CN114475861A

CN114475861A - Robot and control method thereof

Info

Publication number: CN114475861A
Application number: CN202210091005.4A
Authority: CN
Inventors: 卢秋红; 张国伟; 张剑波; 黄波君
Original assignee: Shanghai Hrstek Co ltd
Current assignee: Shanghai Hrstek Co ltd
Priority date: 2022-01-26
Filing date: 2022-01-26
Publication date: 2022-05-13

Abstract

The application provides a robot and a control method thereof. The robot comprises a body, a fixing device, a positioning navigation device and a driving device; the fixing device is positioned on the body and used for fixing the cooking device; the positioning navigation device is positioned outside the body and used for positioning and navigating the robot when the robot works and determining at least one path from the current position to the target position; the driving device is positioned at the lower part of the body and used for moving the robot from the current position to the target position according to at least one path determined by the at least one positioning navigation device. According to the method and the system, the robot is adopted to replace simple manpower labor, and the manpower cost can be reduced while the privacy of a client is guaranteed. According to the method and the device, non-contact distribution is achieved through automatic intelligent distribution, and user experience is improved.

Description

Robot and control method thereof

Technical Field

The application relates to the technical field of robots, in particular to a robot and a control method thereof.

Background

With the continuous development of artificial intelligence and internet of things technology, the robot can replace a lot of original repeated labor-like work. When different places such as market, hotel, dining room, meeting room, often need the delivery cooking utensil, uneven road such as these places are often equipped with carpet or domatic, and when current robot met uneven road, motion stability was poor.

Disclosure of Invention

The present application is directed to solving or improving at least one of the above technical problems.

To this end, a first object of the present application is to provide a robot.

A second object of the present application is to provide a robot control method.

To achieve the first object of the present application, an aspect of the present application provides a robot for delivering a cooking appliance to a target location, the robot comprising: the device comprises a body, a fixing device, a positioning navigation device and a driving device; the fixing device is positioned on the body and used for fixing the cooking device; the positioning navigation device is positioned outside the body and used for positioning navigation of the robot when the robot works and determining at least one path from the current position to the target position; the driving device is positioned at the lower part of the body and used for moving the robot from the current position to the target position according to at least one path determined by the at least one positioning navigation device.

According to the cooking device, the fixing device is used for fixing the cooking device, the positioning and the path selection are carried out through the positioning and navigation device, the robot is driven by the driving device to move from the current position to the target position, the robot is adopted to replace simple manpower labor, and the manpower cost can be reduced while the privacy of a client is guaranteed. Through automatic intelligent delivery, realize non-contact delivery, avoid the cross contact between the people. Robot autonomous movement delivery coffee send coffee for traditional staff end, all can satisfy customer in science and technology sense, vision and gustation aspect, bring fresh sense for customer, promote user experience.

In order to achieve the second object of the present application, a technical solution of the present application provides a robot control method, including: responding to a map building instruction, starting a positioning navigation device, controlling the robot to move, comprehensively scanning the use environment, obtaining a plurality of scanning maps by a synchronous positioning and map building method, and matching and optimizing the plurality of scanning maps to obtain a map; responding to a path planning instruction, acquiring a map, a starting point and a target position, and planning a path based on the map, the starting point and the target position to obtain at least one path; responding to a positioning navigation instruction, positioning by a synchronous positioning and map construction method based on a positioning navigation device and a map, and navigating based on the positioning and the selected path; and responding to the command of moving to the target position, driving the robot according to the navigation, and moving the robot from the current position to the target position.

According to the method and the system, the robot is moved from the current position to the target position by constructing the map, planning the path, positioning and navigating and moving to the target position, the robot is adopted to replace simple human labor, and the human cost can be reduced while the privacy of a client is ensured. Through automatic intelligent delivery, realize non-contact delivery, avoid the cross contact between the people. Robot autonomous movement delivery coffee send coffee for traditional staff end, all can satisfy customer in science and technology sense, vision and gustation aspect, bring fresh sense for customer, promote user experience.

Additional aspects and advantages of the present application will be set forth in part in the description which follows, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is one of the schematic structural views of a robot according to one embodiment of the present application;

FIG. 2 is a second schematic view of a robot according to an embodiment of the present application;

FIG. 3 is a third schematic view of a robot according to an embodiment of the present application;

FIG. 4 is a fourth schematic view of a robot according to an embodiment of the present application;

FIG. 5 is a fifth schematic view of a robot configuration according to an embodiment of the present application;

FIG. 6 is a sixth schematic view of a robot configuration according to an embodiment of the present application;

FIG. 7 is one of a flow chart of a robot control method according to one embodiment of the present application;

FIG. 8 is a second flowchart of a robot control method according to an embodiment of the present application;

FIG. 9 is one of the schematic block diagrams of a robot control apparatus according to one embodiment of the present application;

FIG. 10 is a second schematic block diagram of a robot controller according to an embodiment of the present application;

FIG. 11 is a block diagram of an electronic device according to one embodiment of the present application;

fig. 12 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application.

Wherein, the correspondence between the reference numbers and the component names in fig. 1 to 12 is:

100: robot, 110: a body, 120: fixing device, 1202: first side plate, 1204: second side plate, 1206: third side plate, 1208: separator, 1210: headspace, 1212: lower space, 1214: first panel, 1216: second panel, 1218: storage box, 1220: handle, 1222: second opening, 1224: third opening, 130: positioning navigation device, 1302: lidar, 1304: industrial personal computer, 1306: display touch screen, 1308: antenna, 140: drive device, 1402: front wheel, 1404: rear wheel, 1406: motor assembly, 150: collision avoidance device, 1502: platform, 1504: crashworthy tentacles, 1506: first opening, 160: warning device, 1602: warning light, 1604: first connector, 170: power supply device, 180: docking device, 190: charging device, 1902: light-emitting part, 1904: docking component, 200: light detection device, 210: switch knob, 220: power display device, 230: charging interface, 300: cooking apparatus, 310: milk, 320: material box, 400: robot controller, 410: first module, 420: second module, 430: third module, 440: fourth module, 450: fifth module, 460: a sixth module, 470: seventh module, 480: eighth module, 490: and a ninth module.

Detailed Description

In order that the above objects, features and advantages of the present application can be more clearly understood, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.

A robot and a control method thereof according to some embodiments of the present application are described below with reference to fig. 1 to 12.

