CN114714350B - Control method, device, equipment and medium of service robot - Google Patents
Control method, device, equipment and medium of service robot Download PDFInfo
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- CN114714350B CN114714350B CN202210346064.1A CN202210346064A CN114714350B CN 114714350 B CN114714350 B CN 114714350B CN 202210346064 A CN202210346064 A CN 202210346064A CN 114714350 B CN114714350 B CN 114714350B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
Abstract
The embodiment of the application discloses a control method, a device, equipment and a medium of a service robot, wherein the control method of the service robot comprises the following steps: acquiring inclination angle information of a service robot in running; acquiring first position information of the service robot under the condition that the inclination angle information is larger than or equal to a first threshold value; after the first time period passes, acquiring second position information of the service robot; and generating alarm information when the distance between the first position information and the second position information is smaller than or equal to a second threshold value. According to the control method for the service robot, the running state of the service robot can be identified based on the inclination angle information of the service robot, alarm information can be generated as soon as possible when the service robot breaks down or falls down, a worker can maintain the service robot conveniently, goods transported by the service robot can be delivered to a user as soon as possible, and user experience can be improved.
Description
Technical Field
The embodiment of the application relates to the technical field of robots, in particular to a control method of a service robot, a control device of the service robot, electronic equipment and a computer readable storage medium.
Background
With the development of the age, the progress of technology, more and more service robots are applied to the market, such as service robots in hotels, buildings and communities, however, in order to enable the service robots to have larger storage space and be convenient for the service robots to travel, the service robots are generally high, so that toppling phenomenon may occur in the travelling process of the service robots, so that goods cannot be sent to users in time, and user experience is affected.
Disclosure of Invention
The invention provides a control method, a control device, control equipment and a control medium for a robot, which solve the problem of untimely delivery caused by dumping of a service robot.
According to an aspect of the present invention, there is provided a control method of a service robot, including:
acquiring inclination angle information of a service robot in running;
Acquiring first position information of the service robot under the condition that the inclination angle information is larger than or equal to a first threshold value;
after the first time period passes, acquiring second position information of the service robot;
and generating alarm information when the distance between the first position information and the second position information is smaller than or equal to a second threshold value.
Optionally, the control method of the service robot further includes:
Drawing a running area map based on the working area of the service robot;
Determining a first area and a second area in the driving area map;
determining a travel route of the service robot based on the first region and the second region;
Controlling the service robot to travel based on the travel route;
the first area corresponds to an area for storing goods in the working area, and the second area corresponds to an area for providing services for users in the working area.
Optionally, the control method of the service robot further includes:
When the distance between the first position information and the second position information is smaller than or equal to a second threshold value, the position pointed by the first position information is taken as a fault point;
And storing the fault point into a fault point database.
Optionally, the step of determining the travel route of the service robot based on the first area and the second area includes:
determining a first travel route based on the first region and the second region;
And if the first travel route comprises the fault point in the fault point database, determining a new first travel route according to the first travel route and the fault point until the new first travel route does not comprise the fault point in the fault point database, and taking the new first travel route as a target travel route.
Optionally, the controlling the service robot to travel based on the travel route includes:
controlling the service robot to run along the travelling route and acquiring third position information of the service robot;
When the fault point in the fault point database is located on the traveling route, taking the fault point located on the traveling route as a detour position point;
When the distance between the third position information and the detour position point is smaller than or equal to a third threshold value, changing the travelling direction of the service robot;
And when the distance between the third position information and the detour position point is larger than or equal to a fourth threshold value, changing the traveling direction of the server robot again, so that the server robot returns to the traveling route.
Optionally, the control method of the service robot further includes:
acquiring image information of the circumference side of the server robot under the condition that the distance between the first position information and the second position information is smaller than or equal to a second threshold value;
Analyzing the image information to obtain barrier information;
Analyzing the type of the obstacle information, and when the obstacle information is a movable obstacle, taking the position pointed by the first position information as a non-fault point.
