CN114714371A

CN114714371A - Robot guiding method, device, equipment and medium

Info

Publication number: CN114714371A
Application number: CN202210346070.7A
Authority: CN
Inventors: 付东洋; 支涛
Original assignee: Henan Yunji Intelligent Technology Co Ltd
Current assignee: Henan Yunji Intelligent Technology Co Ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2022-07-08

Abstract

The invention discloses a robot guiding method, a device, equipment and a medium, wherein the method comprises the following steps: acquiring a guidance request of a user; moving to the user according to the guidance request; acquiring the authentication information of the user and performing authentication; and guiding the user to walk after the verification is passed. By adopting the technical scheme of the embodiment of the invention, the robot carries out identity verification on the user with the guidance requirement according to the guidance request of the user, guides the user to arrive at the destination, effectively makes up the problem that the action is restricted by uncertain factors in the environment under the condition that the visual information of the user is lost, ensures the safety of the user and leads the guidance of the robot to be more efficient.

Description

Robot guiding method, device, equipment and medium

Technical Field

The invention relates to the technical field of robots, in particular to a robot guiding method, a device, equipment and a medium.

Background

At present, the overall customization degree of the robot industry is higher. Due to the change of the working environment and the difference of the process flow, the working requirements of the robot can also change. The blind-guiding dog serving as the most original method is easily influenced by the environment and has the problem of incapability of effective communication; the hand-held sensing detector, the mobile phone application software and other modes are easily influenced by the sensitivity or the signal transmission rate of the sensing device and require certain participation of the blind, the technology is complex to realize, and meanwhile, traffic accidents can be caused because the mechanization of the device is difficult to adapt to road conditions in different environments.

Disclosure of Invention

The invention provides a robot guiding method, a device, equipment and a medium, which solve the problem of low safety of the blind in going.

According to an aspect of the present invention, there is provided a robot guiding method, the method including:

acquiring a guidance request of a user;

moving to the user according to the guidance request;

acquiring the authentication information of the user and performing authentication;

and guiding the user to walk after the verification is passed.

Optionally, the obtaining the guidance request of the user includes:

receiving a guidance request sent by the user through a worn searching module, wherein the guidance request comprises departure place information and destination information of the user.

Further, the moving to the user according to the guidance request includes:

sending a vibration signal to the searching module under the condition that the distance between the searching module and the searching module is smaller than or equal to a first distance, wherein the vibration signal is used for driving the searching module to vibrate;

and under the condition that the distance between the voice player and the searching module is smaller than or equal to a second distance, carrying out voice playing, wherein the numerical value of the second distance is smaller than the numerical value of the first distance.

Further, the sending the vibration signal to the search module includes:

the smaller the distance from the searching module is, the greater the intensity of the vibration signal sent to the searching module is.

Optionally, the obtaining the authentication information of the user and performing authentication includes:

when the grip information of the user is detected, prompting the user to carry out identity authentication;

acquiring fingerprint information of the user through a fingerprint acquisition module;

and according to the fingerprint information and the guidance request, performing identity authentication on the user.

Further, the detecting the grip information of the user includes:

grip information of the user is detected by a grip module.

Optionally, the guiding the user to walk includes:

and sending out obstacle prompt information when the obstacle information in the walking route is detected.

According to a second aspect of the present invention, there is provided a robot guiding device, the device comprising:

the acquisition module is used for acquiring a guidance request of a user;

a moving module for moving to the user according to the guidance request;

the verification module is used for acquiring the identity verification information of the user and verifying the identity;

and the guiding module is used for guiding the user to walk after the verification is passed.

Further, the obtaining module further includes:

Further, the mobile module further includes:

the first mobile unit is used for sending a vibration signal to the searching module under the condition that the distance between the first mobile unit and the searching module is smaller than or equal to a first distance, and the vibration signal is used for driving the searching module to vibrate;

and the second mobile unit is used for carrying out voice playing under the condition that the distance between the second mobile unit and the searching module is smaller than or equal to a second distance, and the numerical value of the second distance is smaller than the numerical value of the first distance.

Further, the sending the vibration signal to the search module includes:

the prompting unit is used for prompting the user to carry out identity authentication when the gripping information of the user is detected;

the acquisition unit is used for acquiring the fingerprint information of the user through a fingerprint acquisition module;

and the determining unit is used for carrying out identity authentication on the user according to the fingerprint information and the guidance request.

Further, the detecting of the grip information of the user includes:

grip information of the user is detected by a grip module.

Optionally, the guidance module includes:

According to a third aspect of the present invention, there is provided an electronic apparatus 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 robot guidance method according to any embodiment of the invention.

According to a fourth aspect of the invention, there is provided a computer-readable storage medium having computer instructions for causing a computer to perform a robot guiding method according to any one of the embodiments of the invention.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic flowchart of a robot guiding method according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a robot guiding device provided according to an embodiment of the present invention;

fig. 3 is a block diagram of an electronic device for implementing a robot guiding method according to an embodiment of the present invention.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or 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 one

In accordance with an embodiment of the present application, there is provided a robot guidance method, it should be noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here. The user shown in the embodiment is a blind person, and the user with visual disorder can realize safe, reliable and convenient travel by the robot guiding method.