With the continuous development of artificial intelligence and internet of things technology, the service robot product is also performing intelligent transformation and upgrading as intelligent hardware, and stronger functions and richer applications are continuously realized. The coffee dispensing robot is moved as a branch of the service robot, and the function of dispensing coffee by one key is realized, so that the coffee dispensing robot replaces a lot of original repeated labor work. Under the background of epidemic outbreak, the distribution robot can also better realize non-contact conveying coffee, reduces the probability of personnel's infection. And the intelligent navigation technology applied by the coffee mobile robot can solve the problems of running stability and walking capability of uneven roads such as carpets or sloping surfaces, adaptability after environment artificial (or non-artificial) changes and the like when the coffee mobile robot is used in different places such as markets, hotels, restaurants, meeting rooms and the like.

Example 1:

as shown in fig. 1 to 4, an embodiment of the present application provides a robot 100 for distributing a cooking appliance 300 to a target location, the robot including: the body 110, the fixing device 120, the positioning navigation device 130 and the driving device 140; the fixing device 120 is positioned on the body 110 for fixing the cooking device 300; at least one positioning navigation device 130 is located outside the body 110, and is used for positioning and navigating the robot when the robot 100 works, and determining at least one path from the current position to the target position; the driving device 140 is located at a lower portion of the body 110 and is used for moving the robot 100 from the current position to the target position according to at least one path determined by the at least one positioning navigation device 130.

It is understood that the cooking apparatus 300 may include a coffee maker, which is required in various places such as a mall, a hotel, a restaurant, a conference room, etc., and the coffee maker is transported to a designated location by a robot, so that non-contact distribution can be realized. In different places such as markets, hotels, restaurants, meeting rooms and the like, conditions such as carpets and slopes exist, and for the robot, the robot needs to have stability when walking.

In the embodiment of the present application, as shown in fig. 1, 2 and 3, the body 110 is a basic component of the robot 100, the fixing device 120 may be fixed on the body 110, and a part of the navigation device may be located outside the body 110, and another part may be located on the body 110 or on the fixing device 120. A portion of the driving device 140 is located inside the body 110, and another portion is located below the body 110. The shape of the body 110 is set according to actual conditions, and a rectangular parallelepiped structure may be adopted. The cuboid joint is adopted, so that the manufacturing difficulty and the manufacturing cost of the robot can be effectively reduced.

In the embodiment of the present application, as shown in fig. 1, fig. 2 and fig. 3, the fixing device 120 may be used for fixing the coffee maker, and the shape of the fixing device 120 is set according to actual conditions, and may adopt a rectangular parallelepiped structure. Adopt the cuboid to connect, can effectively reduce the manufacturing degree of difficulty and the manufacturing cost of robot to, can be better assemble with body 110, stability when promotion robot 100 removes.

In the embodiment of the application, as shown in fig. 1, 3, and 6, the positioning navigation device 130 may implement positioning of the robot 100, further determine the current position of the robot 100, perform navigation after the robot 100 sets the target position, obtain at least one path that is operated from the current position to the target position, finally determine one of the paths for walking, and may automatically recommend determining or manually select determining by satisfying the set condition. The path is determined through navigation, so that the walking path can be better selected, and the automation degree of the robot is improved.

In the embodiment of the application, after the final walking path is determined, the driving device 140 may be controlled to drive the robot, so as to move the robot 100 from the current position to the target position, thereby realizing unmanned non-contact delivery of the coffee machine by the robot 100.

According to the embodiment of the application, the cooking device is fixed through the fixing device 120, the positioning and path selection are performed through the positioning and navigation device 130, the robot 100 is driven by the driving device 140 to move from the current position to the target position, the robot 100 is adopted to replace simple human labor, and the human cost can be reduced while the privacy of a client is guaranteed. Through automatic intelligent delivery, realize non-contact delivery, avoid the cross contact between the people. Compared with the traditional staff end-to-end coffee delivery, the robot 100 can meet the requirements of customers on science and technology feeling, vision and taste, brings freshness to the customers, and improves user experience.

Example 2:

as shown in fig. 1 to 3, an embodiment of the present application provides a robot, and in addition to the technical features of the above embodiment, the embodiment of the present application further includes the following technical features:

the robot 100 further includes: a bump guard 150 and a warning device 160; the collision prevention device 150 is located between the body 110 and the fixing device 120, and is used for detecting whether the robot 100 contacts an object; a warning device 160 is located on the fixture 120 for indicating when the robot 100 moves or the collision avoidance device 150 comes into contact with an object.

In this embodiment, the warning device 160 includes the warning light 1602 and the first connecting piece 1604, the warning light 1602 fixed connection first connecting piece 1604, the first connecting piece 1604 fixed connection fixing device 120, when the robot 100 moves or the anti-collision device 150 contacts the object, the warning light flickers, and can make a sound at the same time, and to moving and moving the object, the sound can be different, and the flickering frequency can also be different.

According to the embodiment of the application, the warning device 160 is arranged to prompt the robot 100 with clear sound and light when the robot moves or contacts an object, so that the warning effect is achieved. In addition, when the robot 100 contacts an object, the maintenance personnel can be reminded of checking the object in a timing mode through sound and light prompts.

By arranging the anti-collision device 150, on one hand, the force generated when the robot 100 collides with an object can be relieved, and the safety and the stability of the robot 100 are protected. On the other hand, after it is detected that the robot 100 has contacted an object, the warning device 160 may warn the object, so that the robot can intuitively and timely warn the object.

Example 3:

the collision prevention device 150 includes: platform 1502 and bumper antenna 1504; the platform 1502 is located between the body 110 and the fixing device 120, the platform 1502 is provided with a first opening 1506, the outer diameter of the platform 1502 is larger than the outer diameters of the body 110 and the fixing device 120, and the docking device 180 is located at the first opening 1506; a bumper bar 1504 is located at the periphery of the platform 1502 for detecting whether the robot 100 is touching an object.

It is appreciated that the bumper strip 1504 may have a thickness that provides cushioning.

In this embodiment of the application, the shape of the platform 1502 can be set according to an actual usage scenario, illustratively, a rectangle can be adopted, when the body 110 and the fixing device 120 also adopt a rectangle, the peripheries of the body 110 and the fixing device 120 are correspondingly arranged, and four sides of the rectangle of the platform 1502 can be approximately parallel to four sides of the body 110.

In the embodiment of the present application, the outer diameter of the platform 1502 is larger than the outer diameters of the body 110 and the fixing device 120, and the docking device 180 can be exposed for docking by providing the first opening 1506.

The platform 1502 of the embodiment of the application is disposed between the body 110 and the fixing device 120, so that the impact bearing capability of the platform 1502 is enhanced, and the safety and stability of the robot 100 are further improved. The periphery of the platform 1502 is provided with the anti-collision contact strip 1504, so that impact force received by the robot 100 can be reduced, and the safety and stability of the robot 100 are further improved.