Optionally, the control method of the service robot further includes:
And broadcasting the alarm information.
according to a second aspect of the present invention, there is provided a control device of a service robot, comprising:
an acquisition unit for acquiring inclination angle information of a service robot in running;
The first position unit is used for acquiring first position information of the service robot under the condition that the inclination angle information is larger than or equal to a first threshold value;
A second position unit, configured to obtain second position information of the service robot after the first time elapses;
and the alarm unit is used for generating alarm information when the distance between the first position information and the second position information is smaller than or equal to a second threshold value.
according to a third aspect of the present invention, there is provided an electronic device comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to cause the at least one processor to implement a method as described in any of the above claims.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium, wherein the computer instructions are for causing the computer to perform the method according to any of the above-mentioned claims.
The application discloses a control method, a device, a medium and a system of a service robot, wherein in the running process of the service robot, inclination information of the service robot is acquired, and under the condition that the inclination information is larger than or equal to a first threshold value, the service robot is considered to have a tilting risk, first position information of the service robot is further identified, second position information of the service robot is identified again after a first time period, if the distance between the second position information and the first position information is smaller than or equal to a second threshold value, the service robot is indicated to have a short running distance within the first time period, the service robot is likely to tilt under the condition that the service robot has faults, and alarm information can be generated, so that a supervisor can repair and maintain the service robot or lift the service robot, and the service robot is relieved. According to the control method for the service robot, the running state of the service robot can be identified based on the inclination angle information of the service robot, alarm information can be generated as soon as possible when the service robot breaks down or falls down, a worker can maintain the service robot conveniently, goods transported by the service robot can be delivered to a user as soon as possible, and user experience can be improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
fig. 1 is a schematic flow chart of a control method of a service robot according to an embodiment of the present invention;
fig. 2 is a schematic view of a control device of a service robot according to an embodiment of the present invention;
Fig. 3 is a block diagram of an electronic device used to implement an embodiment of the invention.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
As shown in fig. 1, a first aspect of an embodiment of the present application proposes a control method of a service robot, including:
Step 101: and acquiring inclination angle information of the service robot in running. It will be appreciated that the service robot may include a tilt sensor through which tilt information of the service robot may be acquired in real time.
Step 102: and acquiring first position information of the service robot under the condition that the inclination angle information is larger than or equal to a first threshold value. It can be understood that the service robot can include a positioning module, the position information of the service robot can be obtained in real time through the positioning module, the position information collected when the inclination angle information is greater than or equal to a first threshold value is the first position information, and the positioning module can be a GPS positioning module or a Beidou positioning module.
Step 103: after the first time period has elapsed, second location information of the service robot is acquired.
step 104: and generating alarm information when the distance between the first position information and the second position information is smaller than or equal to a second threshold value.
According to the control method for the service robot, in the running process of the service robot, the inclination angle information of the service robot is obtained, and under the condition that the inclination angle information is larger than or equal to the first threshold value, the service robot is considered to have a tilting risk, the first position information of the service robot is further identified, the second position information of the service robot is identified again after the first time passes, if the distance between the second position information and the first position information is smaller than or equal to the second threshold value, the fact that the service robot travels within the first time is short is indicated, the service robot has a fault under the condition that the service robot is likely to tilt, alarm information can be generated, and therefore a supervisor can repair and maintain the service robot or support the service robot to enable the service robot to get rid of trouble. According to the control method for the service robot, the running state of the service robot can be identified based on the inclination angle information of the service robot, alarm information can be generated as soon as possible when the service robot breaks down or falls down, a worker can maintain the service robot conveniently, goods transported by the service robot can be delivered to a user as soon as possible, and user experience can be improved.
