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, commonly referred to as a "hard disk drive"). Although not shown in fig. 6, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 603 through one or more data medium interfaces. The system memory 602 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the invention.
A program/utility 608 having a set (at least one) of program modules 607 may be stored in, for example, system memory 602, such program modules 607 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 607 generally perform the functions and/or methods of the described embodiments of the invention.
The computer device 600 may also communicate with one or more external devices 609 (e.g., keyboard, pointing device, display 610, etc.), one or more devices that enable a user to interact with the computer device 600, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 600 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 611. Moreover, the computer device 600 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through a network adapter 612. As shown in fig. 6, the network adapter 612 communicates with other modules of the computer device 600 over the bus 603. It should be appreciated that although not shown in fig. 6, other hardware and/or software modules may be used in connection with computer device 600, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 601 executes various functional applications and data processing by running a program stored in the system memory 602, for example, to implement a control method of a robot provided by an embodiment of the present invention, including:
responding to a starting instruction of a catering robot, and sending starting prompt information to a target bracelet associated with the catering robot;
acquiring the current position of the catering robot, and determining whether the catering robot reaches a target position currently according to a preset running path of the catering robot;
if yes, sending arrival prompt information to the target bracelet;
determining whether to respond to a robot pause instruction of the target bracelet within preset time, if so, controlling the dining robot to stay at the target position for a user to take meals and/or take dishes from the dining robot.
Example eight
Fig. 7 is a schematic structural diagram of a control device for a robot according to an eighth embodiment of the present invention. The control device of the robot may be a computer device and fig. 7 shows a block diagram of an exemplary computer device 700 suitable for use in implementing embodiments of the invention. The computer device 700 shown in fig. 7 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 7, the computer device 700 is in the form of a general purpose computing device. Components of computer device 700 may include, but are not limited to: one or more processors or processing units 701, a system memory 702, and a bus 703 that connects the various system components (including the system memory 702 and the processing units 701).
Bus 703 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Computer device 700 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 700 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 702 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 704 and/or cache memory 705. The computer device 700 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 706 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, commonly referred to as a "hard drive"). Although not shown in fig. 7, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 703 through one or more data medium interfaces. The system memory 702 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the invention.
A program/utility 708 having a set (at least one) of program modules 707 may be stored in, for example, system memory 702, such program modules 707 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 707 generally perform the functions and/or methods of the embodiments described herein.
The computer device 700 may also communicate with one or more external devices 709 (e.g., keyboard, pointing device, display 710, etc.), one or more devices that enable a user to interact with the computer device 700, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 700 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 711. Moreover, the computer device 700 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through a network adapter 712. As shown in fig. 7, network adapter 712 communicates with other modules of computer device 700 over bus 703. It should be appreciated that although not shown in fig. 7, other hardware and/or software modules may be used in connection with computer device 700, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 701 executes various functional applications and data processing by running a program stored in the system memory 702, for example, to implement a control method of a robot provided by an embodiment of the present invention, including:
receiving departure prompt information sent by a server;
receiving arrival prompt information sent by a server;
and responding to a robot pause instruction sent by a user to the target bracelet, and sending the robot pause instruction to the server so that the server can control the dining robot to stay at the target position.
Example nine
The ninth embodiment of the present invention also provides a storage medium containing computer executable instructions, on which a computer program is stored, which when executed by a processor, implements a control method for a robot as provided in the embodiment of the present invention, including:
responding to a starting instruction of a catering robot, and sending starting prompt information to a target bracelet associated with the catering robot;
acquiring the current position of the catering robot, and determining whether the catering robot reaches a target position currently according to a preset running path of the catering robot;
if yes, sending arrival prompt information to the target bracelet;
Determining whether to respond to a robot pause instruction of the target bracelet within preset time, if so, controlling the dining robot to stay at the target position for a user to take meals and/or take dishes from the dining robot.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Examples ten
The tenth embodiment of the present invention also provides a storage medium containing computer executable instructions, on which a computer program is stored, which when executed by a processor, implements a control method for a robot as provided in the embodiment of the present invention, including:
receiving departure prompt information sent by a server;
receiving arrival prompt information sent by a server;
and responding to a robot pause instruction sent by a user to the target bracelet, and sending the robot pause instruction to the server so that the server can control the dining robot to stay at the target position.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (12)

1. A control method of a robot, applied to a server, the control method comprising:
responding to a starting instruction of a catering robot, and acquiring task information of the catering robot; the task information comprises identity information of the dining robot and a preset driving path;
determining a target bracelet associated with the catering robot according to the identity information of the catering robot;
sending departure prompt information to the target bracelet to inform a user that the dining robot starts to send food and the target position of the dining robot;
Acquiring the current position of the catering robot, and determining whether the catering robot reaches a target position currently according to a preset running path of the catering robot;
if yes, sending arrival prompt information to the target bracelet;
determining whether to respond to a robot pause instruction of the target bracelet within preset time, if so, controlling the dining robot to stay at the target position for the user to take meals and/or receive dishes from the dining robot.