Example 4:

as shown in fig. 2 and 4, the present embodiment provides a robot, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:

the robot 100 further includes: the light detection device comprises a power supply device 170, a docking device 180, a charging device 190, a light detection device 200 and a charging interface 230; the power supply device 170 is located on the body 110 and is used for storing electric energy and supplying power to the cooking device 300 and/or the robot 100; the docking device 180 is located on the body 110, has a telescopic structure, and is used for contacting the charging device 190 when being extended, so that the charging device 190 charges the power supply device 170; the charging device 190 comprises a lighting component 1902 and a docking component 1904, wherein the lighting component 1902 is used for emitting light, and the docking component 1904 is used for docking with the docking device 180, so that the charging device 190 charges the power supply device 170; the light detection device 200 is located on the body 110 and is used for detecting light emitted by the light emitting component 1902, so that the docking device 180 is docked with the docking component 1904; the charging interface 230 is located on the body 110 and is used for connecting with a power supply to charge the power supply device 170.

In the embodiment of the present application, the power supply device 170 stores electric energy to supply power to the cooking device 300 and the robot 100, and the power supply device 170 may store electric energy, so that the robot 100 can move freely, and the work efficiency of the robot 100 is improved.

In this embodiment, the docking device 180 may be two telescopic copper posts (i.e., telescopic charging contact strips), which are respectively docked with the docking component 1904 to connect the positive and negative electrodes, so as to charge the power supply device 170.

In some examples, two retractable charging contact strips are connected to the positive electrode and the negative electrode respectively, are located between the anti-collision contact strips 1504 on the back of the robot 100, extend out by 5cm to facilitate contact with the docking component 1904, and when the autonomous charging is adopted, the robot 100 automatically returns to the position of the charging device 190 and contacts the docking component 1904 with the retractable charging contact strips for autonomous charging.

In the embodiment of the present application, the light emitting component 1902 emits light, and the light detecting device 200 recognizes the charging device 190 through light, and moves the robot 100, so that the retractable charging contact strip contacts the docking component 1904.

In this application embodiment, two charging contacts can be adopted to docking component 1904, and the charging contact can be electrically conductive, docks with the copper post that can stretch out and draw back, can realize charging device 190 and charge for power supply unit 170.

In some examples, the charging device 190 may be a box-type structure with docking members 1904 having retractable charging contacts on both sides and a lighting member 1902 in the middle to provide light for alignment of the robot 100.

In the embodiment of the present application, a switch button 210 may be disposed below the docking device 180 to control the power of the robot to be turned on or off. Can also set up electric quantity display device 220 in docking device 180 below, show robot 100 residual capacity, specifically speaking, can divide electric quantity display device 220 into a plurality of display lattices, correspond the percentage of electric quantity respectively, the display lattice lights the quantity and the ratio of total display lattice quantity, can show residual capacity's percentage for the electric quantity shows more directly perceived. In docking assembly 180 one side, still be equipped with the interface 230 that charges, can the lug connection power through the interface 230 that charges, charge power supply unit 170 to robot 100, robot 100 charges and can adopt and connect the power through the interface 230 that charges and directly charge, perhaps charges through docking assembly 180 contact charging device 190, and multiple charging mode can make the robot application range more extensive, uses the scene more nimble.

In this embodiment, light detection device 200 can be through photoelectric coupling response infrared ray, and then the adjustment robot position.

In the embodiment of the present application, the charging device 190 is separately arranged, and when the robot 100 receives a charging instruction or determines that it needs to perform charging, the robot moves to the charging device 190, and is docked with the docking component 1904 through the docking device 180 to charge the power supply device 170. When the robot 100 is not charged, the robot 100 and the charging device 190 can be separately placed, so that the robot 100 can be conveniently stored and transported, the robot 100 can be more flexibly moved, and the working efficiency of the robot 100 is improved.

Example 5:

the fixing device 120 includes: a first side panel 1202, a second side panel 1204, a third side panel 1206, and a partition 1208; the first side plate 1202 is positioned on the body 110 and connected with the second side plate 1204; a second side plate 1204 positioned on the body 110 connecting the first side plate 1202 and the third side plate 1206; the third side plate 1206 is positioned on the body 110 and connected with the second side plate 1204; a partition 1208 is located within fixture 120 and connects first side plate 1202, second side plate 1204, and third side plate 1206, respectively, for dividing fixture 120 into an upper space 1210 and a lower space 1212; wherein the cooking appliance 300 is fixed to the upper space 1210.

In the embodiment of the present application, the fixing device 120 is divided into the upper space 1210 and the lower space 1212 by the partition 1208, so that the cooking apparatus 300 and the items required by the cooking apparatus 300 can be conveniently placed.

In the embodiment of the present application, the cooking device 300 is fixed in the upper space 1210, and the cooking device 300 can be completely displayed on the front surface of the robot 100, thereby facilitating the operation of the user.

According to the embodiment of the application, the first side plate 1202, the second side plate 1204 and the third side plate 1206 are used, so that the fixing device 120 forms a rectangular parallelepiped structure, and the stability of the fixing device 120 is improved. The manufacturing difficulty and the manufacturing cost of the robot are reduced, and the robot can be better assembled with the body 110, so that the stability of the robot 100 during moving is improved.

Example 6:

as shown in fig. 1 to 3 and 5, an embodiment of the present application provides a robot, and in addition to the technical features of the above embodiment, the embodiment of the present application further includes the following technical features:

the fixing device 120 further includes: a first panel 1214, a second panel 1216, a storage box 1218, and a handle 1220; a first panel 1214 connecting the first side plate 1202, the third side plate 1206 and the partition 1208 is located at the front end 1212 of the lower space; a second panel 1216 attached to the second side plate 1204 at the rear end of the lower space 1212; a storage box 1218 is positioned between the cooking device 300 and the second side plate 1204 for placing the materials; a handle 1220 is provided on the first side plate 1202 and the third side plate 1206, and is used for the transfer robot 100; wherein, a second opening 1222 is arranged below the second side plate 1204.

It will be appreciated that in dispensing coffee machines, it is often necessary to dispense brew items together, which illustratively may include water, milk 310, material cartridges 320, and the like. In the fixing device 120, the above-mentioned items need to be stored.