It can be appreciated that in the actual working process, the control method of the service robot may further include: and under the condition that the inclination angle information is larger than or equal to the first threshold value, acquiring the rotating speed information of the serving robot wheel body, and determining the value of a second threshold value based on the first time length and the rotating speed information, wherein the value of the second threshold value is positively related to the first time length and the rotating speed information.
Optionally, the control method of the service robot further includes: drawing a running area map based on the working area of the service robot; determining a first area and a second area in the driving area map; determining a travel route of the service robot based on the first region and the second region; controlling the service robot to travel based on the travel route; the first area corresponds to an area for storing goods in the working area, and the second area corresponds to an area for providing services for users in the working area.
It will be appreciated that taking the example of a service robot being applied in a hotel, the space within the entire hotel where the robot can move is a travel area map, where the non-living area for storing goods is a goods storage area, and the passenger room is a service target area.
Optionally, the control method of the service robot further includes: when the distance between the first position information and the second position information is smaller than or equal to a second threshold value, the position pointed by the first position information is taken as a fault point; the fault points are stored into a build fault point database.
In case the distance between the first position information and the second position information is smaller than or equal to the second threshold value, the robot is considered to have fallen at the first position information, in which case the position may be stored to build a failure point database, the failure points stored in the failure point database easily causing the fall of the service robot.
It will be appreciated that the fault point may be stored directly into the fault database by means of manual storage.
Optionally, the step of determining the travel route of the service robot based on the first area and the second area includes: determining a first travel route based on the first region and the second region; and if the first travel route comprises a fault point in the fault point database, determining a new first travel route according to the first travel route and the fault point until the new first travel route does not comprise the fault point in the fault point database, and taking the new first travel route as the target travel route.
After the fault database is clear, when the travel route of the service robot is planned, all fault points in the fault database can be avoided by the travel route formed through planning through the technical scheme of the embodiment, the travel route of the service robot can be far away from the fault points, the dumping probability of the service robot can be reduced, and the service quality of the service robot is improved.
It can be understood that along with the increase of the operation duration of the service robot in the working area, the fault database can be more perfect, all fault points in the working area, which are easy to dump the service robot, can be marked, and the dumping probability of the subsequent service robot in the use process can be greatly reduced.
Optionally, the step of controlling the service robot to travel based on the travel route includes:
Controlling the service robot to run along the travelling route and acquiring third position information of the service robot;
When the fault point in the fault point database is located on the traveling route, taking the fault point located on the traveling route as a detour position point;
When the distance between the third position information and the detour position point is smaller than or equal to a third threshold value, changing the travelling direction of the service robot;
And when the distance between the third position information and the detour position point is greater than or equal to a fourth threshold value, changing the traveling direction of the server robot again, so that the server robot returns to the traveling route.
After the fault database is clear, in the running process of the service robot, the running direction of the service robot can be changed in real time based on the fault database, and when the service robot is close to a fault point, the running direction of the service robot can be changed, so that the server robot is far away from the fault point, and then the server robot is controlled to return to a value running route, so that the tilting probability of the service robot can be reduced.
In a possible embodiment, the control method of the service robot further includes: acquiring image information of the circumference side of the server robot under the condition that the distance between the first position information and the second position information is smaller than or equal to a second threshold value; analyzing the image information to obtain barrier information; the type of the obstacle information is analyzed, and when the obstacle information is a movable obstacle, the position pointed by the first position information is used as a non-fault point.
Under the condition that the distance between the first position information and the second position information is smaller than or equal to a second threshold value, the image information of the periphery side of the service robot can be obtained, on the one hand, the fact that the service robot is toppled over is considered to be possibly caused by human factors is considered, if part of people push the service robot or the service robot is toppled over due to obstacles on a travelling route, the toppling reasons can be analyzed through analyzing the image information, if the service robot topples over due to the human factors, the fault point matched with the first position information is not required to be input into the fault database, and the data of the fault database can be more accurate.
in a possible embodiment, the value of the first threshold is greater than or equal to 45 °; the value of the second threshold value is smaller than or equal to 2m.