2. The method of claim 1, further comprising, after the acquiring the task information of the dining robot in response to a start instruction of the dining robot:
according to the identity information of the catering robot, task information of the catering robot is sent to a corresponding preset mobile terminal, the preset mobile terminal is used for determining a target bracelet associated with the catering robot, the preset mobile terminal sends departure prompt information to the target bracelet, and the user is informed of the fact that the catering robot starts to send meals and the target position of the catering robot.
3. The method of claim 1, further comprising, prior to said determining whether the dining robot is currently reaching a target location based on a preset travel path of the dining robot:
Comparing the current position of the catering robot with the preset running path;
determining whether the dining robot is currently positioned at a preset running node of the preset running path according to a comparison result;
if yes, sending a prompt message in running to the target bracelet so as to inform the user of the current position of the dining robot.
4. The method of claim 3, wherein the sending the in-flight reminder to the target bracelet comprises:
and sending the current running information of the dining robot to a preset mobile terminal, and sending the running prompt information to an associated target bracelet by the preset mobile terminal according to the current running information.
5. The method of claim 1, wherein the determining whether to respond to the robot pause instruction to the target bracelet within a preset time, and if so, controlling the dining robot to stay at the target position comprises:
if a robot pause instruction sent by the target bracelet is received within a preset time, determining a catering robot associated with the target bracelet;
and sending the robot pause instruction to the catering robot, and controlling the catering robot to stay at the target position.
6. The method of claim 1, further comprising, after said controlling said dining robot to stay at said target location:
and responding to the return instruction of the target bracelet, sending the return instruction to the catering robot, and controlling the catering robot to travel to a preset return position.
7. The method of claim 1, further comprising, after said sending the arrival hint information to the target wristband:
if the robot pause instruction of the target bracelet is not received within the preset time, controlling the dining robot to stay at the target position according to the preset meal taking time so that the user can take and/or take dishes from the dining robot within the preset meal taking time.
8. The method of claim 7, wherein after the controlling the dining robot to stay at the target position according to the preset meal taking duration if the robot pause instruction of the target bracelet is not received within the preset time, further comprising:
determining whether the residence time of the dining robot at the target position exceeds a preset meal taking duration;
If yes, a return instruction is sent to the catering robot, and the catering robot is controlled to travel to a preset return position.
9. A control method of a robot, applied to a target bracelet, comprising:
receiving departure prompt information sent by a server to inform a user that a dining robot starts to send food and a target position of the dining robot; the starting prompt information is sent after a target bracelet associated with the catering robot is determined according to the identity information of the catering robot; the task information comprises identity information of the dining robot and a preset driving path;
receiving arrival prompt information sent by the server;
and responding to the robot pause instruction sent by the user to the target bracelet, and sending the robot pause instruction to the server for the server to control the dining robot to stay at the target position.
10. The control system of the robot is characterized by comprising a server, and a robot and a target bracelet which are respectively in communication connection with the server;
The server is used for executing the following method:
responding to a starting instruction of a catering robot, and acquiring task information of the catering robot; the task information comprises identity information of the dining robot and a preset driving path;
determining a target bracelet associated with the catering robot according to the identity information of the catering robot;
sending departure prompt information to the target bracelet to inform a user that the dining robot starts to send food and the target position of the dining robot;
acquiring the current position of the catering robot, and determining whether the catering robot reaches a target position currently according to a preset running path of the catering robot;
if yes, sending arrival prompt information to the target bracelet;
determining whether to respond to a robot pause instruction of the target bracelet within preset time, if so, controlling the dining robot to stay at the target position for the user to take meals and/or receive dishes from the dining robot;
the target bracelet is used for executing the following method:
receiving departure prompt information sent by the server to inform the user that the dining robot starts to send food and the target position of the dining robot; the starting prompt information is sent after a target bracelet associated with the catering robot is determined according to the identity information of the catering robot; the task information comprises identity information of the dining robot and a preset driving path;
Receiving arrival prompt information sent by the server;
and responding to the robot pause instruction sent by the user to the target bracelet, and sending the robot pause instruction to the server for the server to control the dining robot to stay at the target position.
11. A control device for a robot comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements a control method for a robot according to any one of claims 1-8 or 9 when executing the program.
12. A storage medium containing computer executable instructions, which when executed by a computer processor are for performing the method of controlling a robot according to any of claims 1-8 or 9.
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