In the embodiment of the present invention, the lower space 1212 may be an integral space or may be a space divided into several parts. The lower space 1212 may be used to store articles, for example, water, which may be in the form of a water bucket, and the first panel 1214 is disposed at the front end of the lower space 1212 and the second panel 1216 is disposed at the rear end second opening 1222 of the lower space 1212, so that the lower space 1212 may be opened more conveniently, and the water bucket may be filled or replaced more conveniently, and at the same time, the aesthetic appearance of the robot 100 may be enhanced.

In the present embodiment, the storage box 1218 may be located in the upper space 1210, i.e., behind the cooking device 300, between the second side plate 1204. Storage box 1218 may be used to hold milk 310, material box 320, and the like. The storage box 1218 is located at the upper end of the robot 100, and the stored articles can be visually presented to the user for the user to use.

In the embodiment of the present application, the pull handles 1220 are disposed on two sides of the robot 100, for example, two pull handles may be disposed on one side, so as to facilitate installation or moving of the robot 100 in various directions.

Fixing device 120 of this application embodiment increases robot 100's practicality through setting up panel, storage box 1218 and handle 1220 for it is more convenient that the user makees coffee, promotes user experience.

Example 7:

as shown in fig. 2, 3 and 6, the present embodiment provides a robot, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:

the positioning navigation device 130 comprises: laser radar 1302, industrial personal computer 1304, display touch screen 1306 and antenna 1308; the laser radar 1302 is located on the body 110 and used for transmitting a detection signal and receiving an echo signal; the industrial personal computer 1304 is positioned on the fixing device 120; a display touch screen 1306 is positioned on the fixing device 120, and is connected with the industrial personal computer 1304 for information input and information display; an antenna 1308 is positioned on the fixing device 120, is connected with the industrial personal computer 1304, and is used for the communication between the industrial personal computer 1304 and the base station; the industrial personal computer 1304 builds a map based on the laser radar 1302, determines at least one path from the current position to the target position based on the map and the target position, performs positioning navigation based on the laser radar 1302, the map and the selected path, and controls the driving device 140 to drive the robot 100 to move the robot 100 from the current position to the target position.

In this embodiment, the laser radar 1302 may be a laser scanner with a high update frequency and small measurement noise, and does not include a speedometer. Because no odometer is arranged, the robot 100 can not be influenced when running in uneven ground areas (including positions of carpet joints, steps and the like), and accurate positioning navigation and accurate delivery are guaranteed.

In the embodiment of the present application, the laser radar 1302 may be disposed on the platform 1502, and may be disposed in the middle of the platform 1502 on the front of the robot 100. By arranging the laser radar 1302 at the middle position of the platform 1502, the scanning visual field of the laser radar 1302 can be ensured, so that the laser radar 1302 works normally, and the environment can be scanned.

In the embodiment of the application, the industrial personal computer 1304 can be arranged inside the fixing device 120, and the industrial personal computer 1304 is matched with the laser radar 1302, so that functions of map construction, positioning and the like are achieved. The industrial personal computer 1304 may also perform functions such as navigation and control of the driving device 140 based on the map construction and positioning achieved. The industrial personal computer 1304 controls the robot 100, so that the robot 100 can achieve automatic intelligent delivery.

In some examples, the industrial personal computer 1304 may be a Windows system, which facilitates direct operation, and the robot 100 may be provided with a client connected to the industrial personal computer 1304 to control the robot, or may be directly controlled by the industrial personal computer 1304.

In the embodiment of the present application, a third opening 1224 is disposed above the second side plate 1204, and the touch screen 1306 is shown to be located in the third opening 1224. The display touch screen 1306 can display input and output of signals, and for example, a target position can be input through the display touch screen 1306, or a walking path can be selected from the path, or the robot 100 can be controlled to move (including moving in the front, back, left and right directions, walking, stopping and the like). The positioning result, the navigation result, and the state of the robot 100 (including the remaining power, the fault information, etc.) may also be displayed through the display touch screen 1306, and the display touch screen 1306 may enhance the interaction between the user and the robot 100, thereby enhancing the user experience.

In this application embodiment, antenna 1308 is used for industrial computer 1304 to carry out the communication with the basic station, guarantees the smooth and easy nature to industrial computer 1304 debugging.

The positioning navigation device 130 in the embodiment of the application adopts the laser radar 1302 and the industrial personal computer 1304 to realize map construction and positioning, can be better suitable for places such as shopping malls, hotels, restaurants and meeting rooms, realizes that the robot 100 replaces simple manpower labor, and can reduce the labor cost while ensuring the privacy of customers. Moreover, non-contact distribution is realized through automatic intelligent distribution, and cross contact between people is avoided.

Example 8:

as shown in fig. 3, the present embodiment provides a robot, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:

the driving device 140 includes: the front wheel 1402 is located at the lower portion of the body 110; the rear wheel 1404 is located at a lower portion of the body 110; a motor assembly 1406 is located within the body 110 for driving the front wheels 1402 and/or the rear wheels 1404 to effect movement of the robot 100.

In the embodiment of the present application, as shown in fig. 1, the front wheels 1402 are disposed below the body 110, the number of the front wheels 1402 may be two, as shown in fig. 2, the rear wheels 1404 are disposed below the body 110, the number of the rear wheels 1404 may be two, and both the front wheels 1402 and the rear wheels 1404 may rotate. The motor assembly 1406 may be disposed inside the body 110 to facilitate protecting the motor assembly 1406 while also enhancing aesthetics.

In the embodiment of the application, only the front wheels 1402 can be driven to rotate by the motor assembly 1406, so that the robot 100 is driven to move. The motor assembly 1406 may also drive only the rear wheel 1404 for rotation, thereby driving the robot 100 to move. The motor assembly 1406 may also drive the front wheel 1402 and the rear wheel 1404 to rotate simultaneously, thereby driving the robot 100 and moving the robot 100. By arranging the driving device 140, the robot 100 can walk, and automatic and intelligent distribution of the robot 100 is ensured.

Example 9:

as shown in fig. 7, an embodiment of the present application provides a robot control method, including the following steps:

step S102, responding to a map building instruction, starting a positioning navigation device, controlling a robot to move, comprehensively scanning a use environment, obtaining a plurality of scanning maps through a synchronous positioning and map building method, and matching and optimizing the plurality of scanning maps to obtain a map;

in the embodiment of the application, in response to a map building instruction, the industrial personal computer controls the laser radar to move once and scan the using environment once, and map building is performed by adopting an SLAM (synchronous positioning and map building method) technology, wherein the map building accuracy can be improved by adopting an environment feature point matching method. And matching and map optimization are carried out on the obtained scanning map, so that a more accurate map is obtained for subsequent positioning, navigation and the like, and the running stability of the robot and the accuracy of moving to a target point are effectively improved.