The selection of the threshold value can ensure that alarm information can be generated when the service robot topples over.
In a possible embodiment, the control method of the service robot further includes: generating alarm information to a terminal or a server which has binding relation with the server robot, wherein the alarm information comprises first position information; and/or broadcasting alarm information based on a speaker of the server robot.
The alert information may be sent to a terminal or server having a binding relationship with the server robot, the alert information including first location information to facilitate maintenance of the service robot by a maintenance person.
the speaker of the server robot can be used for broadcasting alarm information so as to seek help of people around the service robot, and the people around the service robot can prop up the server robot after hearing the alarm information so as to get rid of the service robot.
In some examples, after the server robot-based speaker broadcasts the alert information, the control method may further include:
After the second duration passes, third position information of the service robot is acquired again, and under the condition that the third position information and the second position information are larger than or equal to a second threshold value, fault release information can be sent out and used for indicating that the server robot is trapped, and under the condition that the working personnel are not required to arrive at the first position, the workload of the working personnel can be reduced.
Example two
As shown in fig. 2, according to an embodiment of the present invention, there is provided a schematic diagram of a control apparatus of a service robot, which may perform the control method of the service robot provided in the first embodiment. As shown in fig. 2, the apparatus includes an acquisition unit 210, a first location unit 220, a second location unit 230, and an alarm unit 240. Wherein:
an acquisition unit 210 for acquiring inclination information of the service robot in running;
A first location unit 220, configured to obtain first location information of the service robot if the inclination information is greater than or equal to a first threshold;
a second location unit 230, configured to obtain second location information of the service robot after the first period of time elapses;
and an alarm unit 240 for generating alarm information when the distance between the first location information and the second location information is less than or equal to a second threshold value.
Optionally, the control device of the service robot further includes: a route determination unit for drawing a travel area map based on the work area of the service robot; determining a first area and a second area in the driving area map; determining a travel route of the service robot based on the first region and the second region; controlling the service robot to travel based on the travel route; the first area corresponds to an area for storing goods in the working area, and the second area corresponds to an area for providing services for users in the working area.
Optionally, the control device of the service robot further includes: a storage unit configured to, when a distance between the first position information and the second position information is less than or equal to a second threshold value, take a position to which the first position information points as a fault point; the fault points are stored into a build fault point database.
Optionally, the step of determining the travel route of the service robot based on the first area and the second area includes: determining a first travel route based on the first region and the second region; and if the first travel route comprises a fault point in the fault point database, determining a new first travel route according to the first travel route and the fault point until the new first travel route does not comprise the fault point in the fault point database, and taking the new first travel route as the target travel route.
Optionally, the step of controlling the service robot to travel based on the travel route includes:
Controlling the service robot to run along the travelling route and acquiring third position information of the service robot;
When the fault point in the fault point database is located on the traveling route, taking the fault point located on the traveling route as a detour position point;
When the distance between the third position information and the detour position point is smaller than or equal to a third threshold value, changing the travelling direction of the service robot;
And when the distance between the third position information and the detour position point is greater than or equal to a fourth threshold value, changing the traveling direction of the server robot again, so that the server robot returns to the traveling route.
Optionally, the control device of the service robot: a transmitting unit for generating alarm information to a terminal or a server having a binding relationship with the server robot, the alarm information including first location information; and/or broadcasting alarm information based on a speaker of the server robot.
In some examples, after the server robot-based speaker broadcasts the alarm information, the control device of the service robot may further include: the third position unit is configured to acquire third position information of the service robot again after the second duration passes, and send out failure release information when the third position information and the second position information are greater than or equal to a second threshold value, where the failure release information is used to indicate that the server robot has got rid of the trouble, and in this case, it is not necessary for the worker to arrive at the first position, and workload of the worker can be reduced.