And S110, acquiring a guidance request of a user.

Optionally, the obtaining the guidance request of the user includes:

Wherein, search the bracelet of module for being used for sending information, it is convenient the wearing equipment of user and robot communication. The robot judges the guidance route according to the guidance request and the state of the robot, the electric quantity of the robot meets the minimum electric quantity threshold value required for completing the guidance task, and the electric quantity requirement comprises the following steps: all power consumption from the current position of the robot to the origin of the user and then from the origin to the destination, the minimum power threshold being greater than the power requirement. For example, the current electric quantity of the robot is three-quarters of the saturation state (the lowest electric quantity threshold), and according to the guidance request of the user, the electric quantity requirement of the robot for completing the current guidance task is one half of the saturation state. It should be noted that: and the server prompts the service duration of the robot to the user according to the minimum electric quantity threshold, and after the robot guides the user to a destination, an accompanying mode is started, so that the robot is in a state of walking along with the user.

And S120, moving to the user according to the guidance request.

Further, the moving to the user according to the guidance request includes:

Further, the sending the vibration signal to the search module includes:

For example, after the robot receives the guidance request of the user, the robot plans a route to move from the current position to the user by using a laser navigation technology according to the departure place information of the user. When the robot moves to and is the first distance apart from the bracelet, the robot to the bracelet that the user dressed sends vibration signal. The first distance is preset by the server and can be adjusted timely according to actual conditions; if the first distance is three meters, when the robot is located at a position three meters away from the user, the user's bracelet starts a vibration mode; and if the second distance is one meter, when the robot moves to a position one meter away from the user, the robot broadcasts ' arrived ' and please start walking ' to the user in a voice mode. The robot follows the in-process of first distance to second distance, the vibrations power degree of bracelet is bigger and bigger, and after detecting the user and grabbing the handrail of guide robot, voice broadcast stopped until the voice broadcast of robot begins, the bracelet then stops vibrations.

S130, obtaining the authentication information of the user and performing authentication.

Further, the detecting of the grip information of the user includes:

grip information of the user is detected by a grip module.

And S140, guiding the user to walk after the verification is passed.

Optionally, the guiding the user to walk includes:

Further, the sending out the obstacle prompt message at least comprises one of the following modes: sending obstacle voice prompt information, sending first vibration prompt information to the grasping module, and sending second vibration prompt information to the searching module.

The robot guidance process adopts the laser navigation technology, obtains the information of the surrounding environment through the laser, measures the time from the sending to the receiving of the laser, calculates the self distance and the distance of the front obstacle, obtains the environment model through the processing of the algorithm, and obtains the self positioning and the walking route in the continuous scanning distance measurement. The robot guiding method is suitable for indoor and outdoor scenes, and can avoid obstacles, identify stairs, navigate and position indoors and assist a user in reaching a destination; the outdoor traffic light can be used for carrying out obstacle avoidance, traffic light and zebra crossing identification or blind road identification, and guiding the user to safely arrive at the destination.

Exemplarily, the robot detects that the barrier, the deviated track, the road surface have undulation, all can send vibrations suggestion to handrail or bracelet when discovering the characteristic sign, when meetting dangerous condition, can voice broadcast simultaneously, reminds the user pays attention to safety. For example, when the robot is guided to pass through a traffic intersection, the visual information captures that a traffic signal lamp is currently a red light, the handrail of the robot and the bracelet of the user vibrate, and voice broadcast prompts the user that the traffic signal lamp is currently the red light, and the user needs to wait and pay attention to safety; and prompting the user to 'please go straight through the road' after the light turns to green.

The invention discloses a robot guiding method, which comprises the following steps: acquiring a guidance request of a user; moving to the user according to the guidance request; acquiring the authentication information of the user and performing authentication; and guiding the user to walk after the verification is passed. By adopting the technical scheme of the embodiment of the invention, the robot carries out identity verification on the user with the guidance requirement according to the guidance request of the user, guides the user to arrive at the destination, effectively makes up the problem that the action is restricted by uncertain factors in the environment under the condition that the visual information of the user is lost, ensures the safety of the user and leads the guidance of the robot to be more efficient.

Example two

According to an embodiment of the present invention, a schematic diagram of a robot guiding device is provided, which can perform the robot guiding method provided in the first embodiment. As shown in fig. 2, the apparatus includes an acquisition module 210, a moving module 220, a verification module 230, and a guidance module 240. Wherein:

the obtaining module 210 is configured to obtain a guidance request of a user.

Further, the obtaining module 210 further includes:

receiving a guidance request sent by the user through a worn searching module, wherein the guidance request comprises departure place information and destination information of the user. The departure place information is determined according to the current position of the user.

A moving module 220, configured to move to the user according to the guidance request.