In some examples, when the robot is used in a new environment, a use environment is required to be mapped, a laser radar is started when the map is constructed, the robot is scanned for one circle in the use environment as slow as possible, and the matching of feature points is guaranteed as far as possible when the robot runs. The constructed map is stored in the robot, and the map is only required to be constructed once in the same use environment.

In the embodiment of the application, in the map construction, the laser beam lattice is optimized by using the obtained map, the probability of the laser point in the representation of the map and the occupation of the grid is estimated, and the scanning matching is solved by using a Gauss-Newton method.

In the embodiment of the application, in order to avoid the occurrence of local minimum rather than global optimum, the map is in a multi-resolution mode.

Step S104, responding to the path planning instruction, acquiring a map, a starting point and a target position, and planning a path based on the map, the starting point and the target position to obtain at least one path;

after the map is constructed, the robot plans a path from a starting point to a target position in response to a path planning instruction, and in the process of constructing the path, the planning speed is required to be considered not to be too long, and the distance of the planned path is required to be short.

In some embodiments, the path planning algorithm automatically solves the relative shortest path and the most efficient path to the destination for the robot according to the built map, the starting point and the target position, and has certain requirements on the path planning distance and the calculation speed.

Step S106, responding to a positioning navigation instruction, positioning by a synchronous positioning and map construction method based on a positioning navigation device and a map, and navigating based on a positioning and selected path;

in the embodiment of the application, the map matching algorithm may adopt the method of "aligning" the laser point with the existing map, i.e. scanning matching. The scanning matching is to construct an error function by using the current frame and the existing map data, and obtain an optimal solution and a deviation value by using a Gauss-Newton method. The work is to realize the conversion from the laser point to the grid map, and all the laser points can be converted into the grid map at the time t, which means that the matching is successful.

In the embodiment of the application, inertial measurement can be added in the state estimation in the navigation process to perform EKF filtering, so that the accuracy of positioning and navigation is further improved.

And S108, responding to the command of moving to the target position, driving the robot according to the navigation, and moving the robot from the current position to the target position.

According to the embodiment of the application, the robot is moved from the current position to the target position by constructing the map, planning the path, positioning and navigating and moving to the target position, the robot is adopted to replace simple human labor, and the human cost can be reduced while the privacy of a client is ensured. Through automatic intelligent delivery, realize non-contact delivery, avoid the cross contact between the people. Robot autonomous movement delivery coffee send coffee for traditional staff end, all can satisfy customer in science and technology sense, vision and gustation aspect, bring fresh sense for customer, promote user experience.

Example 10:

as shown in fig. 8, the present embodiment provides a robot control method, and in addition to the technical features of the above embodiments, the present embodiment further includes the following technical features:

the robot control method further includes the steps of:

step S202, responding to an autonomous charging instruction, controlling the robot to return to a first distance position in front of the charging device through navigation, turning the direction, enabling the docking device to face the charging device, detecting light rays emitted by the charging device through the light ray detection device, controlling the robot to adjust the angle to move towards the charging device based on the light rays, stopping moving the robot after the docking device and the charging device are docked, and charging the power supply device.

In the embodiment of the application, the robot returns to the first distance position in front of the charging device according to the navigation algorithm, the direction of the vehicle body is turned, the back of the robot faces the charging device, light is emitted based on the charging device, the robot automatically adjusts the angle of the vehicle body to move backwards, after the docking device on the vehicle body of the robot is contacted with the docking component (charging contact piece) of the charging device, the telescopic docking device is pressed down, the robot automatically stops, and the robot starts to charge.

In this embodiment of the application, the autonomous charging instruction may be sent by a user, or may be automatically sent by determining that a set condition is met, where the set condition may be that the electric quantity of the power supply device 170 is less than a set value.

This application embodiment can let the robot charge in real time automatically through autonomic instruction of charging, guarantees that the electric quantity of robot keeps at certain numerical value always, and the robot of being convenient for delivers, promotes delivery efficiency.

Step S204, responding to a manual control instruction, controlling the robot to move by displaying a touch screen or a handle, wherein the movement comprises acceleration, deceleration and running stop of the robot in the front direction, the rear direction, the left direction and the right direction;

in the embodiment of the application, the robot can be manually controlled, the robot can be controlled to accelerate, decelerate, stop and the like front and back and left and right according to the interface displaying the touch screen, or the movement of the robot can be controlled through the equipped handle.

According to the embodiment of the application, the robot can be manually controlled, the adaptability of the robot is improved, and the robot can move more flexibly.

Step S206, responding to the one-key original path return instruction, and controlling the robot to return to the starting point according to the target path;

according to the embodiment of the application, the original way returning can be realized, and the original way returning of the robot is controlled after the robot moves to the designated position, so that the user at the designated position can be prevented from carrying out complex operation on the robot, the use of the robot is simplified, and the user experience is enhanced.

Step S208, controlling a warning device to prompt when the robot is detected to move or the anti-collision device is detected to contact with an object;

in some examples, during the running and opening of the robot, the driving device drives the robot to move, a warning lamp in the warning device flickers all the time, and a warning, such as a beep warning sound, is given if a collision-prevention tentacle at the edge of the robot collides with an object.

The embodiment of the application carries out clear sound and light prompt under the condition that the robot is detected to move or the anti-collision device contacts the object, and has a warning effect.

Step S210, under the condition that the robot is detected to run, based on the fact that the robot detects the obstacle at the first distance, if a path avoiding the obstacle is obtained in the first time, the robot is controlled to avoid the obstacle according to the path, and otherwise, the robot is controlled to stop running.

In the embodiment of the application, the obstacle avoidance function is provided, namely that when the robot suddenly encounters an obstacle in the planned path driving process, the robot needs to detect the obstacle in time at a certain distance, and automatically plans a path bypassing the obstacle within a certain time, otherwise, the robot stops running, and the obstacle is prevented from being collided.

The obstacle avoidance function of the embodiment of the application can timely react under the condition that the obstacle suddenly appears, prevent the occurrence of accidents, protect the safety of the robot, and simultaneously can also protect the safety of people and objects around the robot.