According to the control device for the service robot, the inclination angle information of the service robot is obtained in the running process of the service robot, the service robot is considered to have a tilting risk under the condition that the inclination angle information is larger than or equal to the first threshold value, the first position information of the service robot is further identified, the second position information of the service robot is identified again after the first time passes, if the distance between the second position information and the first position information is smaller than or equal to the second threshold value, the fact that the service robot travels within the first time is short is indicated, the service robot is likely to fall down under the condition that the service robot is faulty, alarm information can be generated, and therefore a supervisor can repair and maintain the service robot or support the service robot to get rid of the service robot. According to the control method for the service robot, the running state of the service robot can be identified based on the inclination angle information of the service robot, alarm information can be generated as soon as possible when the service robot breaks down or falls down, a worker can maintain the service robot conveniently, goods transported by the service robot can be delivered to a user as soon as possible, and user experience can be improved.
Example III
Referring now to FIG. 3, a block diagram of an electronic device 300 suitable for use in implementing embodiments of the present invention is shown. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 3, the electronic device 300 may include a processing means 310 that may perform various suitable actions and processes according to programs stored in a Read Only Memory (ROM) 320 or loaded from a storage means 380 into a Random Access Memory (RAM) 330. The processing device 310 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processing device 310 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The processing device 310 performs the various methods and processes described above.
In the RAM 330, various programs and data required for the operation of the electronic device 300 are also stored. The processing device 310, the ROM 320, and the RAM 330 are connected to each other by a bus 340. An input/output (I/O) interface 350 is also connected to bus 340.
In general, the following devices may be connected to the I/O interface 350: input devices 360 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 370 including, for example, a Liquid Crystal Display (LCD), speaker, vibrator, etc.; storage 380 including, for example, magnetic tape, hard disk, etc.; and a communication device 390. The communications device 390 may allow the electronic device 300 to communicate wirelessly or by wire with other devices to exchange data. While fig. 3 shows an electronic device 300 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present invention, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via communications device 390, or from storage device 380, or from ROM 320. The above-described functions defined in the method of the embodiment of the present invention are performed when the computer program is executed by the processing means 310. Alternatively, in other embodiments, the processing device 310 may be configured to perform the method by any other suitable means (e.g., by means of firmware): acquiring inclination angle information of a service robot in running; acquiring first position information of the service robot under the condition that the inclination angle information is larger than or equal to a first threshold value; after the first time period passes, acquiring second position information of the service robot; and generating alarm information when the distance between the first position information and the second position information is smaller than or equal to a second threshold value.
Example IV
The computer readable medium of the present invention described above may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: 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 the context of 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. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. 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: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring inclination angle information of a service robot in running; acquiring first position information of the service robot under the condition that the inclination angle information is larger than or equal to a first threshold value; after the first time period passes, acquiring second position information of the service robot; and generating alarm information when the distance between the first position information and the second position information is smaller than or equal to a second threshold value.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including, but not limited to, 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).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
the modules involved in the embodiments of the present invention may be implemented in software or in hardware. The name of a module does not in some cases define the module itself.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof, and the like.
program code for carrying out methods of the present invention may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
the computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome. The server may also be a server of a distributed system or a server that incorporates a blockchain.
Artificial intelligence is the discipline of studying the process of making a computer mimic certain mental processes and intelligent behaviors (e.g., learning, reasoning, thinking, planning, etc.) of a person, both hardware-level and software-level techniques. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing, and the like; the artificial intelligent software technology mainly comprises a computer vision technology, a voice recognition technology, a natural language processing technology, a machine learning/deep learning technology, a big data processing technology, a knowledge graph technology and the like.