Further, the moving module 220 further includes:

Further, the sending the vibration signal to the search module includes:

The verification module 230 is configured to obtain authentication information of the user and perform authentication.

the prompting unit is used for prompting the user to carry out identity verification when the gripping information of the user is detected;

Further, the detecting the grip information of the user includes:

detecting, by a grip module, grip information of the user.

The robot gripping module is provided with a connecting rod and a handrail and can provide a gripping place for a user.

And the guiding module 240 is used for guiding the user to walk after the verification is passed.

Optionally, the guidance module 240 includes:

Further, the guidance module 240 further includes: the sending out the obstacle prompt message at least comprises one of the following modes: sending obstacle voice prompt information, sending first vibration prompt information to the grasping module, and sending second vibration prompt information to the searching module.

The invention discloses a robot guiding device, which comprises: the acquisition module is used for acquiring a guidance request of a user; a moving module for moving to the user according to the guidance request; the verification module is used for acquiring the identity verification information of the user and verifying the identity; and the guiding module is used for guiding the user to walk after the verification is passed. By adopting the technical scheme of the embodiment of the invention, the robot carries out identity verification on the user with the guidance requirement according to the guidance request of the user, guides the user to arrive at the destination, effectively makes up the problem that the action is restricted by uncertain factors in the environment under the condition that the visual information of the user is lost, ensures the safety of the user and leads the guidance of the robot to be more efficient.

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. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, 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, electronic device 300 may include processing means 310 that may perform various appropriate actions and processes in accordance with a program stored in Read Only Memory (ROM)320 or a program loaded from storage means 380 into Random Access Memory (RAM) 330. 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, or the like. The processing device 310 performs the various methods and processes described above.

In the RAM 330, various programs and data necessary for the operation of the electronic apparatus 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.

Generally, the following devices may be connected to I/O interface 350: input devices 360 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 370 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, or the like; storage 380 including, for example, magnetic tape, hard disk, etc.; and a communication device 390. The communication device 390 may allow the electronic device 300 to communicate wirelessly or by wire with other devices to exchange data. While fig. 3 illustrates an electronic device 300 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.

In particular, according to an embodiment of the present invention, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, an embodiment of the invention includes a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through communication device 390, or installed from storage device 380, or installed from ROM 320. The computer program, when executed by the processing device 310, performs the above-described functions defined in the methods of embodiments of the present invention. Alternatively, in other embodiments, the processing device 310 may be configured by any other suitable means (e.g., by means of firmware) to perform the method of: acquiring a guidance request of a user; moving to the user according to the guidance request; acquiring the authentication information of the user and performing authentication; and guiding the user to walk after the verification is passed.

Example four

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. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination 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 present invention, 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, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may 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, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (Hyper Text Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications 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 network.

The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled 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 a guidance request of a user; moving to the user according to the guidance request; acquiring the authentication information of the user and performing authentication; and guiding the user to walk after the verification is passed.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of 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 type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart 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 described in the embodiments of the present invention may be implemented by software or hardware. Wherein the name of a module in some cases does not constitute a limitation on the module itself.

The functions described herein above 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), system on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof, among others.

Program code for implementing the methods of the present invention may be written in any combination of one or more programming languages. These program codes 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 codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. 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. A 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 a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Network (WAN) blockchain networks, and the internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome. The server may also be a server of a distributed system, or a server incorporating a blockchain.

Artificial intelligence is the subject of research that makes computers simulate some human mental processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), both at the hardware level and at the software level. 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 intelligence 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 map technology and the like.

Cloud computing (cloud computing) refers to a technology system that accesses a flexibly extensible shared physical or virtual resource pool through a network, where resources may include servers, operating systems, networks, software, applications, storage devices, and the like, and may be deployed and managed in a self-service manner as needed. Through the cloud computing technology, high-efficiency and strong data processing capacity can be provided for technical application and model training of artificial intelligence, block chains and the like.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and the present invention is not limited herein as long as the desired result of the technical solution provided by the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot guidance method, characterized in that the method comprises:

acquiring a guidance request of a user;

moving to the user according to the guidance request;

and guiding the user to walk after the verification is passed.

2. The method of claim 1, wherein obtaining the user's guidance request comprises:

3. The method of claim 2, wherein moving to the user in accordance with the guidance request comprises:

4. The method of claim 3, wherein sending a vibration signal to the search module comprises:

5. The method of claim 3, wherein the obtaining authentication information of the user and performing authentication comprises:

when the gripping information of the user is detected, prompting the user to carry out identity authentication;

6. The method of claim 5, wherein the detecting grip information of the user comprises:

grip information of the user is detected by a grip module.

7. The method of claim 5, wherein said guiding the user to walk comprises:

and sending barrier prompt information when the barrier information in the walking route is detected.

8. A robot guiding device comprising:

the acquisition module is used for acquiring a guidance request of a user;

a moving module for moving to the user according to the guidance request;

9. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to cause the at least one processor to implement the method of any one of claims 1-7.

10. A computer-readable storage medium, wherein the computer instructions are for causing the computer to perform the method of any one of claims 1-7.