Example 11:

as shown in fig. 9, the present embodiment provides a robot control device 400 including:

the first module 410 is used for responding to a map building instruction, starting a positioning navigation device, controlling the robot to move, comprehensively scanning a use environment, obtaining a plurality of scanning maps by a synchronous positioning and map building method, and matching and optimizing the plurality of scanning maps to obtain a map;

a second module 420, configured to, in response to the path planning instruction, obtain a map, a starting point, and a target location, and perform path planning based on the map, the starting point, and the target location to obtain at least one path;

a third module 430, configured to perform positioning based on a positioning navigation apparatus and a map by a synchronous positioning and map building method in response to a positioning navigation instruction, and perform navigation based on the positioning and the selected path;

and a fourth module 440, configured to drive the robot according to the navigation in response to the move to target position instruction, so as to move the robot from the current position to the target position.

Example 12:

as shown in fig. 10, the present embodiment provides a robot control device 400, and in addition to the technical features of the above embodiment, the present embodiment further includes the following technical features:

the robot controller 400 further includes:

a fifth module 450, configured to respond to an autonomous charging instruction, control the robot to return to a first distance position in front of the charging device through navigation, and turn the direction, so that the docking device faces the charging device, the light detection device detects light emitted by the charging device, and based on the light, control the robot to adjust an angle to move to the charging device, and after the docking device and the charging device are docked, the robot stops moving, and charges the power supply device;

a sixth module 460, configured to control, in response to a manual control instruction, the robot to move by displaying a touch screen or a handle, where the movement includes acceleration, deceleration, and stop of the robot in the front, rear, left, and right directions;

a seventh module 470, configured to respond to the one-key original-path return instruction, control the robot to return to the starting point according to the target path;

an eighth module 480, configured to control the warning device to prompt when it is detected that the robot moves or the collision avoidance device contacts an object;

a ninth module 490, configured to, when it is detected that the robot is traveling, detect an obstacle at a first distance based on the robot, control the robot to avoid the obstacle according to a path if the path avoiding the obstacle is acquired within a first time, and otherwise, control the robot to stop operating.

The robot controller 400 in the embodiment of the present application may be an electronic device, or may be a component in an electronic device, such as an integrated circuit or a chip. The electronic device may be a terminal, or may be a device other than a terminal. The electronic Device may be, for example, a Mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic Device, a Mobile Internet Device (MID), an Augmented Reality (AR)/Virtual Reality (VR) Device, a robot, a wearable Device, an ultra-Mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), and the like, and may also be a server, a Network Attached Storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television, TV), an assistant, or a self-service machine, and the embodiments of the present application are not limited in particular.

The robot controller 400 in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system (Android), an iOS operating system, or other possible operating systems, which is not specifically limited in the embodiments of the present application.

The robot control device 400 provided in the embodiment of the present application can implement each process implemented by the above method embodiments, and is not described here again to avoid repetition.

Example 13:

as shown in fig. 11, an electronic device 1000 is further provided in the embodiment of the present application, where the electronic device 1000 includes a processor 1002 and a memory 1004, and the memory 1004 stores a program or an instruction that can be executed on the processor 1002, and when the program or the instruction is executed by the processor 1002, the steps of the method embodiment are implemented, and the same technical effect can be achieved, and details are not repeated here to avoid repetition.

It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic device and the non-mobile electronic device described above.

Fig. 12 is a schematic hardware structure diagram of an electronic device implementing an embodiment of the present application.

The electronic device 1100 includes, but is not limited to: a radio frequency unit 1101, a network module 1102, an audio output unit 1103, an input unit 1104, a sensor 1105, a display unit 1106, a user input unit 1107, an interface unit 1108, a memory 1109, a processor 1110, and the like.

Those skilled in the art will appreciate that the electronic device 1100 may further include a power source (e.g., a battery) for supplying power to the various components, and the power source may be logically connected to the processor 1110 via a power management system, so as to manage charging, discharging, and power consumption management functions via the power management system. The electronic device structure shown in fig. 12 does not constitute a limitation of the electronic device, and the electronic device may include more or less components than those shown, or combine some components, or arrange different components, and thus, the description is not repeated here.

The processor 1110 is configured to respond to a map building instruction, start a positioning navigation device, control the robot to move, comprehensively scan a use environment, obtain a plurality of scanned maps by a synchronous positioning and map building method, and perform matching and map optimization on the plurality of scanned maps to obtain a map;

a processor 1110, configured to, in response to a path planning instruction, obtain a map, a starting point, and a target location, and perform path planning based on the map, the starting point, and the target location to obtain at least one path;

a processor 1110, configured to perform positioning based on a positioning navigation apparatus and a map by a synchronous positioning and map building method in response to a positioning navigation instruction, and perform navigation based on the positioning and the selected path;

and a processor 1110 for driving the robot to move the robot from the current position to the target position according to the navigation in response to the move to target position instruction.

The processor 1110 is configured to control the robot to return to a first distance position in front of the charging device through navigation in response to an autonomous charging instruction, and turn the direction so that the docking device faces the charging device, detect light emitted by the charging device through the light detection device, control the robot to adjust an angle to move towards the charging device based on the light, and stop moving the robot after the docking device and the charging device are docked, so as to charge the power supply device;

the processor 1110 is configured to control the robot to move by displaying a touch screen or a handle in response to a manual control instruction, where the movement includes acceleration, deceleration, and stop of the robot in the front, rear, left, and right directions;

the processor 1110 is configured to control the robot to return to the starting point according to the target path in response to the one-key original-path return instruction;

a processor 1110, configured to control the warning device to prompt when it is detected that the robot moves or the collision avoidance device contacts an object;

and the processor 1110 is configured to, when it is detected that the robot travels, detect an obstacle at a first distance based on the robot, control the robot to avoid the obstacle according to a path if the path for avoiding the obstacle is acquired within a first time, and otherwise, control the robot to stop running.

It should be understood that in the embodiment of the present application, the input Unit 1104 may include a Graphics Processing Unit (GPU) 11041 and a microphone 11042, and the Graphics processor 11041 processes image data of still pictures or video obtained by an image capturing device (such as a camera) in a video capturing mode or an image capturing mode. The display unit 1106 may include a display panel 11061, and the display panel 11061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 1107 includes at least one of a touch panel 11071 and other input devices 11072. A touch panel 11071, also called a touch screen. The touch panel 11071 may include two portions of a touch detection device and a touch controller. Other input devices 11072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which are not described in detail herein.

The memory 1109 may be used to store software programs as well as various data. The memory 1109 may mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area may store an operating system, an application program or instruction (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like. Further, the memory 1109 may include volatile memory or nonvolatile memory, or the memory 1109 may include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. The volatile Memory may be a Random Access Memory (RAM), a Static Random Access Memory (Static RAM, SRAM), a Dynamic Random Access Memory (Dynamic RAM, DRAM), a Synchronous Dynamic Random Access Memory (Synchronous DRAM, SDRAM), a Double Data Rate Synchronous Dynamic Random Access Memory (Double Data Rate SDRAM, ddr SDRAM), an Enhanced Synchronous SDRAM (ESDRAM), a Synchronous Link DRAM (SLDRAM), and a Direct Memory bus RAM (DRRAM). The memory 1109 in the embodiments of the subject application includes, but is not limited to, these and any other suitable types of memory.