Cloud computing (cloud computing) refers to a technical system that a shared physical or virtual resource pool which is elastically extensible is accessed through a network, resources can comprise servers, operating systems, networks, software, applications, storage devices and the like, and resources can be deployed and managed in an on-demand and self-service mode. Through cloud computing technology, high-efficiency and powerful data processing capability can be provided for technical application such as artificial intelligence and blockchain, and model training.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired result of the technical solution provided by the present invention is achieved, and the present invention is not limited herein.
the above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (7)
1. A control method of a service robot, comprising:
acquiring inclination angle information of a service robot in running;
Acquiring first position information of the service robot under the condition that the inclination angle information is larger than or equal to a first threshold value;
after the first time period passes, acquiring second position information of the service robot;
Generating alarm information when the distance between the first position information and the second position information is smaller than or equal to a second threshold value;
When the distance between the first position information and the second position information is smaller than or equal to a second threshold value, the position pointed by the first position information is taken as a fault point;
storing the fault point into a fault point database;
Further comprises:
Drawing a running area map based on the working area of the service robot;
Determining a first area and a second area in the driving area map;
determining a travel route of the service robot based on the first region and the second region;
Controlling the service robot to travel based on the travel route;
the first area corresponds to an area for storing goods in the working area, and the second area corresponds to an area for providing service for a user in the working area;
the determining a travel route of the service robot based on the first region and the second region includes:
determining a first travel route based on the first region and the second region;
And if the first travel route comprises the fault point in the fault point database, determining a new first travel route according to the first travel route and the fault point until the new first travel route does not comprise the fault point in the fault point database, and taking the new first travel route as a target travel route.
2. The method of controlling a service robot according to claim 1, wherein the controlling the service robot to travel based on the travel route includes:
controlling the service robot to run along the travelling route and acquiring third position information of the service robot;
When the fault point in the fault point database is located on the traveling route, taking the fault point located on the traveling route as a detour position point;
When the distance between the third position information and the detour position point is smaller than or equal to a third threshold value, changing the travelling direction of the service robot;
And when the distance between the third position information and the detour position point is larger than or equal to a fourth threshold value, changing the travelling direction of the service robot again, so that the service robot returns to the travelling route.
3. the method for controlling a service robot according to claim 1, further comprising:
Acquiring image information of the periphery of the service robot under the condition that the distance between the first position information and the second position information is smaller than or equal to a second threshold value;
Analyzing the image information to obtain barrier information;
Analyzing the type of the obstacle information, and when the obstacle information is a movable obstacle, taking the position pointed by the first position information as a non-fault point.
4. A control method of a service robot according to any one of claims 1 to 3, further comprising:
And broadcasting the alarm information.
5. A control device for a service robot, comprising:
an acquisition unit for acquiring inclination angle information of a service robot in running;
The first position unit is used for acquiring first position information of the service robot under the condition that the inclination angle information is larger than or equal to a first threshold value;
A second position unit, configured to obtain second position information of the service robot after the first time elapses;
an alarm unit configured to generate alarm information when a distance between the first location information and the second location information is less than or equal to a second threshold value;
The control device of the service robot further includes: a storage unit configured to, when a distance between the first position information and the second position information is less than or equal to a second threshold value, take a position to which the first position information points as a fault point; storing the fault points into a constructed fault point database;
The control device of the service robot further includes: a route determination unit for drawing a travel area map based on the work area of the service robot; determining a first area and a second area in the driving area map; determining a travel route of the service robot based on the first region and the second region; controlling the service robot to travel based on the travel route; the first area corresponds to an area for storing goods in the working area, and the second area corresponds to an area for providing service for a user in the working area;
The step of determining a travel route of the service robot based on the first area and the second area includes: determining a first travel route based on the first region and the second region; and if the first travel route comprises a fault point in the fault point database, determining a new first travel route according to the first travel route and the fault point until the new first travel route does not comprise the fault point in the fault point database, and taking the new first travel route as a target travel route.
6. An electronic device, comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to cause the at least one processor to implement the method of controlling a service robot according to any one of claims 1-4.
7. A computer-readable storage medium, wherein the computer-readable storage medium is for causing the computer to execute the control method of the service robot according to any one of claims 1 to 4.
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