Processor 1110 may include one or more processing units; optionally, the processor 1110 integrates an application processor, which primarily handles operations related to the operating system, user interface, and applications, and a modem processor, which primarily handles wireless communication signals, such as a baseband processor. It will be appreciated that the modem processor described above may not be integrated into processor 1110.

Example 14:

the embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the robot control method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.

The processor is the processor in the electronic device in the above embodiment. Readable storage media, including computer readable storage media such as computer read only memory ROM, random access memory RAM, magnetic or optical disks, and the like.

The specific embodiment is as follows:

as shown in fig. 1 to 6, the present embodiment provides a robot 100 (i.e., an autonomous navigation mobile coffee delivery robot), which belongs to the field of laser radar-based mobile robot mapping and path planning, and in particular, relates to a delivery robot in an environment with uneven indoor opposing surfaces and more obstacles.

The robot 100 can be used for different floor mapping, automatic path planning to deliver coffee to a given room, a given seat. The robot 100 is used for a coffee machine on a dispensing robot base and has the functions of environment feature point matching, path construction, obstacle avoidance, edge anti-collision touch strip scram, one-key original path return, autonomous charging and the like.

The robot 100 can realize positioning and map construction, a map optimization function, a path planning function, an obstacle avoidance function, an anti-collision touch bar, an autonomous charging pile, a one-key charging function, a Windows system human-computer interaction interface and a manual control mode.

The robot 100 is provided with the laser radar 1302, the laser scanner with high updating frequency and small measurement noise is needed for positioning the laser radar 1302 used for navigation, a speedometer is not needed, the possibility of application exists when the robot 100 runs in an uneven area, the obtained map is used for optimizing a laser beam lattice, the representation of a laser point on the map and the probability of occupying a grid are estimated, and the scanning matching is solved by a Gauss-Newton method. Rigid body transformations (x, y, theta) (coordinate points and angles) are found that map the set of laser points to the existing map. To avoid the occurrence of local minima rather than global optima (local gradients are minimized, similar to that of the multi-peak model, but not global optima), the map is in the form of multi-resolution. The state estimation in navigation may incorporate inertial measurements for EKF (extendedfkalman filter) filtering.

The map matching algorithm is to "align" the laser point with the existing map, i.e. scan match. The scanning matching is to construct an error function by using the current frame and the existing map data, and obtain an optimal solution and a deviation value by using a Gauss-Newton method. The work is to realize the conversion from the laser point to the grid map, and all the laser points can be converted into the grid map at the time t, which means that the matching is successful.

The path planning algorithm is that a mobile robot automatically solves the most effective path relative to the shortest path to reach a destination according to a built map, and has certain requirements on path planning distance and calculation speed.

The obstacle avoidance function is that in the process of driving on the previously planned path, the robot 100 is required to detect the obstacle in time within a distance of 0.6 m when encountering the obstacle suddenly, and automatically plans a path to bypass the obstacle within a few seconds, otherwise, the robot stops running, and the obstacle is prevented from being collided.

The anti-collision contact strip 1504 is arranged around the outermost periphery of the robot 100, and when the robot 100 touches an object or another object touches the edge of the robot, the robot 100 automatically gives an alarm through the warning device 160, and a dripping alarm sound is given.

The charging device 190 may be an autonomous charging pile, and may be a box-shaped structure with two side-band docking parts 1904 (charging contacts) and the middle part thereof may emit light for aligning the mobile coffee robot.

The one-key charging function is that when the robot 100 receives an autonomous charging command, the robot automatically returns to the charging pile, the light detection plate (i.e., the light detection device 200) judges whether the charging pile is aligned according to light emitted by the charging pile, and when the telescopic charging touch bar is pressed down, the mobile coffee robot receives a stop command for autonomous charging.

The autonomous charging means that the robot returns to the position 1 m before the charging pile according to a navigation algorithm, the direction of a vehicle body is turned, the back of the robot faces towards the charging pile, light is emitted based on the charging pile, the robot automatically adjusts the angle of the vehicle body to move backwards, and after two telescopic copper columns (namely, butt joint devices) on the vehicle body of the robot are contacted with the charging pile, the robot automatically stops, and the vehicle body starts to be charged.

The Windows system human-computer interaction interface is a Windows system touch screen arranged on the mobile coffee robot, a built map and a planned path can be guided into an industrial personal computer, and coffee can be delivered according to the path.

The manual control mode is that the mobile robot can control the functions of acceleration, deceleration, running stop and the like in front and back and left and right according to the interface, or the movement of the robot can be controlled by the equipped handle.

The fixing device 120 fixes the coffee machine in the clamping seat, fixes the coffee machine front, back, left and right, and is internally provided with a water bucket, so that the coffee can be conveniently brewed at any time.

In this embodiment, when the robot 100 is used in a new environment, the use environment needs to be mapped, the laser radar 1302 is started when the map is constructed, the robot 100 is scanned for one turn in the use environment as slow as possible, and matching of feature points is ensured as possible when the robot is driven. The constructed map is stored in a machine, and the map is only required to be constructed once in the same use environment.

After the map is constructed, the mobile robot automatically plans a path to a target point, and in the process of constructing the path, the planning speed is required to be considered not to be too long, and the distance of the planned path is required to be short.

During the running start of the robot 100, the front wheel 1402 drives the robot 100 to move, the safety warning lamp (warning lamp 1602) flashes all the time, and a warning sound is given if the bumper strip 1504 at the edge of the robot collides with an object.

The industrial computer 1304 is located on the back of the robot 100, the industrial computer is a convenient and direct operation of a Windows system, and the movement of the robot 100 can be controlled through a client or directly controlled through the industrial computer 1304.

At the robot 100 back, be located between crashproof feeler 1504, be equipped with two scalable feeler strips that charge, connect positive negative pole respectively, scalable feeler strip that charges can outwards stretch out 5cm and conveniently contact and fill electric pile, when pressing the autonomic charging, needs robot 100 to get back to automatically and fills the electric pile position, with this scalable feeler strip that charges, contacts to fill and independently charge on the electric pile.

Robot 100 is equipped with four wheels, including: the rear wheel 1404 and the front two driving wheels (namely the front wheel 1402) are provided with a switch button 210 below the telescopic charging touch bar for controlling the on-off of the power supply of the robot, and two antennas 121308 are arranged on two sides of the industrial personal computer 1304 for communication debugging of the base station.

At the top of the fixture 120, a storage box 1218 is provided to hold two bottles of milk 310 and a material box 320 for brewing coffee.

Two embedded handles 1220 are respectively installed on the left side and the right side of the robot 100, so that the robot 100 can be installed or moved more conveniently and efficiently.

In this application, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description of the present application, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot (100) for delivering a cooking device (300) to a target location, the robot comprising:

a body (110);

a fixing device (120) on the body (110) for fixing the cooking device (300);

at least one positioning navigation device (130) located outside the body (110) and used for positioning navigation of the robot (100) when the robot works and determining at least one path from the current position to the target position;

a drive device (140) located at a lower portion of the body (110) for moving the robot (100) from the current position to the target position according to the at least one path determined by the at least one positioning and navigation device (130).

2. The robot (100) of claim 1, further comprising:

a collision prevention device (150) located between the body (110) and the fixture (120) for detecting whether the robot (100) contacts an object;

and the warning device (160) is positioned on the fixing device (120) and used for giving a prompt when the robot (100) moves or the anti-collision device (150) contacts an object.

3. Robot (100) according to claim 2, characterized in that the collision avoidance device (150) comprises:

a platform (1502) located between the body (110) and the fixture (120), the platform (1502) being provided with a first opening (1506), the platform (1502) having an outer diameter larger than the outer diameters of the body (110) and the fixture (120), an interface (180) being located at the first opening (1506);

a collision avoidance bar (1504) located at the periphery of the platform (1502) for detecting whether the robot (100) is in contact with an object.

4. The robot (100) of claim 1, further comprising:

a power supply device (170) located on the body (110) for storing electrical energy for powering the cooking device (300) and/or the robot (100);

the docking device (180) is located on the body (110), has a telescopic structure, and is used for contacting with the charging device (190) when being extended so that the charging device (190) charges the power supply device (170);

the charging device (190), the charging device (190) comprising a lighting part (1902) and a docking part (1904), the lighting part (1902) being used for emitting light, the docking part (1904) being used for docking with the docking device (180) so that the charging device (190) charges the power supply device (170);

the light detection device (200) is positioned on the body (110) and used for detecting the light emitted by the light emitting component (1902) so as to enable the docking device (180) to be docked with the docking component (1904);

and the charging interface (230) is positioned on the body (110) and is used for being connected with a power supply to charge the power supply device (170).

5. Robot (100) according to claim 1, characterized in that the fixation means (120) comprise:

a first side plate (1202) located on the body (110) and connected to a second side plate (1204);

the second side plate (1204) is positioned on the body (110) and is connected with the first side plate (1202) and the third side plate (1206);

the third side plate (1206) is positioned on the body (110) and connected with the second side plate (1204);

a partition (1208) located in the fixture (120) and connecting the first side plate (1202), the second side plate (1204) and the third side plate (1206), respectively, for dividing the fixture (120) into an upper space (1210) and a lower space (1212);

wherein the cooking device (300) is fixed to the upper space (1210).

6. The robot (100) of claim 5, wherein the fixture (120) further comprises:

a first panel (1214) connecting the first side plate (1202), the third side plate (1206) and the partition (1208), located at a front end (1212) of the lower space;

a second panel (1216) connected to the second side plate (1204) at a rear end of the lower space (1212);

a storage box (1218) between the cooking device (300) and the second side panel (1204) for placing materials;

a handle (1220) located at the first side plate (1202) and the third side plate (1206) for handling the robot (100);

wherein, a second opening (1222) is arranged below the second side plate (1204).

7. The robot (100) of claim 1, wherein the positioning navigation device (130) comprises:

a lidar (1302) located on the body (110) for transmitting a probe signal and receiving an echo signal;

an industrial personal computer (1304) located on the fixture (120);

the display touch screen (1306) is positioned on the fixing device (120), is connected with the industrial personal computer (1304), and is used for information input and information display;

the antenna (1308) is positioned on the fixing device (120), is connected with the industrial personal computer (1304), and is used for the communication between the industrial personal computer (1304) and the base station;

the industrial personal computer (1304) constructs a map based on the laser radar (1302), determines at least one path from a current position to a target position based on the map and the target position, performs positioning navigation based on the laser radar (1302), the map and the selected path, controls the driving device (140) to drive the robot (100), and moves the robot (100) from the current position to the target position.

8. Robot (100) according to any of claims 1 to 7, characterized in that the drive means (140) comprise:

a front wheel (1402) located at a lower portion of the body (110);

a rear wheel (1404) located at a lower portion of the body (110);

a motor assembly (1406) within the body (110) for driving the front wheels (1402) and/or the rear wheels (1404) to effect movement of the robot (100).

9. A robot control method, comprising:

responding to a map building instruction, starting a positioning navigation device, controlling the robot to move, comprehensively scanning the use environment, obtaining a plurality of scanning maps by a synchronous positioning and map building method, and matching and optimizing the plurality of scanning maps to obtain a map;

responding to a path planning instruction, acquiring the map, the starting point and the target position, and planning a path based on the map, the starting point and the target position to obtain at least one path;

responding to a positioning navigation instruction, positioning by a synchronous positioning and map building method based on the positioning navigation device and the map, and navigating based on the positioning and the selected path;

and responding to the command of moving to the target position, driving the robot according to the navigation, and moving the robot from the current position to the target position.

10. The robot control method according to claim 9, further comprising:

responding to an autonomous charging instruction, controlling the robot to return to a first distance position in front of a charging device through navigation, turning the direction, enabling a butting device to face the charging device, detecting light rays emitted by the charging device through a light ray detection device, controlling the robot to adjust an angle to move towards the charging device based on the light rays, and after the butting device is butted with the charging device, stopping moving the robot and charging a power supply device;

responding to a manual control instruction, and controlling the robot to move by displaying a touch screen or a handle, wherein the movement comprises acceleration, deceleration and running stop of the robot in four directions of front, back, left and right;

responding to a one-key original path returning instruction, and controlling the robot to return to the starting point according to the target path;

controlling a warning device to give a prompt when the robot moves or the collision avoidance device is detected to contact with an object;

and under the condition that the robot is detected to run, detecting an obstacle at a first distance based on the robot, if a path avoiding the obstacle is obtained in the first time, controlling the robot to avoid the obstacle according to the path, and if not, controlling the robot to stop running.